JP6905535B2 - 患者の体内に手術器具を位置調整するための誘導、追跡および案内システム - Google Patents
患者の体内に手術器具を位置調整するための誘導、追跡および案内システム Download PDFInfo
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Description
ビューアを通して患者の身体の少なくとも一つの内部部分を手術医が見ることができるよう構成されたビューアを提供する工程と、
ビューアの空間的位置を決定する第一検出手段を提供する工程と、
制御ユニットを提供する工程とを含み、
制御ユニットは、
患者の身体の内部状態と関連する複数の情報を受信する工程と、
ビューアの空間的位置に基づいて複数の情報を処理する工程と、
ビューア上に、患者の身体の少なくとも一つの内部部分の内部状態の画像を、実行された処理に基づいて、投影する工程と、
を実行する。
Claims (14)
- 患者(P)の体内の手術器具(5)の位置調整のための誘導、追跡および案内システム(1)であって、
患者(P)の身体の内部状態と関連する複数の情報を受信するよう構成される制御ユニット(2)と、
ビューア(3)であって、前記ビューア(3)を通して前記患者(P)の前記身体の少なくとも一の内部部分(Pi)を手術医が見ることができるよう構成されるビューア(3)と、
前記ビューア(3)の空間的位置を決定するための第一検出手段(4)と、
を備えており、
前記制御ユニット(2)は、前記ビューア(3)上への、前記患者(P)の前記身体の前記少なくとも一の内部部分(Pi)の内部状態の画像の投影を制御するよう構成されており、前記画像は、前記ビューア(3)の前記空間的位置に基づいて、前記複数の情報を処理することにより取得されるシステムにおいて、
前記システムは、手術器具(5)に関連付けられるとともに、前記患者(P)の前記身体の前記内部部分(Pi)内に挿入可能なプローブを備えており、
前記プローブは、内部に生成される光束の散乱領域を有する少なくとも一つの光学的ガイドと、前記患者(P)の前記体内に挿入された場合の前記プローブの空間的配置を特定するために前記光束の散乱を検出する検出手段と、を備えており、
前記制御ユニット(2)はまた、前記特定された空間的配置に基づいて前記プローブの画像の、前記ビューア(3)上への投影を制御するよう構成されており、
前記散乱領域は、前記光学的ガイドの少なくとも一部に沿って順に配置される一連の第一散乱領域によって構成され、
前記散乱領域はまた、前記光学的ガイドの少なくとも一部に沿って順に配置されるとともに前記少なくとも一つの光学的ガイドの中心軸に対して互い違いに径方向に配置される一連の第二散乱領域によっても構成されるシステム。 - 請求項1に記載のシステム(1)において、前記一連の第二散乱領域は、前記一連の第一散乱領域に対して90°の角度で配置されており、前記角度は、前記少なくとも一つの光学的ガイドの中心軸に対して測定されるシステム。
- 請求項1または2に記載のシステム(1)において、前記プローブは二つの平行な光学的ガイドを備えており、前記一連の第一散乱領域と前記一連の第二散乱領域は、前記二つの光学的ガイドのうちの一つの上にそれぞれ構成されるシステム。
- 請求項1から3のいずれか一項に記載のシステム(1)において、
前記少なくとも一つの光学的ガイドは、光源に接続されるとともに、一の自由端部に配置される反射壁を有しており、
オシロスコープに接続される方向性結合器が、前記光源と前記反射壁との間に配置されるシステム。 - 請求項1から4のいずれか一項に記載のシステム(1)において、
前記制御ユニット(2)に接続される映像変換アッセンブリを備えるシステム。 - 請求項1から5のいずれか一項に記載のシステムにおいて、患者の身体の前記内部状態と関連する前記複数の情報が、少なくとも一つのスキャンを用いて取得されるシステム。
- 請求項1から6のいずれか一項に記載のシステム(1)において、前記ビューア(3)は、手術医と前記患者(P)の前記身体の部分との間の視軸上に配置されるシステム。
- 請求項1から7のいずれか一項に記載のシステム(1)において、前記ビューア(3)は、手術医が顔に着用可能なビューアによって構成されるシステム。
- 請求項1から8のいずれか一項に記載のシステム(1)において、
前記制御ユニット(2)に接続される、前記患者(P)の前記身体の外面を検出するための第二検出手段(6)を備えており、
前記第二検出手段(6)は、カメラまたはステレオカメラを備えるシステム。 - 請求項9に記載のシステム(1)において、
前記患者(P)の前記身体の前記外面を検出するための前記第二検出手段(6)は、前記患者(P)の前記身体の前記内部部分(Pi)の前記外面上に配置されるのに適した検出可能な少なくとも三つの第一物理的マーカを備えており、
前記制御ユニット(2)は、前記ビューア(3)上に投影される画像の仮想マーカの第一内部状態を前記第一物理的マーカと位置合わせするよう構成されるシステム。 - 請求項9または10に記載のシステム(1)において、前記患者(P)の前記身体の前記外面を検出するための前記第二検出手段(6)は、前記患者(P)の生体パラメータをリアル・タイムに決定するよう、超音波振動子、慣性計測ユニットおよび測定エンコーダのうちの少なくとも一つを備えるシステム。
- 請求項9に記載のシステムにおいて、
前記プローブに配置されるとともに、使用時に前記患者(P)の前記身体の外部に配置されるのに適した第二物理的マーカを備えており、
前記患者(P)の前記身体の前記外面の前記第二検出手段(6)はまた、前記第二物理的マーカの物理的位置を検出するよう構成されるシステム。 - 請求項1から12のいずれか一項に記載のシステムにおいて、前記システム(1)によって予め決められる基準系に対する前記プローブのデカルト座標X,Y,Zを提供することができる五つの自由度を有する人間型ロボットアームを備えるシステム。
- 請求項1から13のいずれか一項に記載のシステム(1)において、前記患者の内部組織の密度を検出するように構成されたセンサを備えるシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITUB2015A005830A ITUB20155830A1 (it) | 2015-11-23 | 2015-11-23 | "sistema di navigazione, tracciamento, e guida per il posizionamento di strumenti operatori" |
IT102015000075480 | 2015-11-23 | ||
PCT/IB2016/057001 WO2017089941A1 (en) | 2015-11-23 | 2016-11-21 | Navigation, tracking and guiding system for the positioning of operatory instruments within the body of a patient |
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Publication Number | Publication Date |
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JP2019503820A JP2019503820A (ja) | 2019-02-14 |
JP2019503820A5 JP2019503820A5 (ja) | 2019-12-26 |
JP6905535B2 true JP6905535B2 (ja) | 2021-07-21 |
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JP2018545714A Active JP6905535B2 (ja) | 2015-11-23 | 2016-11-21 | 患者の体内に手術器具を位置調整するための誘導、追跡および案内システム |
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EP (1) | EP3380034B1 (ja) |
JP (1) | JP6905535B2 (ja) |
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ITUB20155830A1 (it) | 2017-05-23 |
US11596480B2 (en) | 2023-03-07 |
RU2018117932A3 (ja) | 2020-04-20 |
CA3005705A1 (en) | 2017-06-01 |
DK3380034T3 (da) | 2020-08-24 |
BR112018010382B1 (pt) | 2022-07-26 |
JP2019503820A (ja) | 2019-02-14 |
WO2017089941A1 (en) | 2017-06-01 |
CN108601628B (zh) | 2022-09-09 |
ES2815800T3 (es) | 2021-03-30 |
BR112018010382A2 (pt) | 2018-12-04 |
EP3380034A1 (en) | 2018-10-03 |
US20190183586A1 (en) | 2019-06-20 |
RU2018117932A (ru) | 2019-12-25 |
RU2746458C2 (ru) | 2021-04-14 |
CN108601628A (zh) | 2018-09-28 |
EP3380034B1 (en) | 2020-06-03 |
US20180344408A1 (en) | 2018-12-06 |
AU2016358472A1 (en) | 2018-06-14 |
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