JP5474303B2 - 手術計画立案 - Google Patents
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Description
本発明は、手術手技の計画を立案するための方法を提供し、その方法は、患者の解剖学的構造の統計的形状モデル(例えば、予め決定された解剖学的構造に関する。)を利用し、その統計学的形状モデルには、その手術手技で用いられるべきハードウェア(そのハードウェアは、例えば、インプラントまたは器具)のコンポーネントの表現(representation)が組み込まれている。
体の一部のバーチャルモデルを提供する過程であって、そのモデルは、患者の対応する実際の体の一部に実行される計画立案された手術手技の少なくとも一部を表す(represent)、バーチャルモデルに関連するデータを有する、バーチャルモデルを提供する過程と、
患者の実際の体の一部から導かれたデータを用いて体の一部のバーチャルモデルを変形する過程であって、バーチャルモデルの変形によって、計画立案された手術手技の一部を、患者の実際の体の一部の解剖学的構造を反映するように適合させる、バーチャルモデルを変形する過程と
を具備する。
図1は、本発明の大まかな概観を提供するフロー図を示す。図1に例示された方法100は、第1のステップ102を含み、第1のステップ102では、提案された手術計画を少なくとも部分的にまたは全体的に定義するために用いられる情報を組み込んだ統計的形状モデル(SSM)が創造される。SSMが創造された後に、SSMは、以下に記載される幅広いさまざまな用途で使用されうる。患者の解剖学的構造の患者に特異的なモデルが、患者の実際の解剖学的構造を表すデータに基づいて、事例を挙げて裏付けられ(instantiated)(ステップ104)、事例を挙げて裏付けられたモデルは、これも患者の解剖学的構造に特異的な手術計画立案情報をも、自動的に生成する。計画立案情報は、以下に記載されるように、幅広いさまざまな方法で用いることができる。
この発明の具体的な実施態様は以下の通りである。
(1)患者の体の一部に実行されるべき手術手技の少なくとも一部を自動的に計画立案する、コンピュータを用いて実施される方法において、
前記体の一部のバーチャルモデルを提供する過程であって、前記バーチャルモデルは、前記患者の対応する実際の体の一部に実行されるべき計画立案された手術手技の少なくとも一部を表す前記バーチャルモデルに関連するデータを有する、バーチャルモデルを提供する過程と、
前記患者の前記実際の体の一部から導かれたデータを用いて、前記体の一部の前記バーチャルモデルを変形する(morphing)過程であって、前記バーチャルモデルの変形によって、前記計画立案された手術手技の前記一部を、前記患者の前記実際の体の一部の解剖学的構造を反映するように、適合させる、バーチャルモデルを変形する過程と、
を具備する、方法。
(2)実施態様(1)に記載の方法において、
前記統計的形状モデルは、X線スキャンデータ、CTスキャンデータ、電磁的スキャンデータ、および、超音波スキャンデータ、のうちの少なくとも一つに基づいている、方法。
(3)実施態様(1)に記載の方法において、
前記バーチャルモデルを変形する前記過程は、前記患者からの解剖学的構造データに最も近いスキャンデータをデータライブラリから特定する過程を含む、方法。
(4)実施態様(1)に記載の方法において、
前記バーチャルモデルに、前記手技で用いられるべきハードウェアのコンポーネントの表現を組み込む過程、
をさらに具備する、方法。
(5)実施態様(4)に記載の方法において、
前記ハードウェアの前記コンポーネントは、手術器具を含む、方法。
(6)実施態様(4)に記載の方法において、
前記ハードウェアの前記コンポーネントは、インプラントを含む、方法。
(7)実施態様(4)に記載の方法において、
前記ハードウェアの前記コンポーネントの位置および姿勢は、少なくとも5自由度のデータで表されている、方法。
(8)コンピュータプログラムコードにおいて、
前記コンピュータプログラムコードは、実施態様(1)に記載の方法を提供するために、データ処理装置によって実行可能である、コンピュータプログラムコード。
(9)コンピュータプログラム製品において、
実施態様(8)に記載のコンピュータプログラムコードを記憶した、コンピュータによって読み取り可能な、媒体、
を含む、コンピュータプログラム製品。
(10)患者の体の一部に実行されるべき手術手技の少なくとも一部を自動的に計画立案する装置において、
データ処理装置と、
コンピュータプログラム命令を記憶するメモリと、
を具備し、
前記コンピュータプログラム命令は、
前記体の一部のバーチャルモデルを提供する過程であって、前記バーチャルモデルは、前記患者の対応する実際の体の一部に実行されるべき計画立案された手術手技の少なくとも一部を表す前記バーチャルモデルに関連するデータを有する、バーチャルモデルを提供する過程、および、
前記患者の前記実際の体の一部から導かれたデータを用いて、前記体の一部の前記バーチャルモデルを変形する過程であって、前記バーチャルモデルの変形によって、前記計画立案された手術手技の前記一部を、前記患者の前記実際の体の一部の解剖学的構造を反映するように、適合させる、バーチャルモデルを変形する過程、
を実行するように、前記データ処理装置を設定することができる、装置。
複数の訓練用被験者の画像から前記体の一部の解剖学的構造の形状を表す解剖学的構造データを生成する過程と、
前記複数の訓練用被験者の前記画像から、手術手技のための少なくとも一つの計画立案特性を記述するために用いることができる計画立案データを生成する過程と、
前記解剖学的構造データおよび前記計画立案データから統計的形状モデルを創造する過程と、
を具備する、方法。
(12)統計的形状モデルを事例を挙げて裏付け、手術計画立案情報を自動的に生成する方法において、
実施態様(11)に記載の方法に基づいて、統計的形状モデルを創造する過程と、
実際の患者の解剖学的構造から導かれた情報を用いて、前記実際の患者のモデルを事例を挙げて裏付ける過程であって、前記実際の患者の前記モデルを事例を挙げて裏付けることによって、前記患者の実際の解剖学的構造に適合された手術計画立案情報を直接または間接的に提供する手術計画立案データが、生成される、実際の患者のモデルを事例を挙げて裏付ける過程と、
を具備する、方法。
(13)患者の体の一部に実行されるべき手術手技の少なくとも一部を自動的に計画立案する装置において、
データ処理装置と、
コンピュータプログラム命令を記憶するメモリと、
を具備し、
前記コンピュータプログラム命令は、
前記体の一部に対する手術計画立案情報を組み込んだ統計的形状モデルからの実際の患者のモデルを、前記患者の前記解剖学的構造から導かれた情報を用いて、事例を挙げて裏付ける過程、および、
前記事例を挙げて裏付けられたモデルから前記患者の実際の解剖学的構造に適合された手術計画立案情報を生成する過程、
を実行するように、前記データ処理装置を設定することができる、装置。
(14)コンピュータプログラムコードにおいて、
実施態様(11)もしくは(12)に記載の方法、または実施態様(13)に記載の装置を提供するように、データ処理装置によって、実行可能である、コンピュータプログラムコード。
(15)コンピュータプログラム製品において、
実施態様(14)に記載のコンピュータプログラムコードを記憶した、コンピュータによって読み取り可能な、媒体、
を含む、コンピュータプログラム製品。
Claims (10)
- 患者の体の一部に実行されるべき手術手技の少なくとも一部を計画立案する、コンピュータを用いて実施される方法において、
前記体の一部の統計的形状モデルを提供する過程であって、前記統計的形状モデルが、前記体の一部の表面を表す複数の解剖学的構造の点および、前記患者の対応する実際の体の一部に対して実行されるべき前記計画立案された手術手技の一部において使用されるべきハードウエアのコンポーネントの位置、姿勢、寸法または種類を表すために用いられる前記計画立案のための複数の点を組み込んだものである、過程と、
前記患者の前記実際の体の一部から導かれたデータを用いて、前記体の一部の前記統計的形状モデルを例示する過程であって、前記体の一部の前記統計的形状モデルの例示が、前記計画立案された手術手技の前記一部に使用されるべきハードウエアの前記コンポーネントの前記位置、姿勢、寸法または種類を、前記患者の前記実際の体の一部の解剖学的構造を反映するように自動的に適合させて、前記計画立案された手術手技の前記一部に使用されるべき前記ハードウエアコンポーネントの前記位置、姿勢、寸法または種類を自動的に計画立案することも行う過程と、
を具備する、方法。 - 請求項1に記載の方法において、
前記統計的形状モデルは、X線スキャンデータ、CTスキャンデータ、電磁的スキャンデータ、および、超音波スキャンデータ、のうちの少なくとも一つに基づいている、方法。 - 請求項1に記載の方法において、前記計画立案のための複数の点は、前記体の一部に対する前記ハードウエアコンポーネントの前記位置および姿勢を表すために用いられ、前記統計的形状モデルの例示が、前記ハードウエアコンポーネントの前記位置および姿勢が自動的に適合させて、前記計画立案された手術手技の一部において使用されるべき前記ハードウエアコンポーネントの位置および姿勢が自動的に計画させることを行う、方法。
- 請求項1に記載の方法において、
前記ハードウェアの前記コンポーネントは、手術器具を含む、方法。 - 請求項1に記載の方法において、
前記ハードウェアの前記コンポーネントは、インプラントを含む、方法。 - 請求項5に記載の方法において、前記計画立案のための複数の点は、前記体の一部と前記インプラントの寸法とに対する前記インプラントの前記位置および姿勢を表すために用いられ、前記統計的形状モデルの例示が、前記インプラントの前記位置および姿勢および寸法が自動的に適合させて、前記計画立案された手術手技の一部において使用されるべき前記インプラントの位置および姿勢および寸法が自動的に計画させることを行う、方法。
- 請求項1に記載の方法において、
前記ハードウェアの前記コンポーネントの位置および姿勢は、少なくとも5自由度のデータで表されている、方法。 - 請求項1に記載の方法において、
前記統計的形状モデルが、ハードウェアの前記コンポーネントの位置および姿勢を特異的に確立するのに充分な、ハードウェアの前記コンポーネントに関するデータを含む、方法。 - 請求項1に記載の方法を提供するためのデータ処理装置によって実行可能なコンピュータプログラムを記憶した、コンピュータによって読み取り可能な、媒体。
- 患者の体の一部に実行されるべき手術手技の少なくとも一部を計画立案する装置において、
データ処理装置と、
コンピュータプログラム命令を記憶するメモリと、
を具備し、
前記コンピュータプログラム命令は、
前記体の一部の統計的形状モデルを提供する過程であって、前記統計的形状モデルが、前記体の一部の表面を表す複数の解剖学的構造の点および、前記患者の対応する実際の体の一部に対して実行されるべき前記計画立案された手術手技の一部において使用されるべきハードウエアのコンポーネントの位置、姿勢、寸法または種類を表すために用いられる前記計画立案のための複数の点を組み込んだものである、過程、および、
前記患者の前記実際の体の一部から導かれたデータを用いて、前記体の一部の前記統計的形状モデルを例示する過程であって、前記体の一部の前記統計的形状モデルの例示が、前記計画立案された手術手技の前記一部に使用されるべき前記ハードウエアコンポーネントの位置、姿勢、寸法または種類を、前記患者の前記実際の体の一部の解剖学的構造を反映するように自動的に適合させて、前記計画立案された手術手技の前記一部に使用されるべき前記ハードウエアコンポーネントの位置、姿勢、寸法または種類を自動的に計画立案することも行うように、前記体の一部の前記統計的形状モデルを例示する過程、
を実行するように、前記データ処理装置を構成することができる、装置。
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GB0504172.8 | 2006-01-03 | ||
PCT/GB2006/000744 WO2006092600A1 (en) | 2005-03-01 | 2006-03-01 | Surgical planning |
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FI2471483T4 (fi) | 2023-05-10 |
DK2471483T3 (da) | 2014-01-13 |
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