JP6751456B2 - ロボット外科手術システムで使用するための拡張現実ナビゲーションシステムおよびその使用方法 - Google Patents
ロボット外科手術システムで使用するための拡張現実ナビゲーションシステムおよびその使用方法 Download PDFInfo
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Description
本開示がより容易に理解されるようにするために、本明細書で使用される特定の用語は以下に定義される。以下の用語およびその他の用語についての追加的な定義は、本明細書全体を通して規定されている場合がある。
本明細書に開示されている拡張現実ナビゲーションシステムは、少なくとも部分的に透明な表示画面を含む頭部装着型ディスプレイと、現実世界の特徴を識別するために頭部装着型ディスプレイに接続された(例えば、それ上に配置された)少なくとも一つの検出器と、コンピュータサブシステムとを備える。コンピュータサブシステムは、例えば、軌道計画および実行を含む処置中に外科医にとって有用な様々なナビゲーションタスクを実行するように構成されうる。移動センサーは、追加的な機能および/または性能を提供する(例えば、選択入力手段またはドリフト補正など)拡張現実ナビゲーションシステムを着用する外科医の頭部の動きを検出するために随意に含めることができる。本開示の特定の実施形態に従っている特定の外科手術で使用するための拡張現実ナビゲーションシステムは、米国特許公開第2016−0225192 A1号(2016年8月4日公開)に記載があり、その開示はその全体を参照することにより本明細書に組み込まれる。
図1は、本開示の一部の実施形態に従って構成された拡張現実ナビゲーションシステム100(また「HMD 100」とも称される)を示す。図1を参照すると、HMD 100は、拡張グラフィック(例えば、ビデオおよび他の画像)を処理して、ユーザーによって表示されるために、表示画面110(例えば、LCDディスプレイ、表示モジュールが画像などを投影する反射型スクリーンなど)上に表示する表示モジュールに接続された半透明の表示画面110を含む。表示モジュールは、HMD 100のハウジング118内にあってもよく、または通信可能に接続されたコンピュータサブシステム内に収容されてもよい。
600に供給されるビデオストリームに図式的な印および/またはテキスト情報を追加してもよい。
100、手術部位804、手術用器具800、および/または手術用器具802の現在位置と、(ii)患者モデルに含まれる現実世界の特徴表現とを使用して、患者モデルをHMD 100の着用者の現在の透視図に変換することができる。次に、変換された患者モデルの一部またはすべてを、拡張グラフィックを使用してHMD 100の表示画面上に表示し、例えば、外科医に対して、手術部位804または患者のその他の標的位置の上に、拡張グラフィカルオーバーレイを正確な配向および尺度で提供できる。
本明細書に開示される実施形態による拡張現実ナビゲーションシステムは、処置の間のナビゲーションを提供および/または支援するために、外科手術を実施する方法において使用されうる。そのため、特定の実施形態において、ナビゲーション入力データは、ロボット外科手術システムに供給されるか、ロボット外科手術システムから取得されるか、またはその両方ができる。一般的に、本明細書に開示される方法では、頭部装着型ディスプレイに装着された(例えば、取り付けられた)少なくとも一つの検出器は、少なくとも一つの検出器によって検出された現実世界の特徴に基づくナビゲーションに使用される座標系を決定するために使用される。一部の実施形態では、拡張現実ナビゲーションシステムは、そうでなければ外科医の自然な視野から見えない、手術用器具、外科手術装置、および/またはロボット外科手術システムの一部を示す拡張グラフィックを表示する。手術用器具は、ロボット外科手術システム(例えば、それに取り付けられたツールガイドを介して)に取り付けられるか、またはその中へと挿入されうる。一部の実施形態では、拡張現実ナビゲーションシステムは、ロボット外科手術システムからナビゲーション入力データ(例えば、ロボット外科手術システムの位置および/または配向、その上に保存されたか、それによって生成されたモデル、および/またはロボット外科手術システムによって追跡可能な一つ以上の軌道を含む)を受信する。一部の実施形態では、拡張現実ナビゲーションシステムは、ロボット外科手術システムが追跡可能な軌道を画定するために、ポインタツールと併せて使用される。ポインタツールは、ロボット外科手術システムに取り付けてもよく、それに挿入されてもよい。一部の実施形態では、拡張現実ナビゲーションシステムは、ロボット外科手術システムが追跡可能な軌道の決定にグラフィックを使用するために、軌道選択ガイダンスの拡張グラフィックを表示するように構成される。
Claims (20)
- ロボット外科手術システムと併用するための拡張現実ナビゲーションシステムであって、前記システムが、
ユーザーの自然視野の少なくとも一部分に重ね合わせるために、ユーザーに対して表示される拡張グラフィックを表示するよう構成された少なくとも部分的に透明な表示画面を備えた頭部装着型ディスプレイと、
現実世界の特徴を識別するための少なくとも一つの検出器であって、前記少なくとも一つの検出器が前記頭部装着型ディスプレイに装着されているものと、
マーカーを有し、少なくとも一つの検出器によって検出されるように構成された手術用器具であって、識別された現実世界の特徴に基づく、前記手術用器具の少なくとも一部分のグラフィカル表現および前記手術用器具の軌道のグラフィカル表現が前記頭部装着型ディスプレイ内に提示されるものとを備え、
前記少なくとも一つの検出器からの検出器入力信号が、前記少なくとも一つの検出器の視野に対応し、前記視野が外科手術中の患者の解剖学的構造の少なくとも一部を含み、
前記検出器入力信号が、前記現実世界の特徴のうちの一つ以上の相対位置および/または配向のそれぞれを含み、
前記頭部装着型ディスプレイは、ユーザーの自然視野から見えない身体部分の拡張グラフィカル表現を表示するように構成され、
前記手術用器具が前記ロボット外科手術システムに挿入されるか、またはそれに接続されている、拡張現実ナビゲーションシステム。 - 前記検出器は、現実世界の特徴を検出するためのカメラシステムを含み、前記頭部装着型ディスプレイに電気的に結合されている、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記頭部装着型ディスプレイが、前記手術用器具および手術用器具の軌道のグラフィカル表現を、前記患者の前記解剖学的構造上に重ねて表示する、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記頭部装着型ディスプレイの測定された動きに基づいて、動き信号を出力するために、前記頭部装着型ディスプレイに接続された動きセンサーをさらに含む、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記ロボット外科手術システムが、アームと、前記アームの第一の端部に連結されたエンドエフェクターと、前記アームの第二の末端に連結された基部とを含み、前記アームが、前記手術用器具をユーザーによって選択された軌道に受けるように構成された前記エンドエフェクターを移動させる、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記ロボット外科手術システムおよび前記拡張現実ナビゲーションシステムが、選択された軌道内の前記ロボットアームを制御するための触覚フィードバックシステムを含む、請求項5に記載の拡張現実ナビゲーションシステム。
- 前記手術用器具が、前記手術用器具を前記ユーザー選択の軌道に制約する触覚フィードバックシステムとの追跡マーカー通信を含む、請求項6に記載の拡張現実ナビゲーションシステム。
- 前記少なくとも一つの検出器が、少なくとも40度の最小視野を有する検出器を備える、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記頭部装着型ディスプレイが、あたかも前記ユーザーが前記患者の組織および/または器官の介在レイヤーを通してユーザーの自然視野から見えない前記手術用器具の部分を見ているかのように、前記ユーザーの視点から前記手術用器具の前記配向およびサイズに一致する、グラフィカルオーバーレイとしての、ユーザーの自然視野から見えない前記手術用器具の前記部分の拡張グラフィカル表現を前記表示画面内に表示するように構成されている、請求項1に記載の拡張現実ナビゲーションシステム。
- 外科手術計画の選択を作成するためのポインタツールを備え、前記ポインタツールが前記少なくとも一つの検出器によって検出されるように構成されている、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記ロボット外科手術システムが、医療画像データに基づき、患者の解剖学的構造を前記拡張現実ナビゲーションシステム、および前記患者の解剖学的モデルに登録する、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記少なくとも一つの検出器が、ビデオカメラを備え、映像信号を前記頭部装着型ディスプレイに送信して、前記ユーザーにとって、前記ユーザーの自然な視野の少なくとも一部分に重なっているように見える拡張グラフィックを表示する、請求項1に記載の拡張現実ナビゲーションシステム。
- 前記外科手術手順が、脊髄外科手術、整形外科手術、整形外科外傷外科手術、および神経外科手術のうち少なくとも一つを含む、請求項1に記載の拡張現実ナビゲーションシステム。
- ロボット外科手術システムと併用するための拡張現実ナビゲーションシステムであって、前記システムが、
ユーザーの自然視野の少なくとも一部分に重ね合わせるために、ユーザーに対して表示される拡張グラフィックを表示するよう構成された少なくとも部分的に透明な表示画面を備えた頭部装着型ディスプレイと、
現実世界の特徴を識別するための少なくとも一つの検出器であって、前記少なくとも一つの検出器が前記頭部装着型ディスプレイに装着されているものと、
識別された現実世界の特徴に基づく、手術用器具の少なくとも一部分のグラフィカル表現および外科手術中の手術用器具の軌道のグラフィカル表現を生成するプロセスと、少なくとも一つの検出器から受信した検出器入力信号内で、一つ以上の現実世界の特徴の相対位置および/または配向に基づき、前記グラフィカル表現の少なくとも一部分を修正するプロセスと、修正された表現に基づき、前記表示画面上に手術用器具拡張グラフィックおよび軌道拡張グラフィックを表示するプロセスとを含み、前記手術用器具がロボット外科手術システムへの挿入、またはそれとの接続に適合した、コンピュータサブシステムとを備え、
前記頭部装着型ディスプレイは、あたかも前記ユーザーが患者の組織および/または器官の介在レイヤーを通してユーザーの自然視野から見えない身体部分を見ているかのように、前記ユーザーの視点からユーザーの自然視野から見えない前記身体部分の前記配向およびサイズに一致する、グラフィカルオーバーレイとしての、ユーザーの自然視野から見えない前記身体部分の拡張グラフィカル表現を表示するように構成される、拡張現実ナビゲーションシステム。 - 前記コンピュータサブシステムが、複数の手術用器具軌道のそれぞれについて手術用器具拡張グラフィックをレンダリングし、前記手術用器具拡張グラフィックが、前記患者の解剖学的構造に重なって見えると共に、前記軌道拡張グラフィックのそれぞれが外科手術中に従うことのできる物理的な軌道を示すように、前記複数の手術用器具拡張グラフィックを前記表示画面上に表示するように構成された、請求項14に記載の拡張現実ナビゲーションシステム。
- 請求項14に記載の拡張現実ナビゲーションシステムであって、
前記コンピュータサブシステムが、前記検出された入力信号から決定された一つ以上の相対位置および/または配向に基づいて患者の解剖学的モデルを変更するように構成され、それによって更新された解剖学的モデルを形成し、かつ
前記コンピュータサブシステムが、前記更新された解剖学的モデルが前記患者の前記解剖学的構造上に重ね合わされて見えるように、前記更新された解剖学的モデルに対応する解剖学的モデル拡張グラフィックを前記表示画面に表示するように構成された、拡張現実ナビゲーションシステム。 - 請求項14に記載の拡張現実ナビゲーションシステムであって、
前記頭部装着型ディスプレイの測定された動きに基づいて動き信号を出力するために、前記頭部装着型ディスプレイに接続された動きセンサーを備え、
前記コンピュータサブシステムが、前記動きセンサーによって検知された動きに基づいて、前記手術用器具拡張グラフィックを更新するように構成されている、拡張現実ナビゲーションシステム。 - 前記コンピュータサブシステムが、選択された軌道を、一つ以上の計画された軌道セットから前記選択された軌道を選択するユーザー入力軌道選択信号に少なくとも部分的に基づき決定して、ロボット外科手術システムのロボットアームおよび/またはエンドエフェクターを選択された軌道に合うように自動的に移動させるように構成されている、請求項14に記載の拡張現実ナビゲーションシステム。
- 前記コンピュータサブシステムが、前記ロボット外科手術システムの前記ロボットアームおよび/またはエンドエフェクターを前記軌道に沿って自動的に移動するように構成されている、請求項18に記載の拡張現実ナビゲーションシステム。
- 前記コンピュータサブシステムが、前記コンピュータサブシステムが前記軌道を含み、前記ロボットアームおよび/またはエンドエフェクターに取り付けられた手術用器具の少なくとも一部分の動きが触覚フィードバックシステム内部に制約されるように、前記ロボットアームおよび/またはエンドエフェクターの動きを制約するように構成されている、請求項18に記載の拡張現実ナビゲーションシステム。
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