JP6829752B2 - 装置を認識する可撓性ツール位置合わせのためのシステム - Google Patents
装置を認識する可撓性ツール位置合わせのためのシステム Download PDFInfo
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Description
(付記1) 解剖学的構造の通路内に少なくとも部分的に位置する装置の形状を決定するステップ;
前記装置の複数のセクションの変形力のセットを決定するステップ;並びに
前記解剖学的構造の通路に対する前記装置の位置を示す合成モデルを、
前記装置の形状、
前記変形力のセット、及び
前記解剖学的構造の通路を表す解剖学的構造のデータ、に基づいて、
生成する、ステップ;を含む、
方法。
(付記2) 前記装置の形状を決定するステップは、光ファイバ形状センサから情報を受信するステップ含む、
付記1に記載方法。
(付記3) 前記装置の形状を決定するステップは、電磁センサから情報を受信するステップ含む、
付記2に記載の方法。
(付記4) 前記解剖学的構造の通路を表す前記解剖学的構造のデータは、前記解剖学的構造の通路の形状を表すデータを含み、
前記合成モデルを生成するステップは、前記可撓性装置の形状を前記解剖学的構造の通路の形状と比較するステップを含む、
付記1に記載の方法。
(付記5) 前記変形力のセットを決定するステップは、前記装置の前記複数のセクションの各セクションの剛性を決定するステップを含む、
付記1に記載の方法。
(付記6) 前記変形力のセットを決定するステップは、前記装置の前記複数のセクションの各セクションの操向性を決定するステップを含む、
付記1に記載の方法。
(付記7) 復元力のセットを決定するステップをさらに有し、
前記合成モデルはさらに前記復元力のセットに基づく、
付記1に記載の方法。
(付記8) 維持力のセットを決定するステップをさらに有し、
前記合成モデルはさらに前記維持力のセットに基づく、
付記1に記載の方法。
(付記9) 復元力のセットを決定するステップ;
維持力のセットを決定するステップ;並びに
前記変形力のセット、前記復元力のセット、及び前記維持力のセットの加重和を決定するステップ、をさらに含み、
前記合成モデルはさらに前記加重和に基づく、
付記1に記載の方法。
(付記10) 前記解剖学的構造の通路を表す前記解剖学的構造のデータは、前記解剖学的構造の通路の少なくとも一部を描く第1のモデルを含み、
前記合成モデルを生成するステップは、前記装置の形状及び前記変形力のセットを使用して前記第1のモデルを調整するステップを含む、
付記1に記載の方法。
(付記11) 前記合成モデルを生成するステップは、前記解剖学的構造の通路の2つのモデル化されたセクションを接合する前記第1のモデルのモデル化された接続ポイントを調整するステップを含む、
付記10に記載の方法。
(付記12) 解剖学的構造の通路の中に少なくとも部分的に位置するように構成される可撓性装置であって、複数のセクション及び形状センサを含む、可撓性装置と;
コンピュータ実行可能指令を含むメモリ装置であって、前記コンピュータ実行可能指令は:
前記可撓性装置の形状を決定する指令;
前記可撓性装置の前記複数のセクションに関する変形力のセットを決定する指令;及び
前記解剖学的構造の通路に対する前記可撓性装置の位置を示す合成モデルを、
前記可撓性装置の形状、
前記変形力のセット、及び
前記解剖学的構造の通路を表す解剖学的構造のデータ、に基づいて、
生成する、指令;を含む、
メモリ装置と、を有する、
医療システム。
(付記13) 前記形状センサは、光ファイバ形状センサを有する、
付記12に記載の医療システム。
(付記14) 前記形状センサは、電磁センサを有する、
付記12に記載の医療システム。
(付記15) 前記解剖学的構造の通路を表す前記解剖学的構造のデータは、前記解剖学的構造の通路の形状を表すデータを含み、
前記合成モデルを生成する指令は、前記可撓性装置の形状を前記解剖学的構造の通路の形状と比較する指令を含む、
付記12に記載の医療システム。
(付記16) 前記変形力のセットを決定する指令は、前記可撓性装置の前記複数のセクションの各セクションの剛性を決定する指令を含む、
付記12に記載の医療システム。
(付記17) 前記変形力のセットを決定する指令は、前記可撓性装置の前記複数のセクションの各セクションの操向性を決定する指令を含む、
付記12に記載の医療システム。
(付記18) 前記コンピュータ実行可能指令は、復元力のセットを決定する指令をさらに有し、
前記合成モデルはさらに前記復元力のセットに基づく、
付記12に記載の医療システム。
(付記19) 前記コンピュータ実行可能指令は、維持力のセットを決定する指令をさらに有し、
前記合成モデルはさらに前記維持力のセットに基づく、
付記12に記載の医療システム。
(付記20) 前記コンピュータ実行可能指令は:
復元力のセットを決定する指令;
維持力のセットを決定する指令;並びに
前記変形力のセット、前記復元力のセット、及び前記維持力のセットの加重和を決定する指令、をさらに含み、
前記合成モデルはさらに前記加重和に基づく、
付記12に記載の医療システム。
(付記21) 前記コンピュータ実行可能指令は、前記合成モデルの誤差の可能性のパーセンテージを決定する指令をさらに含む、
付記12に記載の医療システム。
(付記22) 前記解剖学的構造の通路を表す前記解剖学的構造のデータは、前記解剖学的構造の通路の少なくとも一部を描く第1のモデルを含み、
前記合成モデルを生成する指令は、前記装置の形状及び前記変形力のセットを使用して前記第1のモデルを調整する指令を含む、
付記12に記載の医療システム。
(付記23) 前記合成モデルを生成する指令は、前記解剖学的構造の通路の2つのモデル化されたセクションを接合する前記第1のモデルのモデル化された接続ポイントを調整する指令を含む、
付記22に記載の医療システム。
Claims (12)
- 解剖学的構造の通路の中に少なくとも部分的に位置するように構成される可撓性装置であって、複数のセクション及び形状センサを含む、可撓性装置と;
コンピュータ実行可能指令を含むメモリ装置であって、前記コンピュータ実行可能指令は:
前記可撓性装置の形状を決定する指令;
前記可撓性装置の前記複数のセクションに関する変形力のセットを決定する指令であって、前記変形力のセットを決定する指令は、前記可撓性装置の前記複数のセクションの各セクションの剛性を決定する指令を含む、指令;並びに
前記解剖学的構造の通路に対する前記可撓性装置の位置を示す合成モデルを、
前記可撓性装置の前記形状、
前記解剖学的構造の通路のそれぞれの部分に対する前記複数のセクションのうちの各セクションの影響を含む、前記変形力のセット、及び
前記解剖学的構造の通路を表す解剖学的構造のデータ、に基づいて、
生成する、指令;を含む、
メモリ装置と、を有する、
医療システム。 - 前記形状センサは、光ファイバ形状センサを有する、
請求項1に記載の医療システム。 - 前記形状センサは、電磁センサを有する、
請求項1に記載の医療システム。 - 前記解剖学的構造の通路を表す前記解剖学的構造のデータは、前記解剖学的構造の通路の形状を表すデータを含み、
前記合成モデルを生成する指令は、前記可撓性装置の前記形状を前記解剖学的構造の通路の前記形状と比較する指令を含む、
請求項1に記載の医療システム。 - 前記変形力のセットを決定する指令は、前記可撓性装置の前記複数のセクションの各セクションの操向性を決定する指令を含む、
請求項1に記載の医療システム。 - 前記コンピュータ実行可能指令は、復元力のセットを決定する指令をさらに含み、
前記合成モデルはさらに前記復元力のセットに基づく、
請求項1に記載の医療システム。 - 前記コンピュータ実行可能指令は、維持力のセットを決定する指令をさらに含み、
前記合成モデルはさらに前記維持力のセットに基づく、
請求項1に記載の医療システム。 - 前記コンピュータ実行可能指令は:
復元力のセットを決定する指令;
維持力のセットを決定する指令;並びに
前記変形力のセット、前記復元力のセット、及び前記維持力のセットの加重和を決定する指令、をさらに含み、
前記合成モデルはさらに前記加重和に基づく、
請求項1に記載の医療システム。 - 前記コンピュータ実行可能指令は、前記合成モデルの誤差の可能性のパーセンテージを決定する指令をさらに含む、
請求項1に記載の医療システム。 - 前記解剖学的構造の通路を表す前記解剖学的構造のデータは、前記解剖学的構造の通路の少なくとも一部を描く第1のモデルを含み、
前記合成モデルを生成する指令は、前記可撓性装置の前記形状及び前記変形力のセットを使用して前記第1のモデルを調整する指令を含む、
請求項1に記載の医療システム。 - 前記合成モデルを生成する指令は、前記解剖学的構造の通路の2つのモデル化されたセクションを接合する前記第1のモデルのモデル化された接続ポイントを調整する指令を含む、
請求項10に記載の医療システム。 - 前記可撓性装置の前記複数のセクションの第1のセクションは第1の剛性を有し、
前記可撓性装置の前記複数のセクションの第2のセクションは、第2の剛性を有し、前記第1の剛性は前記第2の剛性より大きく、
前記可撓性装置の前記複数のセクションの第3のセクションは、能動的に制御可能な剛性を有する、
請求項10に記載の医療システム。
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