JP2021502195A - 軟組織に対する低侵襲医療介入のためのロボット機器 - Google Patents
軟組織に対する低侵襲医療介入のためのロボット機器 Download PDFInfo
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Abstract
Description
幾つかの自由度を有し、且つ医療器具を受けるのに適した端部を有するロボットアームと、
患者の体内構造に関する位置情報を捕捉するのに適した画像捕捉システムと、
人体の解剖学的構造体の生体力学的モデルを有する記憶媒体と、
前記医療器具のための位置セットポイント及び向きセットポイントを、生体力学的モデルに基づいて、位置情報に基づいて、且つ医療介入を行うために医療器具によって辿られる軌跡に基づいて特定するように構成された処理回路と、
医療器具を位置セットポイント及び向きセットポイントに設置するか又は設置することを支援するためにロボットアームを制御するように構成された制御回路と、を含むロボット機器に関する。
本発明は、下記の図面を参照して、非限定的な例として提供される以下の説明文を読むことでよりよく理解されるであろう。
− 生体針、
− カテーテル、
− 内視鏡、
− 集束超音波を用いる治療器具、
− レーザ治療器具、
− 凍結療法による治療のための器具、
− ラジオ波による治療のための器具、
− 電気穿孔法による治療のための器具、
− キュリ療法による治療のための器具等
の少なくとも1つを受け、移動させるのに適している。
− 立体カメラ、
− 構造化光カメラ、
− 飛行時間カメラ(ToFカメラ)、
− 深度計測カメラ(例えば、RGB−Dカメラ)等
の少なくとも1つを有する。
− 超音波プローブ(非侵入的接触による捕捉)、
− 内視鏡(侵入的接触による捕捉)等
の少なくとも1つを有する。
−“SOFA: A Multi-Model Framework for Interactive Physical Simulation”, F. Faure et al., Soft Tissue Biomechanical Modeling for Computer Assisted Surgery-Studies in Mechanobiology, Tissue Engineering and Biomaterials, volume 11, Springer、
−“A Personalized Biomechanical Model for Respiratory Motion Prediction”, B. Fuerst et al., International Conference on Medical Image Computing and Computer Assisted Intervention,2012、
−“Patient-Specific Biomechanical Model as Whole-Body CT Image Registration Tool”, Mao Li et al., Medical Image Analysis, 2015, May, pages 22-34。
− 自動モード、
− 協働モード、
− 自動追跡モード、
− 協働追跡モード
の少なくとも1つに従ってロボットアーム11を制御するのに適している。
Claims (16)
- 医療器具(13)を使用して患者(30)に医療介入を行うためのロボット機器(10)であって、
幾つかの自由度を有し、且つ前記医療器具を受けるのに適した端部を有するロボットアーム(11)と、
前記患者の体内構造に関する位置情報を捕捉するのに適した画像捕捉システム(14)と、を含むロボット機器(10)において、
人体の解剖学的構造体の生体力学的モデルを有する記憶媒体(15)と、
前記医療器具のための位置セットポイント及び向きセットポイントを、前記生体力学的モデルに基づいて、前記患者の前記体内構造に関する前記位置情報に基づいて、且つ前記医療介入を行うために前記医療器具(13)によって辿られる軌跡に基づいて特定するように構成された処理回路(17)と、
前記医療器具を前記位置セットポイント及び前記向きセットポイントに設置するか又は設置することを支援するために前記ロボットアーム(11)を制御するように構成された制御回路(16)と、を有することを特徴とするロボット機器(10)。 - 前記生体力学的モデルは、胸部領域、及び/又は腹部領域、及び/又は骨盤領域内における前記人体の前記解剖学的構造体をモデル化する、請求項1に記載のロボット機器(10)。
- 前記画像捕捉システム(14)は、非照射型である、請求項1又は2に記載のロボット機器(10)。
- 前記画像捕捉システム(14)は、前記患者(30)と接触せずに位置情報を捕捉するのに適した少なくとも1つのいわゆる非接触機器を有する、請求項1〜3のいずれか1項に記載のロボット機器(10)。
- 前記画像捕捉システム(14)は、以下の非接触機器:
立体カメラ、
構造化光カメラ、
飛行時間カメラ、
深度計測カメラ
の少なくとも1つを有する、請求項4に記載のロボット機器(10)。 - 前記画像捕捉システム(14)は、前記患者30の身体の外表面の位置に対応する位置情報を供給するのに適している、請求項1〜5のいずれか1項に記載のロボット機器(10)。
- 前記画像捕捉システム(14)は、前記患者(30)と接触することにより、位置情報を捕捉するのに適した少なくとも1つのいわゆる接触機器を有する、請求項1〜6のいずれか1項に記載のロボット機器(10)
- 前記画像捕捉システム(14)は、以下の接触機器:
超音波プローブ、
内視鏡
の少なくとも1つを有する、請求項7に記載のロボット機器(10)。 - 前記制御回路(16)は、以下のモード:
自動モード、
協働モード、
自動追跡モード、
協働追跡モード
の少なくとも1つに従って前記ロボットアームを制御するように構成される、請求項1〜8のいずれか1項に記載のロボット機器(10)。 - 前記処理回路(17)は、前記患者の画像に基づいて前記医療器具の前記軌跡を特定するか又は特定することを支援するように構成される、請求項1〜9のいずれか1項に記載のロボット機器(10)。
- 前記処理回路(17)は、前記医療介入中に行われる治療のパラメータを、前記パラメータの効果を前記患者の画像に基づいてシミュレートすることによって調整するか又は調整することを支援するように構成される、請求項1〜10のいずれか1項に記載のロボット機器(10)。
- 前記ロボットアーム(11)の端部に固定されているか又は固定されることを意図される前記医療器具(13)を案内するのに適したガイドツール(12)を有する、請求項1〜11のいずれか1項に記載のロボット機器(10)。
- 以下の機器:
表示スクリーン、
タッチセンサ式表示スクリーン、
キーボード、
2D及び/又は3Dゴーグル、
ジョイスティック、
移動検出モジュール、
音声起動制御モジュール
のうちからの少なくとも1つのマン−マシンインタフェース機器(19)を有する、請求項1〜12のいずれか1項に記載のロボット機器(10)。 - 以下の機器:
低侵襲先端を備える医療器具、
レーザターゲティングモジュール
のうちからの、進入地点のレジストレーションを行うための少なくとも1つの機器を有する、請求項1〜13のいずれか1項に記載のロボット機器(10)。 - 前記医療器具(13)は、以下の医療器具:
生検針、
カテーテル、
内視鏡、
集束超音波を用いる治療器具、
レーザ治療器具、
凍結療法による治療のための器具、
ラジオ波による治療のための器具、
電気穿孔法による治療のための器具、
キュリ療法による治療のための器具
の1つである、請求項1〜14のいずれか1項に記載のロボット機器(10)。 - 前記ロボットアーム(11)を担持する移動キャリッジ(18)を有し、前記移動キャリッジは、固定手段を有する、請求項1〜15のいずれか1項に記載のロボット機器(10)。
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US20200281667A1 (en) | 2020-09-10 |
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AU2018364406A1 (en) | 2020-05-28 |
EP3706656A1 (fr) | 2020-09-16 |
WO2019092372A1 (fr) | 2019-05-16 |
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CN115444557A (zh) | 2022-12-09 |
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