JP4755638B2 - ロボットガイドカテーテルシステム - Google Patents
ロボットガイドカテーテルシステム Download PDFInfo
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- JP4755638B2 JP4755638B2 JP2007502015A JP2007502015A JP4755638B2 JP 4755638 B2 JP4755638 B2 JP 4755638B2 JP 2007502015 A JP2007502015 A JP 2007502015A JP 2007502015 A JP2007502015 A JP 2007502015A JP 4755638 B2 JP4755638 B2 JP 4755638B2
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- catheter
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- catheter system
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Description
を導出し、この同次変換行列はカテーテル座標系「C」のベクトルを、センサ測定が行なわれる固定グローバル座標系「G」に変換する(下付き文字C0及び下付き文字G0を使用して0番目のステップ、または初期ステップを表わす)。登録ステップとして、カテーテルのコンピュータグラフィックビューを、マスター入力、及びカテーテル先端運動のコンピュータグラフィックビューを調整し、そしてグラフィックシーンのカメラビューと整合性がとれるまで回転させる。この初期ビューのカメラポジションに関する3軸座標系変換行列
を保存する(下付き文字Gref及び下付き文字Crefはグローバル「リファレンス」ビュー及びカメラ「リファレンス」ビューを表わす)。カテーテル座標に対応するカテーテル「リファレンスビュー」行列は次式のように得られる。
プライマリビューとマスター入力装置座標系との間の一致は、マスター入力を次のように変換することにより得られる。表示のいずれかの任意のコンピュータグラフィックビュー、例えばi番目のビューが与えられるとすると、コンピュータグラフィックシーンのカメラビューの3軸座標系変換行列
はコンピュータグラフィックソフトウェアから得られる。該当するカテーテル変換行列は、上述の方法と同様の方法で計算することにより次式のように表わされる。
ビューの一致を実現するためにマスター入力に適用する必要のある変換は、上述のようにして登録したリファレンスビューから現在のi番目のビュー、すなわち
への変換を行なう変換である。既に計算した上記量を使用して、この変換を計算により次式のように表わす。
マスター入力はコマンドカテーテル入力(commanded catheter input)に、変換
を適用することにより変換される。コマンド入力が次式のように与えられると、
次式を計算により求めることができる。
このような関係に従って、プライマリビュー及びマスター入力装置の座標系を直感的操作に合わせることができる。
Xc=wcos(θ)
Yc=Rsin(θ)
Zc=wsin(θ)
上の式においては、次式のような関係がある。
w=R(1−cos(α))
α=[(φpitch)2+(φyaw)2]1/2 (曲がり合計)
(曲がり半径)
θ=atan2(φpitch,φyaw) (ロール角)
φpitch=αsin(θ)
φyaw=αcos(θ)
L=Rα
上の式においては、次式のような関係がある。
θ=atan2(Zc,Xc) β=atan2(Yc,Wc)
α=π−2β
Claims (18)
- ロボットガイドカテーテルシステムにおいて:
マスター入力装置を含むコントローラと;
前記コントローラと通信し、かつ前記マスター入力装置によって少なくとも部分的に生成される制御信号に応答する複数のガイド器具操作素子を含むガイド器具接続部(guide instrument interface)を有する器具操作装置(instrument driver)と;
ベース、遠位端、及び挿通用内腔を有する細長いガイド器具とを備え、前記ガイド器具のベースが前記ガイド器具接続部に操作可能に接続され、前記ガイド器具が、それぞれのガイド操作素子に操作可能に接続され前記ガイド器具の遠位端に固定される複数のガイド器具制御素子を備え、前記ガイド器具制御素子が前記ガイド器具に対して軸方向に移動できることにより、前記ガイド器具遠位端の動きを前記マスター入力装置の動きによって制御することができ、
さらに、ベース、遠位端、及び内腔を有する細長い鞘状器具を備え、当該鞘状器具を通って、前記ガイド器具が同軸状に配置され、前記器具操作装置がさらに、前記鞘状器具のベースに操作可能に接続された鞘状器具接続部を備え、
前記器具操作装置が、前記ガイド器具接続部が前記鞘状器具接続部に対して移動できるように構成され、前記ガイド器具が、前記鞘状器具に対して軸方向に移動できることを特徴とするロボットガイドカテーテルシステム。 - 請求項1に記載のロボットガイドカテーテルシステムにおいて、前記鞘状器具接続部が、前記マスター入力装置によって少なくとも部分的に生成される制御信号に応答する鞘状器具操作素子を備え、前記鞘状器具が、鞘状器具操作素子に操作可能に接続され前記鞘状器具の遠位端に固定された鞘状器具制御素子を備え、当該鞘状器具制御素子が前記鞘状器具に対して軸方向に移動することにより、前記鞘状器具遠位端の動きを、前記マスター入力装置の動きによって制御できることを特徴とするロボットガイドカテーテルシステム。
- 請求項1又は2に記載のロボットガイドカテーテルシステムにおいて、前記ガイド器具の外側表面及び前記鞘状器具内腔を画定する表面が係合するように構成され、前記鞘状器具に対する前記ガイド器具の回転運動を制限することを特徴とするロボットガイドカテーテルシステム。
- 請求項1乃至3のいずれか一項に記載のロボットガイドカテーテルシステムにおいて、前記コントローラ及び器具操作装置が、前記ガイド器具操作素子及び対応するガイド器具制御素子を個々に制御するように構成され、前記ガイド器具遠位端を所望通りに曲げることができることを特徴とするロボットガイドカテーテルシステム。
- 請求項4に記載のロボットガイドカテーテルシステムおいて、前記コントローラが、それぞれのガイド器具制御素子に加えられる張力を、前記ガイド器具に対する前記ガイド器具制御素子の所望の曲がりと直線運動との間の運動学的関係に基づいて決定することを特徴とするロボットガイドカテーテルシステム。
- 請求項1乃至5のいずれか一項に記載のロボットガイドカテーテルシステムがさらに、前記ガイド器具の挿通用内腔の中に配置され、かつ当該ガイド器具に対して軸方向に移動可能な操作器具を備えることを特徴とするロボットガイドカテーテルシステム。
- 請求項6に記載のロボットガイドカテーテルシステムにおいて、前記操作器具がアブレーションカテーテルであることを特徴とするロボットガイドカテーテルシステム。
- 請求項6に記載のロボットガイドカテーテルシステムにおいて、前記操作器具がガイドワイヤであることを特徴とするロボットガイドカテーテルシステム。
- 請求項6に記載のロボットガイドカテーテルシステムにおいて、前記操作器具が、拡張器及びニードルの内の一方又は両方を備えることを特徴とするロボットガイドカテーテルシステム。
- 請求項4乃至9のいずれか一項に記載のロボットガイドカテーテルシステムがさらに、撮影システム及びディスプレイを備え、当該撮影システム及びディスプレイの各々が、前記コントローラに動作可能に接続されることを特徴とするロボットガイドカテーテルシステム。
- 請求項10に記載のロボットガイドカテーテルシステムにおいて、前記撮影システムが、遠位部に手術用撮像装置(operative imaging element)を備える細長い撮影器具を備え、前記撮影器具が、体内経路又は体腔に留置されるように構成され、前記手術用撮像装置が、前記体内経路又は前記体腔の画像を取得するように構成され、前記撮影システムが、前記取得画像を前記ディスプレイに表示するように構成されることを特徴とするロボットガイドカテーテルシステム。
- 請求項10又は11に記載のロボットガイドカテーテルシステムにおいて、前記コントローラが、前記ガイド器具制御素子の一つに加えられる張力を、前記取得画像のデータに基づいて決定するように構成されていることを特徴とするロボットガイドカテーテルシステム。
- 請求項10乃至12のいずれか一項に記載のロボットガイドカテーテルシステムにおいて、前記撮影システムが、超音波撮像システム、光撮像システム、透視撮影システム、コンピュータ断層撮影システム、又はMR撮像システムを含むことを特徴とするロボットガイドカテーテルシステム。
- 請求項4乃至13のいずれか一項に記載のロボットガイドカテーテルシステムがさらに、前記コントローラに動作可能に接続された位置特定システムを備え、当該位置特定システムが、前記ガイド器具の位置情報を取得するように構成されることを特徴とするロボットガイドカテーテルシステム。
- 請求項14に記載のロボットガイドカテーテルシステムにおいて、前記コントローラが、それぞれのガイド器具制御素子に加えられる張力を、前記位置特定システムからの位置データに基づいて決定することを特徴とするロボットガイドカテーテルシステム。
- 請求項14又は15に記載のロボットガイドカテーテルシステムにおいて、前記位置特定システムが、超音波方式位置特定システム(ultrasound localization system)又は電磁波パルス発生位置特定システム(electromagnetic localization system)であることを特徴とするロボットガイドカテーテルシステム。
- 請求項1乃至16のいずれか一項に記載のロボットガイドカテーテルシステムがさらに、前記ガイド器具の遠位端に取り付けられた手術用接触検出装置(operative contact sensing element)を備えることを特徴とするロボットガイドカテーテルシステム。
- 請求項1乃至17のいずれか一項に記載のロボットガイドカテーテルシステムにおいて、前記器具操作装置が、前記ガイド器具の前記ガイド操作素子の一つを挿通可能とするスロットを有する筐体を備え、前記ガイド操作素子の一つが前記スロット内で平行移動可能であり、それにより、前記ガイド器具が前記器具操作装置に対して相対的に平行移動可能となっていることを特徴とするロボットガイドカテーテルシステム。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
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US55096104P | 2004-03-05 | 2004-03-05 | |
US60/550,961 | 2004-03-05 | ||
US55302904P | 2004-03-12 | 2004-03-12 | |
US60/553,029 | 2004-03-12 | ||
PCT/US2005/007108 WO2005087128A1 (en) | 2004-03-05 | 2005-03-04 | Robotic catheter system |
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JP2007527296A JP2007527296A (ja) | 2007-09-27 |
JP4755638B2 true JP4755638B2 (ja) | 2011-08-24 |
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JP2007502015A Expired - Fee Related JP4755638B2 (ja) | 2004-03-05 | 2005-03-04 | ロボットガイドカテーテルシステム |
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US (7) | US7972298B2 (ja) |
EP (2) | EP1720480A1 (ja) |
JP (1) | JP4755638B2 (ja) |
WO (1) | WO2005087128A1 (ja) |
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