JP7106258B2 - 超音波を使用する位置追跡システムを用いた解剖学的画像の手術前の位置合わせ - Google Patents
超音波を使用する位置追跡システムを用いた解剖学的画像の手術前の位置合わせ Download PDFInfo
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Description
サイナプラスティ等のいくつかの医療手技は、関連器官の解剖学的画像を位置追跡システムの座標系と位置合わせすることを必要とする。位置合わせを使用して、位置センサが嵌着された外科用ツールは、治療される器官へ進められ、解剖学的画像にオーバーレイされて視覚化される。
・位置追跡システムは、位置合わせツールの中に嵌着された位置センサの位置及び配向を測定する。
・US変換器は、それぞれの部位で骨組織を画像化する。
図1は、本発明の一実施形態によるサイナプラスティ外科システム20の概略的な絵画図である。システム20は、磁気位置追跡システムを備え、本システムは、患者22の頭部の1つ又は複数の位置センサの位置を追跡するように構成されている。磁気位置追跡システムは、磁界発生器及び1つ又は複数の位置センサを備える。位置センサは、磁場発生器から検知された外部磁場に応答して位置信号を生成し、それによって、プロセッサ34が、以下に説明するように、位置追跡システムの座標系内での各センサの位置をマッピングすることを可能にする。
図2は、本発明の実施形態によるワンド30の概略的な絵画図である。図は、ワンド30が患者の頭部41上の複数の事前定義された部位のうちの1つに置かれているのを示す。いくつかの実施形態では、ワンド30はハウジング58を備え、ハウジングは、超音波(US)変換器66のまわりに同心状に配置された位置センサ60を含む。US変換器は、USパルス70を組織の中へ生成するように構成される。図2は、例示的な組織構造体を示し、構造体は、皮膚層50、中間組織52、骨組織56、及び組織52と56との間の界面層54を備える。
(1) 方法であって、
超音波(US)変換器と位置追跡システムの位置センサとを備える位置合わせツールを使用して取得される複数の測定値を受信することであって、前記測定値が、患者の頭部上の複数の部位のそれぞれへ前記位置合わせツールを付け、かつ前記部位において前記位置センサのそれぞれの位置測定値と骨組織のそれぞれのUS測定値とを取得することによって取得される、ことと、
前記位置合わせツールを使用して得た前記位置測定値と前記US測定値とに基づいて、前記複数の部位における前記骨組織の第1の位置を計算することと、
前記患者の頭部の解剖学的画像中で、前記複数の部位における前記骨組織の第2の位置を特定することと、
前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記患者の頭部へ挿入されかつ前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするために、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせすることと、を含む方法。
(2) 前記US変換器が前記位置センサに対して固定した変位で配置され、前記第1の位置を計算することが、前記第1の位置の計算において前記固定した変位を考慮することを含む、実施態様1に記載の方法。
(3) 前記US変換器と前記位置センサとが同心である、実施態様1に記載の方法。
(4) 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、実施態様1に記載の方法。
(5) 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、実施態様1に記載の方法。
(7) 前記US測定値を受信することが、各部位において前記頭部の外面と前記それぞれの骨組織との間を横断するUSパルスの往復伝搬時間を受信することを含む、実施態様1に記載の方法。
(8) 前記医療機器がサイナプラスティカテーテル(sinuplasty catheter)を備える、実施態様1に記載の方法。
(9) 前記位置合わせツールが手持ち式ワンドを備える、実施態様1に記載の方法。
(10) 器具であって、
位置合わせツールであって、
前記位置合わせツールが患者の頭部上の複数のそれぞれの部位へ順次に付けられるとき、前記部位において骨組織のそれぞれのUS測定値を取得するように構成される超音波(US)変換器と、
前記部位において前記位置合わせツールのそれぞれの位置測定値を取得するように構成される位置追跡システムの位置センサと、を備える、位置合わせツールと、
プロセッサであって、
前記位置合わせツールによって取得された前記複数のUS測定値と前記それぞれの位置測定値とを受信し、
前記位置測定値と前記US測定値とに基づいて、前記複数の部位における前記骨組織の第1の位置を計算し、
前記患者の頭部の解剖学的画像中で、前記複数の部位における前記骨組織の第2の位置を特定し、
前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記患者の頭部へ挿入されかつ前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするために、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせするように構成されるプロセッサと、を備える、器具。
(12) 前記US変換器と前記位置センサとが同心である、実施態様10に記載の器具。
(13) 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、実施態様10に記載の器具。
(14) 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、実施態様10に記載の器具。
(15) 前記位置追跡システムが磁気位置追跡システムを含む、実施態様10に記載の器具。
(17) 前記医療機器がサイナプラスティカテーテルを備える、実施態様10に記載の器具。
(18) 前記位置合わせツールが手持ち式ワンドを備える、実施態様10に記載の器具。
Claims (16)
- 位置追跡システムの作動方法であって、
プロセッサが、超音波(US)変換器と前記位置追跡システムの位置センサとを備える位置合わせツールを使用して取得される複数の測定値を受信することであって、前記測定値が、患者の頭部上の複数の部位のそれぞれへ前記位置合わせツールを付け、かつ前記部位において前記位置センサのそれぞれの位置測定値と骨組織のそれぞれのUS測定値とを取得することによって取得される、ことと、
前記プロセッサが、前記位置合わせツールを使用して得た前記位置測定値と前記US測定値とに基づいて、前記複数の部位における前記骨組織の第1の位置を計算することと、
前記プロセッサが、前記患者の頭部の解剖学的画像中で、前記複数の部位における前記骨組織の第2の位置を特定することと、
前記プロセッサが、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせすることと、を含み、
前記作動方法は、前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするためのものである、作動方法。 - 前記US変換器が前記位置センサに対して固定した変位で配置され、前記第1の位置を計算することが、前記第1の位置の計算において前記固定した変位を使用することを含む、請求項1に記載の作動方法。
- 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、請求項1に記載の作動方法。
- 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、請求項1に記載の作動方法。
- 前記位置追跡システムが磁気位置追跡システムを含む、請求項1に記載の作動方法。
- 前記US測定値を受信することが、各部位において前記患者の頭部の外面とそれぞれの前記骨組織との間を横断するUSパルスの往復伝搬時間を受信することを含む、請求項1に記載の作動方法。
- 前記医療機器がサイナプラスティカテーテルを備える、請求項1に記載の作動方法。
- 前記位置合わせツールが手持ち式ワンドを備える、請求項1に記載の作動方法。
- 器具であって、
位置合わせツールであって、
前記位置合わせツールが患者の頭部上の複数のそれぞれの部位へ順次に付けられるとき、前記部位において骨組織のそれぞれのUS測定値を取得するように構成される超音波(US)変換器と、
前記部位において前記位置合わせツールのそれぞれの位置測定値を取得するように構成される位置追跡システムの位置センサと、を備える、位置合わせツールと、
プロセッサであって、
前記位置合わせツールによって取得された複数の前記US測定値とそれぞれの前記位置測定値とを受信し、
前記位置測定値と前記US測定値とに基づいて、複数の前記部位における前記骨組織の第1の位置を計算し、
前記患者の頭部の解剖学的画像中で、複数の前記部位における前記骨組織の第2の位置を特定し、
前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記患者の頭部へ挿入されかつ前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするために、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせするように構成されるプロセッサと、を備える、器具。 - 前記US変換器が前記位置センサに対して固定した変位で配置され、前記プロセッサが前記第1の位置の計算において前記固定した変位を使用するように構成されている、請求項9に記載の器具。
- 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、請求項9に記載の器具。
- 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、請求項9に記載の器具。
- 前記位置追跡システムが磁気位置追跡システムを含む、請求項9に記載の器具。
- 複数の前記US測定値が、各部位において前記患者の頭部の外面とそれぞれの前記骨組織との間を横断するUSパルスの往復伝搬時間を含む、請求項9に記載の器具。
- 前記医療機器がサイナプラスティカテーテルを備える、請求項9に記載の器具。
- 前記位置合わせツールが手持ち式ワンドを備える、請求項9に記載の器具。
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CN107913102B (zh) | 2022-08-16 |
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EP3305202B1 (en) | 2024-03-06 |
CN107913102A (zh) | 2018-04-17 |
EP3305202A1 (en) | 2018-04-11 |
CA2981039A1 (en) | 2018-04-06 |
IL254680B1 (en) | 2024-02-01 |
IL254680A0 (en) | 2017-11-30 |
AU2017235897A1 (en) | 2018-04-26 |
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