JP7130003B2 - 画像捕捉デバイスの視野内の物体の検出のためのシステムおよび方法 - Google Patents
画像捕捉デバイスの視野内の物体の検出のためのシステムおよび方法 Download PDFInfo
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Description
本発明は、例えば、以下を提供する。
(項目1)
ロボット外科用システムであって、
ロボットアームと、
外科医コンソールであって、
光源と、
所定範囲内の波長を有する光を反射するように構成された光学素子と、
前記光学素子によって反射された前記光を検出するように構成された画像捕捉デバイスと、
通知を提供するように構成された通知デバイスと、を含む、外科医コンソールと、
前記ロボットアームに動作可能に結合され、前記コンソールと通信するプロセッサと、
内部に記憶された命令を有するメモリであって、前記プロセッサによって実行されると、前記プロセッサに
前記光学素子によって反射された前記光の不在または存在を前記画像捕捉デバイスによって検出することと、
前記画像捕捉デバイスが前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記通知デバイスに前記通知を提供させることと、を行わせる、メモリと、を含む、システム。
(項目2)
前記光学素子を含むウェアラブルデバイスをさらに備える、項目1に記載のロボット外科用システム。
(項目3)
前記光学素子が、拡散/反射素子を含む、項目2に記載のロボット外科用システム。
(項目4)
前記拡散/反射素子が、複数の仕切りを含む、項目3に記載のロボット外科用システム。
(項目5)
前記光学素子が、前記所定範囲内の波長を有する光を反射するように構成された反射素子を有する透明体を含むフィルムを含む、項目3に記載のロボット外科用システム。
(項目6)
前記光学素子が、第1の所定範囲内の波長を有する光を反射して、第1の形状が視覚的に認識されることを許容するように構成された第1の拡散素子と、第2の所定範囲内の波長を有する光を反射して、第2の形状が視覚的に認識されることを許容するように構成された第2の拡散素子と、を有する透明体を含むフィルムを含み、
前記画像捕捉デバイスが、前記第1の形状および前記第2の形状を検出するように構成され、前記画像捕捉デバイスが前記第1の形状の前記不在を検出することに応じて、前記通知デバイスが、前記通知を提供するようにさらに構成されている、項目3に記載のロボット外科用システム。
(項目7)
前記外科医コンソールが、入力ハンドルをさらに含み、
前記メモリが、内部に記憶されたさらなる命令を有し、前記プロセッサによって実行されると、前記プロセッサに、
前記入力ハンドルの操作に応じて、信号を生成することと、
前記画像捕捉デバイスが前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすることと、を行わせる、項目1に記載のロボット外科用システム。
(項目8)
前記メモリが、内部に記憶されたさらなる命令を有し、前記プロセッサによって実行されると、前記プロセッサに、
前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすること、を行わせる、項目7に記載のロボット外科用システム。
(項目9)
前記メモリが、内部に記憶されたさらなる命令を有し、前記プロセッサによって実行されると、前記プロセッサに、
前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記通知デバイスに前記通知を提供させること、を行わせる、項目1に記載のロボット外科用システム。
(項目10)
ロボット外科用システムを操作する方法であって、
前記ロボット外科用システムの画像捕捉デバイスによって検出されるように構成された光学素子において光を方向付けることであって、前記光学素子が、所定範囲内の波長を有する光を反射するように構成されている、方向付けることと、
前記光学素子の画像を捕捉する画像捕捉デバイスを使用して、前記光学素子からの前記反射光の不在または存在を検出することと、
前記画像捕捉デバイスによる、前記光学素子からの前記反射光の前記不在の前記検出に応じて、通知を提供することと、を含む、方法。
(項目11)
前記光学素子が、ウェアラブルデバイス上に配設されている、項目8に記載の方法。
(項目12)
前記光学素子が、拡散/反射素子を含む、項目8に記載の方法。
(項目13)
前記拡散/反射素子が、複数の仕切りを含む、項目12に記載の方法。
(項目14)
前記光学素子が、前記所定範囲内の波長を有する光を反射するように構成された、反射素子を有する透明体を含むフィルムを含む、項目12に記載の方法。
(項目15)
前記光学素子が、第1の所定範囲内の波長を有する光を反射して、第1の形状が視覚的に認識されることを許容するように構成された第1の拡散素子と、第2の所定範囲内の波長を有する光を反射して、第2の形状が視覚的に認識されることを許容するように構成された第2の拡散素子と、を有する透明体を含むフィルムを含み、
前記画像捕捉デバイスを使用して、前記第1の形状および前記第2の形状の不在または存在を検出することと、
前記画像捕捉デバイスが前記第1の形状の前記不在を検出することに応じて、前記通知を提供することと、をさらに含む、項目12に記載の方法。
(項目16)
前記ロボット外科用システムの入力ハンドルの操作に応じて、信号を生成することと、
前記画像捕捉デバイスが、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすることと、をさらに含む、項目10に記載の方法。
(項目17)
前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすることをさらに含む、項目16に記載の方法。
(項目18)
前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記通知デバイスに前記通知を提供させることをさらに含む、項目10に記載の方法。
Claims (10)
- ロボット外科用システムであって、
ロボットアームと、
外科医コンソールであって、
光源と、
所定範囲内の波長を有する光を反射するように構成された光学素子と、
前記光学素子によって反射された前記光を検出するように構成された画像捕捉デバイスと、
通知を提供するように構成された通知デバイスと、を含む、外科医コンソールと、
前記ロボットアームに動作可能に結合され、前記コンソールと通信するプロセッサと、
内部に記憶された命令を有するメモリであって、前記命令は、前記プロセッサによって実行されると、前記プロセッサに
前記光学素子によって反射された前記光の不在または存在を前記画像捕捉デバイスによって検出することと、
前記画像捕捉デバイスが前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記通知デバイスに前記通知を提供させることと、を行わせる、メモリと、
前記光学素子を含むウェアラブルデバイスと
を含み、前記光学素子が、拡散/反射素子を含み、
前記拡散/反射素子が、複数の仕切りを含み、前記複数の仕切りは、前記光学要素の視認性を制限し、それにより、特定の角度で見られたときにのみ前記光学要素が視覚的に認識されることを許容するように構成されている、システム。 - 前記光学素子が、前記所定範囲内の波長を有する光を反射するように構成された反射素子を有する透明体を含むフィルムを含む、請求項1に記載のロボット外科用システム。
- 前記外科医コンソールが、入力ハンドルをさらに含み、
前記メモリが、内部に記憶されたさらなる命令を有し、前記命令は、前記プロセッサによって実行されると、前記プロセッサに、
前記入力ハンドルの操作に応じて、信号を生成することと、
前記画像捕捉デバイスが前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすることと、を行わせる、請求項1に記載のロボット外科用システム。 - 前記メモリが、内部に記憶されたさらなる命令を有し、前記命令は、前記プロセッサによって実行されると、前記プロセッサに、
前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすること、を行わせる、請求項3に記載のロボット外科用システム。 - 前記メモリが、内部に記憶されたさらなる命令を有し、前記命令は、前記プロセッサによって実行されると、前記プロセッサに、
前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記通知デバイスに前記通知を提供させること、を行わせる、請求項1に記載のロボット外科用システム。 - ロボット外科用システムを操作する方法であって、
前記ロボット外科用システムの画像捕捉デバイスによって検出されるように構成された光学素子において光を方向付けることであって、前記光学素子が、所定範囲内の波長を有する光を反射するように構成されている、方向付けることと、
前記光学素子の画像を捕捉する画像捕捉デバイスを使用して、前記光学素子からの前記反射光の不在または存在を検出することと、
前記画像捕捉デバイスによる、前記光学素子からの前記反射光の前記不在の前記検出に応じて、通知を提供することと、を含み、
前記光学素子は、ウェアラブルデバイス上に配設され、
前記光学素子が、拡散/反射素子を含み、
前記拡散/反射素子が、複数の仕切りを含み、前記複数の仕切りは、前記光学要素の視認性を制限し、それにより、特定の角度で見られたときにのみ前記光学要素が視覚的に認識されることを許容するように構成されている、方法。 - 前記光学素子が、前記所定範囲内の波長を有する光を反射するように構成された、反射素子を有する透明体を含むフィルムを含む、請求項6に記載の方法。
- 前記ロボット外科用システムの入力ハンドルの操作に応じて、信号を生成することと、
前記画像捕捉デバイスが、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすることと、をさらに含む、請求項6に記載の方法。 - 前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記入力ハンドルを無効にすることをさらに含む、請求項8に記載の方法。
- 前記画像捕捉デバイスが閾値期間よりも長い期間、前記光学素子によって反射された前記光の前記不在を検出することに応じて、前記通知デバイスに前記通知を提供させることをさらに含む、請求項6に記載の方法。
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