JP7213830B2 - 画像誘導処置のためのレジストレーションシステム及び方法 - Google Patents
画像誘導処置のためのレジストレーションシステム及び方法 Download PDFInfo
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Description
この特許出願は、2017年2月1日に出願された「SYSTEMS AND METHODS OF REGISTRRATION FOR IMAGE-GUIDED PROCEDURES」という名称の米国仮特許出願第62/453,380号の出願日の優先権及び利益を主張し、その全文を参照として本明細書に援用する。
appliers)、及び/又は同等物を含んでよい。他のエンドエフェクタは、電気手術電極、トランスデューサ、センサ、及び/又は同等物のような、電気的にアクティブ化されるエンドエフェクタを更に含んでよい。様々な実施形態において、医療器具226は、標的解剖学的場所からサンプル組織又は細胞のサンプリングを取り除くために使用されることがある、生検器具である。医療器具226は、可撓体216内の画像取込みプローブとも共に使用されてよい。様々な実施形態において、医療器具226は、表示のために視覚化システム231によって処理される並びに/或いは遠位端218及び/又はセグメント224のうちの1以上のセグメントのトラッキングをサポートするためにトラッキングシステム230に提供される(ビデオ画像を含む)画像を取り込むための可撓体216の遠位端218又はその付近にある立体視又は平面視カメラを備える遠位部分を含む、画像取込みプローブであってよい。画像取込みプローブは、取り込んだ画像データを送信するために、カメラに連結されるケーブルを含んでよい。幾つかの例において、画像取込み器具は、視覚化システム231に連結するファイバスコープのような光ファイバ束であってよい。画像取込み器具は、例えば、可視スペクトル、赤外スペクトル、及び/又は紫外スペクトルのうちの1以上において画像データを取り込む、単一又は複数スペクトルであってよい。代替的に、医療器具226自体が画像取込みプローブであってよい。医療器具226をチャネル221の開口から前進させて処置を行い、次に、処置が完了すると、医療器具226をチャネル内に戻してよい。医療器具226は可撓体216の近位端217から或いは可撓体216に沿う別の任意的器具ポート(図示せず)から取り外されてよい。
Claims (13)
- 細長いデバイスであって、操縦可能な遠位端と、細長いデバイスの長さに沿って配置される形状センサとを含む、細長いデバイスと、
該細長いデバイスに連結される1つ又はそれよりも多くのプロセッサとを含み、
前記細長いデバイスが患者の1つ又はそれよりも多くの通路を通じて横断させられる間に、前記1つ又はそれよりも多くのプロセッサは、
前記細長いデバイスの挿入動作をモニタリングするように構成され、
データ収集イベントを検出するように構成され、前記データ収集イベントは、前記細長いデバイスの前記挿入動作の方向の変化に基づいて検出され、
前記データ収集イベントを検出することに応答して、前記形状センサを使用して前記細長いデバイスの前記長さに沿う複数のポイントを取り込むように構成され、且つ、
前記複数のポイントに基づいて、前記細長いデバイスを前記患者の前記通路のモデルに位置合わせするように構成される、
医療デバイス。 - 前記形状センサは、光ファイバ形状センサである、請求項1に記載の医療デバイス。
- 前記細長いデバイスは、前記細長いデバイスの挿入、後退、又は操縦のうちの1つ又はそれよりも多くを実行するよう、1つ又はそれよりも多くのアクチュエータを使用して前記患者の前記1つ又はそれよりも多くの通路を通じて横断させられる、請求項1に記載の医療デバイス。
- 前記細長いデバイスの前記挿入動作は、前記形状センサを使用して測定される、請求項1に記載の医療デバイス。
- 前記細長いデバイスの近位端に連結されるトラッキングセンサを更に含み、前記細長いデバイスの前記挿入動作は、前記トラッキングセンサを使用して測定される、請求項1に記載の医療デバイス。
- 前記1つ又はそれよりも多くのプロセッサは、前記細長いデバイスの前記挿入動作をモニタリングするように構成され、モニタリングすることは、前記細長いデバイスの現在の挿入深さをモニタリングすることを含み、前記データ収集イベントは、前記細長いデバイスの前記現在の挿入深さが閾値挿入深さを超えるときに又は前記細長いデバイスの前記現在の挿入深さが閾値後退距離を超えるときに検出される、請求項1に記載の医療デバイス。
- 前記1つ又はそれよりも多くのプロセッサは、前記細長いデバイスの経路の変化又はオペレータによるデータ収集の手動開始のうちの少なくとも1つを検出することに更に基づいて前記データ収集イベントを検出するように構成される、請求項1に記載の医療デバイス。
- 前記細長いデバイスに連結される撮像デバイスを更に含む、請求項1に記載の医療デバイス。
- 前記1つ又はそれよりも多くのプロセッサは、前記撮像デバイスによって取り込まれる画像内の構成を検出することに更に基づいて前記データ収集イベントを検出するように構成される、請求項8に記載の医療デバイス。
- 前記1つ又はそれよりも多くのプロセッサは、前記データ収集イベントが検出されるときに患者の解剖学的相を決定し、前記複数のポイントの各々を前記決定する解剖学的相でタグ付けする、ように更に構成される、請求項1に記載の医療デバイス。
- 前記細長いデバイスの前記長さに沿って配置される1つ又はそれよりも多くの力又は圧力センサを更に含み、該1つ又はそれよりも多くの力又は圧力センサは、前記形状センサ及びひずみセンサのうちの少なくとも1つを含む、請求項1に記載の医療デバイス。
- 前記1つ又はそれよりも多くのプロセッサは、
前記1つ又はそれよりも多くの力又は圧力センサを使用して前記細長いデバイスに対する1つ又はそれよりも多くの外力を決定し、
前記複数のポイントを取り込む前に前記細長いデバイスに対する前記1つ又はそれよりも多くの外力を減少させるよう前記細長いデバイスの位置を調整する命令を提供する、
ように更に構成される、
請求項11に記載の医療デバイス。 - 前記形状センサは、前記細長いデバイスの中心線からある距離に配置され、前記1つ又はそれよりも多くのプロセッサは、前記細長いデバイスの前記中心線に対する前記形状センサの場所に基づいて前記複数のポイントの場所をオフセットするように構成される、請求項1に記載の医療デバイス。
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