JP5550682B2 - バイオセンシング及び外科的処置のための能動的カニューレ - Google Patents
バイオセンシング及び外科的処置のための能動的カニューレ Download PDFInfo
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Description
本発明は概して、侵襲が最小となるような手術を行うための外科用カニューレ及びバイオセンサに関する。具体的には、本発明は、外科用器具、注入可能物、診断デバイス、及び/又はバイオセンサを複雑な軌跡を通して導くためのデバイスと方法に関する。
近年の、侵襲を最小にする外科技術(MIS)は、一般に伝統的な切開手術に起因する大規模な外傷を生じない外科的処置を可能にすることにより医学を革新した。MIS技術は、従来の切開手術技術では到達不可能だった解剖学的構造領域に医師がアクセスして処置を行うことを可能にした。更にMIS技術は、手術に伴う外傷を大きく減少させ、これにより手術に関連する合併症を減らし、術後の回復を促進させた。実現性のあるMISの代替技術無しで、人体(特に、頭部及び頸部)内部の閉じ込められたスペースにおける手術を行うには、単に手術部位への術具のアクセスを可能にするのに、健康な骨、皮膚、及び筋肉構造の大規模な切開と破壊的な解体が必要である。
関連技術によるMISツールは剛性の腹腔鏡デバイスを含み、このデバイスは、手術で器用な動きをするために体の内部及び外部の両方に大きな開放スペースを要する。開放スペースに対するこの要件は概して、多くの種類の手術において腹腔鏡デバイスの使用を妨げる。関連技術による他のMISツールは可撓性の形状記憶合金デバイスを含み、この場合デバイスの形状は、デバイスが患者の体内で案内される際に形状記憶合金に熱を加えることにより変更が可能である。このようなデバイスの1つの問題は、周囲の組織に意図せずに熱を加えてしまうことである。別の問題は、形状記憶合金の熱時定数が、加えた適切な熱が放散するのにかなりの時間(数秒に亘る)を要することである。これらの熱時定数によって生じる遅れはこのようなMISデバイスの使用を制限する。
頭部及び頸部に関する外科的処置は、MIS技術の出現をもってしても特に難題である。例えば、頭蓋底における病変の処置では、一般に、鼻を通してMISデバイスを内視鏡的に挿入する。関連技術によるMISデバイスは、洞内の小さな開口部を迂回して又は通って曲がる器用さに欠けるので、頭蓋底を含む種々の手術部位にMISデバイスを到達させるために、鼻甲介のような多くの健康な組織及び骨構造を除去しなければならない。鼻甲介に関し、その通常の機能は、空気を浄化すること及び嗅覚を助けることである。手術部位へのアクセスのために除去されてしまうと、その機能が回復するような方法で鼻甲介を再構築することはできない。関連技術による直線的MISデバイスを用いて到達できない手術部位の例を二つ挙げると、頚動脈の後の区域(眼底の近く)及び前頭洞で、これらの区域は鼻柱の直ぐ後に位置する骨を迂回して到達する操作を要する。
従って、必要とされるのは、他の手法では到達不可能な手術部位に到達するために、解剖学的身体部分を迂回して操作できる器用さを有する手術具である。更に、必要とされるのは、組織媒体だけでなく、洞、喉、及び肺のような空洞内の自由空間を通して動かすことが可能な手術デバイスである。
本発明の別の利点は、対象となる組織領域への到達過程で組織が受ける付帯的外傷を低減することである。
本発明の更に別の利点は、治療及び診断のための針の解剖学的特徴の到達能を増大させることである。
本発明の更に別の利点は、外科用カニューレの小型化が進むことである。
上記以外の本発明の利点は以下の説明で開示され、その一部は説明から明らかになるか、又は本発明の実施により教示される。本発明の利点は、添付図面だけでなく、本明細書及び特許請求の範囲において指摘される構造によって実現され、取得される。
本発明は、中に外科針を配置することができる能動的カニューレ(外科用カニューレとも称する)に関する。能動的カニューレは、蛇状外科用ロボットとも称される。能動的カニューレは、複数の同心の可撓性中空チューブを有し、各チューブは所定の可撓性と予め形成された湾曲とを有する。能動的カニューレの先端部は、可撓性チューブの各々を選択的に平行移動及び回転させることにより前進する。能動的カニューレは、各可撓性チューブの可撓性、予め形成された湾曲、角度方向、及び平行移動位置に応じて、自由空間(例えば、洞の通路又は気管支の気道内で)及び/又は異なる抵抗を有する組織内における能動的カニューレの操作を可能にする計画された複雑形状を取るように操作することができる。能動的カニューレの形状は組織媒体の抵抗による影響も受ける。この場合、組織媒体の抵抗を利用して、能動的カニューレを導くことができる。能動的カニューレは、可撓性チューブが平行移動及び回転の間に互いに対してスライドする際に可撓性チューブの各々に蓄積される弾性エネルギーによって連続的に作動することができる。
更に、同心の可撓性チューブの相互作用力を介して「内部で押し合うこと」により、自由空間内又は組織媒体内を通って導かれながら、能動的カニューレは複雑な形状を取ることができる。これは、手術針を、軟組織又は動脈壁のような解剖学的形状で有り得る組織媒体に押し付けることにより導く関連技術の方法と対照的である。
制御コンピュータ145は、制御ネットワーク接続146aを介してホストコンピュータ150に接続される。ホストコンピュータ150と制御コンピュータ145とが同じ場所に配置されている場合、制御ネットワーク接続146aはローカルエリアネットワーク(LAN)である。別の構成として、ホストコンピュータ150と制御コンピュータ145は大きく距離を隔てて配置することができ、その場合制御ネットワーク接続146aはインターネットを含むことができる。
システム100は更に、医療用画像化システム160を含むことができ、この医療用画像化システム160は画像プロセッサ165を有する。画像プロセッサ165は、画像化ネットワーク接続146bを介してホストコンピュータ150に接続することができ、画像化ネットワーク接続146bは、制御ネットワーク接続146aと同じ種類のネットワーク接続とすることができる。
医療用画像化システム160は、蛍光透視、MRI、超音波等の、1以上の医療用画像化態様を含むことができる。医療用画像化システム160の特定の画像化態様は、能動的カニューレ102に用いられる材料と、能動的カニューレ102を用いる患者の体170の性質とに応じて決定することができる。医療用画像化システム160は、ホストコンピュータ150上で動くソフトウェアによる能動的カニューレ102の画像に基づくフィードバック制御を可能にするのに十分な適時性及び十分なフレーム率を有する3次元画像を提供する種類のものとすることができる。
外部可撓性チューブ110は、ニチノール等の形状記憶合金を用いて作製できるが、外科的使用に適し、例えば材料特性によって、又はチューブ壁の厚さを指定することによって予め定めることの可能な可撓性を有するものであれば、他の材料を使用することもできる。
外部可撓性チューブ110の場合と同様に、中間可撓性チューブ115は、ニチノール等の形状記憶合金を用いて作製できるが、外科的使用に適し、例えばチューブに特定の厚さを指定することによって予め定めることの可能な可撓性を有するものであれば、他の材料を試用することもできる。更に、中間可撓性チューブ115には、能動的カニューレ102に意図された形状、厚さ、及び全体的可撓性に応じて、外部可撓性チューブ110と同じ材料を用いても用いなくてもよい。
外部可撓性チューブ110の場合と同様に、内部可撓性チューブ120は、ニチノール等の形状記憶合金を用いて作製できるが、外科的使用に適し、例えばチューブに特定の厚さを指定することによって予め定めることの可能な可撓性を有するものであれば、他の材料を用いることもできる。更に、内部可撓性チューブ120には、外部可撓性チューブ110及び中間可撓性チューブ115と同じ材料を用いても用いなくてもよい。
図2Dは、図2A〜図2Cに示される各チューブを含む能動的カニューレ102を示す。内部可撓性チューブ120は中間可撓性チューブ115内に挿入されており、内部可撓性チューブ120と中間可撓性チューブ115との組合せは外部可撓性チューブ110内に挿入されている。
図3に示すように、能動的カニューレ102は複数の重なり合い移行点T1〜T5を有する。各重なり合い移行点T1〜T5は、外部可撓性チューブ110、中間可撓性チューブ115、及び内部可撓性チューブ120(又はこれら3つのチューブのいずれかの部分集合)の各々がほぼ一定の湾曲度を有するか又は湾曲を欠如する領域の境界を画定する。例えば、重なり合い移行点T1とT2の間の領域は、外部チューブ湾曲区分212と、中間チューブ直線区分215と、内部チューブ直線区分220とを含む。重なり合い移行点T2は、中間チューブ移行点216と一致する。従って、重なり合い移行点T2とT3の間の領域は、外部チューブ湾曲区分212と、中間チューブ湾曲区分217と、内部チューブ直線区分220とを含む。
図4Bは、本発明による例示的な2軸作動器405を示す。2軸作動器405は、外部駆動モジュール130、中間駆動モジュール135、及び内部駆動モジュール140のいずれに用いてもよい。2軸作動器405は、可撓性チューブ(例として外部可撓性チューブ110を示す)に堅固に取り付けることが可能な案内ねじ棒410と、案内ねじ棒410にねじ係合するナット415と、平行移動歯車425を介してナット415に結合される直線平行移動モータ435とを含む。2軸作動器405は更に、スプロケット437を介して案内ねじ棒410に結合されるベルト駆動部440を含む。ベルト駆動部440は、回転歯車445を介して回転モータ450にも結合される。2軸作動器405はまた、制御コンピュータ145に直線平行移動位置と角度方向の信号をそれぞれ供給する平行移動及び回転エンコーダ(図示しない)を含むことができる。
回転の場合、回転モータ450が、制御コンピュータ145から、特定の回転角だけその可撓性チューブを回転させるようにとの命令を受ける。これに応答して、回転モータ450は回転歯車445を回転させ、この回転歯車445はベルト駆動部440と係合する。ベルト駆動部440はスプロケット437と係合し、次にスプロケット437が案内ねじ棒410を回転させる。このような案内ねじ棒410の回転が、ナット415の存在によって案内ねじ棒410を平行移動させることに留意されたい。従って、寄生的な平行移動を防止するために、直線平行移動モータ435はナット415を反対方向に回転させることによって補償を行う。従って、可撓性チューブの純粋な回転には、回転モータ450と直線平行移動モータ435との負時の調和が必要である。
2軸作動器には様々な変形例が可能である。例えば、2軸作動器405は、それぞれ直線平行移動モータ435及び回転モータ450に優先して作動するノブのような手動制御器を含むことができる。更に、システム100は、モータ駆動式作動器と手動作動式との組み合わせを含むことができる。更に、2軸作動器は例示的なものである。従って、ここに示す方法以外に、可撓性チューブの各々の直線平行移動及び回転を行う他の方法が可能である。当業者であれば、本発明の範囲内で多数のこのような変形が可能であることを容易に理解するであろう。
ステップ605において、医療用画像化システム160は患者の体170の内部の画像を取得する。医療用画像化システム160は、進入点175及び手術部位180を含む視野を有するように構成することができる。その画像化態様(例えば、MRI、超音波等)により、医療用画像化システム160は、画像の各画素又は3D画素が画像座標フレームに登録されている患者の体の三次元画像を取得することができる。画像プロセッサ165は、画像、並びに画像登録情報を、画像化ネットワーク接続146bを介してホストコンピュータ150に供給することができる。
医師は、経路及びその誤境界を画定するためのユーザインタフェース155を用いることができる。その際、医師は、ステップ605において取得された登録画像内部の点にタグをつけるためにカーソルを用いることができる。ソフトウェアは、登録画像中のこれら選択された点の位置を特定し、これらの位置をメモリ152に記憶する。
経路に適合した最終構成を計算するため、ソフトウェアは、重なり合い移行点T1〜T5によって画定される一組の領域に能動的カニューレ102を分割する。その際、ソフトウェアは、外部可撓性チューブ110及び中間可撓性チューブ115の各々について、平行移動位置と回転方向位置との最初の組を選択することができる。重なり合い移行点T1〜T5の位置は、3つの可撓性チューブの重なり合いに依存する。次いで、重なり合い移行点T1〜T5により画定された各領域について、ソフトウェアが、次の関係式により、その領域における瞬時的平衡曲線(x及びy成分)を計算する。
ここで、nは可撓性チューブの数(本実施例ではn=3)であり、κiはその領域内でのi番目の可撓性チューブの瞬時的湾曲であり、Eiは当該i番目の可撓性チューブの材料の弾性係数(ヤング係数)であり、Iiはi番目の可撓性チューブの横断面慣性モーメントであり、θiは作動器の方向で最も近い重なり合い移行点Tにおけるi番目の可撓性チューブの角度方向であり、φは、組み合わされた可撓性チューブの個別の角度方向が既知である場合のこれら組み合わせの平衡角であり、φは当該領域の底部において決定される。言い換えれば、例えば、重なり合い移行点T3とT4によって画定された領域のφは、T3における平衡角に関係する。
ここで、αiは、内部駆動モジュール140、中間駆動モジュール135、及び外部駆動モジュール130に入力される角度であり、θi,jはj番目の移行点Tjにおけるi番目の可撓性チューブの角度であり、φ1,φ2,・・・φmは、重なり合い移行点Tの間のm個の重なり合い領域の各々の平衡平面であり、q=(θ1,1,θ1,2,・・・θ1,n,φ1,φ2,・・・φm)である。E(q)の最小値を解くことで、移行点T1における回転方向θ1,1,θ1,2,・・・θ1,n、及び移行点T間の各重なり領域の平衡平面φ1,φ2,・・・φmが得られる。これらの値はまた、能動的カニューレ102の移行点T間の各重なり領域における湾曲を計算するために、上記等式のκx及びκyに用いることができる。
図7は、可撓性チューブを制御するための運動フレームを示す。図示のように、φは重なり合い移行点Tiにおける可撓性チューブ710の平衡角を示し、αは2軸作動器405の回転モータによって伝達される入力回転角を示す。
ステップ620では、ソフトウェアは、ステップ615において計算された最終構成を徐々に達成でき、医師によって決定された経路及び誤境界以外に位置することのない能動的カニューレ102の複数の構成を計算する。その際、ソフトウェアは、一連の中間構成を計算し、各中間構成を達成する一組の直線平行移動及び回転を計算することができる。ソフトウェアは、計算された各中間構成を次に計算される中間構成の初期構成としながら、上記ステップ615において行われた計算とほぼ同様の計算を反復的に行うことができる。
ステップ625では、ソフトウェアは、ステップ615及びステップ620においてそれぞれ計算された能動的カニューレの最終及び中間構成を、医療用画像化システム160の座標フレームに登録する。その際、ソフトウェアは、ステップ605において取得された登録画像に、ステップ610において医師が経路を指定したものを取り出し、能動的カニューレ102の最終及び中間構成を登録することができる。この結果、1の中間構成につき1の曲線と最終構成の1の曲線とからなる一組の曲線が得られ、各組の湾曲は重なり合い移行点T1〜T5の間の能動的カニューレ102の領域に対応する。ソフトウェアはこれを、能動的カニューレの起点(画像スペースに登録されている)から開始して、進入点175を通り、手術部位180で(又は中間構成における能動的カニューレ102のエンドエフェクタ125において)で終結することによって行うことができる。ソフトウェアはこれらの湾曲の組をメモリ152に格納する。
実行サブプロセスの第1のステップであるステップ630において、医師は(ユーザインタフェース155を介して)ソフトウェアに対し、ステップ620(経路計画サブプロセス)で計算された第1の中間構成へ能動的カニューレ102を動かすように命令する。その際、ホストコンピュータ150及び/又は制御コンピュータ145上で実行されるソフトウェアは、ステップ620で計算された第1の中間構成を達成するように外部駆動モジュール130、中間駆動モジュール135、及び内部駆動モジュール140の各々の平行移動モータ435及び回転モータ450に対し、適切に命令する。
ステップ640では、ソフトウェアは、能動的カニューレ102の登録画像を、ステップ620で計算された中間構成と比較する。その際、ソフトウェアは、2つの画像を比較するための多数の画像処理アルゴリズムのうちの1以上を利用することができる。更に、ソフトウェアは、セグメント化されて登録された能動的カニューレ102の座標を、所与の中間構成の計算された座標と比較し、この比較に基づいて経路誤り又は微分変位を計算することができる。
ステップ655では、ソフトウェアは、所与の中間構成がステップ615において計算された最終構成であるかどうかを決定する。そうである場合、プロセス600はステップ655から「はい」の分岐を通って進み、終了する。最終構成でない場合、プロセス600はステップ655の「いいえ」の分岐を通って進み、次の中間構成(又は最終構成)についてステップ630〜645を繰り返す。
ステップ650では、ソフトウェアにより、ステップ630において能動的カニューレ102が患者の体170を通して押し込まれた際に能動的カニューレ102に加わる力及びトルクを計算する。ソフトウェアは、次の関係式によってこの力及びトルクを計算することができる。
ここで、fx,y,zは2つの重なり合い移行点Ti及びTi+1の間の所与の領域において組織媒体によって能動的カニューレ102上に伝達される力の成分であり、τx,y,zは、同じ領域において組織媒体によって能動的カニューレ102上に伝達されるトルクであり、dispx,y,zは、ステップ640において計算された能動的カニューレ102の微分変位の平行移動成分であり、rotx,y,zは、ステップ640において計算された能動的カニューレ102の微分変位の回転成分であり、Kはコンプライアンス行列である。この行列は、2つの重なり合い移行点TiとTi+1の間の所与の領域の能動的カニューレ102の力とトルクのコンプライアンスに対応する6X6行列である。
ここで、dは可撓性チューブの直径であり、εは可撓性チューブの材料の、復元可能な最大ひずみである。ニチノールのεは、0.08〜0.1である。上記の関係式から推測できるように、可撓性チューブが細いほど最大湾曲度は大きく(又は最小曲率半径が小さく)なる。従って、ステップ610で医師により決定された経路によっては、チューブは細い方が望ましい。ソフトウェアは、ステップ610において決定された経路に応じて医師が可撓性チューブの好ましい太さを選択するのを援助する。
能動的カニューレ102、システム100、及びプロセス600の変形例が可能であり、且つ本発明の範囲に含まれる。例えば、能動的カニューレ102内の可撓性チューブの一部又は全部は、ほぼ同じ度合いの可撓性を有してもよく、又は異なる度合いの可撓性を有してもよい。可撓性チューブのすべてが同様の可撓性を有する場合、能動的カニューレ102の動きは機敏となり、複雑な経路内を容易に導くことができる。別の構成では、外部可撓性チューブ110を中間可撓性チューブ115より堅くし、中間可撓性チューブ115を内部可撓性チューブ120より堅くすることができる。この場合、能動的カニューレ102の機敏さは前記実施例(全ての可撓性チューブが同じ可撓性を有する)より低下する。しかしながら、後者の場合、能動的カニューレ102の経路は計算し易く、例えば図5に示した手動2軸作動器505を用いることにより、手動操作能が向上する。
能動的カニューレ102内の任意の可撓性チューブは、1の湾曲区分のみ又は1の直線区分のみを有してもよい。更に、任意の可撓性チューブは、各々が異なる湾曲度合い(湾曲のない場合を含む)を備える複数のセグメントを有することができる。これにより、能動的カニューレ102は更に複雑な形状を取ることが可能になる。例えば、任意の可撓性チューブは、一連の3次元湾曲と直線領域とを有することができる。また、任意の可撓性チューブは、らせん形状、楕円形状、放物線形状、3次元での可変湾曲等の複雑な形状を持つセグメントを有することができる。これらの場合のいずれにおいても、特定の可撓性チューブの曲率半径の変化を表わす複数の移行点(内部チューブ移行点221、中間チューブ移行点216、及び外部チューブ移行点211等)を画定することができる。従って、ステップ615及びステップ620におけるカニューレの最終及び中間構成の計算の一部において、重なり合い領域を画定するために、湾曲の個別の段階をセグメント化することができる。
別の変更例では、1以上の可撓性チューブは基準となる指標を有することができ、これらの基準はチューブ材料に埋め込むことができ、医療用画像化システム160に可視となるように設計することができる。例えば、医療用画像化システム160が光学カメラである場合、埋め込まれる基準は、色付きの縞、又は明色と暗色の縞の形態を取ることができる。更に、医療用画像化システムがCアーム透視装置である場合、埋め込まれる基準は、チューブ材料に植え込まれたワイヤ構造を含むことができる。当業者であれば、多数のこのような変形が可能であり且つ本発明の範囲に含まれることを理解するであろう。
上述の肺及び咽頭の手術に加えて、本発明は、能動的カニューレ102及びシステム100により付与される器用さが有利となる他の手術法にも使用できる。このような手術法には高周波切除が含まれる。高周波切除においては、手術部位に電極が置かれ、電極の周囲の組織を加熱するために、無痛高周波エネルギーが伝達される。この手術法は、肝臓、腎臓、及び肺の腫瘍の治療の一部として細胞を殺すために用いられる。能動的カニューレ102及びシステム100は、電極を配置するのに用いることができる。
別の可能な外科的適用途には経胃手術が含まれ、この場合、口から術具を胃に挿入し、胃から腹腔に出す。能動的カニューレ102の、器用さ、並びに自由空間及び組織内を導き易い性質は、経胃手術を可能にすることができる。
上記の説明は本発明の外科的用途に関するが、当業者であれば、自由空間を伴う複雑な経路を通してデバイスを導く必要がある他の用途に使用できることを理解するであろう。他の用途には、製造及び微細組立、遠隔構造検査、兵器の信管除去、崩壊した構造物内部での捜索及び救出等が含まれる。
Claims (9)
- 外科用カニューレを導くためのソフトウェアにより符号化されたコンピュータで読取り可能な媒体であって、当該ソフトウェアが、
所望のカニューレ経路を受け取るプログラム、
所望のカニューレ経路にほぼ合致する複数の重なり合う可撓性チューブの構成を計算するプログラムであって、複数の重なり合う可撓性チューブの構成がカニューレの湾曲を規定する、プログラム、
所望のカニューレ経路に対応する複数の中間的構成を計算するプログラムであって、複数の中間的構成の各々は、複数の中間的構成の少なくとも一つが複数の中間的構成の他の少なくとも一つと異なるように、予め形成された湾曲と複数の可撓性チューブの少なくとも一つの可撓性との関数であるカニューレの中間的湾曲を規定する、プログラム、及び
複数の中間的構成に従って、複数の重なり合う可撓性チューブの少なくとも一つを作動させる複数の作動器に命令するプログラム
を含む、コンピュータで読取り可能な媒体。 - ソフトウェアが更に、
カニューレの画像を取得するプログラム、
画像内のカニューレの位置を登録するプログラム、及び
カニューレの位置を所望のカニューレ経路と比較するプログラム
を含む、請求項1に記載のコンピュータで読取り可能な媒体。 - ソフトウェアが更に、カニューレに加わる力及びトルクを計算するプログラムを含む、請求項2に記載のコンピュータで読取り可能な媒体。
- 複数の重なり合う可撓性チューブの構成を計算するプログラムが、
前記複数の重なり合う可撓性チューブの複数の重なり合う領域を特定するプログラム、及び
重なり合う領域の各々の内部の、複数の重なり合う可撓性チューブの各々の予め形成された湾曲と、重なり合う可撓性チューブの各々の可撓性とに基づいて、複数の重なり合う領域の各々の湾曲を計算するプログラム
を含む、請求項1に記載のコンピュータで読取り可能な媒体。 - 各々が予め所定の湾曲を有し重なり合う複数の可撓性チューブを有する外科用カニューレの動作決定方法であって、
所望のカニューレ経路に応じて、ホストコンピュータが、結果として得られる重なり合い構成の湾曲を形成するための、複数の可撓性チューブの最終的な重なり合い構成を決定するステップ、及び
前記ホストコンピュータが、前記結果として得られる重なり合い構成を達成するまでの、前記複数の可撓性チューブの複数の中間的重なり合い構成を決定するステップであって、複数の中間的構成の各々は、複数の中間的構成の少なくとも一つが複数の中間的構成の他の少なくとも一つと異なるように、予め形成された湾曲と複数の可撓性チューブの少なくとも一つの可撓性との関数であるカニューレの中間的湾曲を規定する、ステップ
を含む方法。 - 前記最終的な重なり合い構成を決定するステップが、前記複数の重なり合う可撓性チューブの各々の平行移動及び回転を決定するステップを含む、請求項5に記載の方法。
- 前記ホストコンピュータにより複数の中間的重なり合い構成の各々に従って決定された各可撓性チューブの各々の平行移動及び回転に関する信号を受信して、複数の可撓性チューブの各々を駆動する各駆動モジュールが、前記複数の可撓性チューブの各々を平行移動及び回転させるステップを更に含む、請求項5又は6に記載の方法。
- 前記最終的な重なり合い構成を決定するステップが、
複数の重なり合う可撓性チューブの各々に対応する平行移動及び回転の最初の組を選択するステップ、
平行移動及び回転の最初の組に対応する複数の重なり合う領域を特定するステップ、及び
複数の重なり合う領域の各々に対応する瞬間的湾曲を計算するステップ
を含む、請求項5から7のいずれか一項に記載の方法。 - 前記複数の重なり合う領域の各々に対応する瞬間的湾曲を計算するステップが、
外科用カニューレの直線区分に対応する捩れエネルギーを計算するステップ、
外科用カニューレに対応する曲げエネルギーを計算するステップ、及び
最小の捩れエネルギーと最小の曲げエネルギーとに対応する外科用カニューレの形状を求めるステップ
を含む、請求項8に記載の方法。
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US8715226B2 (en) | 2014-05-06 |
JP2009515657A (ja) | 2009-04-16 |
JP2015198940A (ja) | 2015-11-12 |
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