Top > Search of International Patents > Surgery assistance system and optical axis position measurement device

Surgery assistance system and optical axis position measurement device

Foreign code F120006103
File No. S2008-0239
Posted date Jan 6, 2012
Country United States of America
Application number 93323209
Gazette No. 20110125006
Gazette No. 8849374
Date of filing Mar 17, 2009
Gazette Date May 26, 2011
Gazette Date Sep 30, 2014
International application number JP2009055171
International publication number WO2009116535
Date of international filing Mar 17, 2009
Date of international publication Sep 24, 2009
Priority data
  • P2008-068606 (Mar 18, 2008) JP
  • 2009WO-JP55171 (Mar 17, 2009) WO
Title Surgery assistance system and optical axis position measurement device
Abstract (US8849374)
A surgery assistance system including a rigid endoscope having a position-orientation detection marker, 3-dimensional (3D) shape measurement device for obtaining data corresponding to a 3D surface of a patient and data corresponding to a 3D surface of the position-orientation detection marker, and computation unit for aligning pre-stored tomographical data of the patient and the data corresponding to the 3D surface of the patient, computing an optical axis of the rigid endoscope on the basis of the data corresponding to the 3D surface of the position-orientation detection marker and a pre-obtained 3D relative position relationship between an actual optical axis of the rigid endoscope and the position-orientation detection marker, for computing a tissue wall in the patient from the 3D tomographical data, and for computing an intersection of the tissue wall and the computed optical axis of the rigid endoscope.
Scope of claims [claim1]
1. A surgery assistance system, comprising: a rigid endoscope having a position-orientation detection marker;
3-dimensional (3D) shape measurement means for obtaining data corresponding to a 3D surface of a patient, and data corresponding to a 3D surface of the position-orientation detection marker;
computation means including means for aligning pre-stored tomographical data of the patient and the data corresponding to the 3D surface of said patient measured by said 3D shape measurement means;
means for computing a 3D position of an optical axis of said rigid endoscope on the basis of first data corresponding to the 3D surface of said position-orientation detection marker measured by said 3D shape measurement means after the rigid endoscope is inserted into the patient and a pre-obtained 3D relative position relationship between an actual optical axis of said rigid endoscope and said position-orientation detection marker;
means for identifying a tissue wall in the patient from said 3D tomographical data; and
intersection computation means for computing an intersection of said tissue wall and the optical axis of said rigid endoscope of which the 3D position is computed; and
display means for displaying said 3D tomographical data, the optical axis of said rigid endoscope of which the 3D position is computed, and the intersection of said tissue wall and the optical axis of said rigid endoscope of which the 3D position is computed.
[claim2]
2. The surgery assistance system according to claim 1, further comprising: an optical axis position measurement device including an optical axis position measurement marker, wherein
the 3D shape measurement means is configured to obtain data corresponding to a 3D surface of the optical axis position measurement marker; and
said computation means is configured to compute a 3D relative position relationship between the actual optical axis of said rigid endoscope and said position-orientation detection marker on the basis of second data corresponding to the 3D surface of said position-orientation detection marker measured by the 3D shape measurement means before the rigid endoscope is inserted into the patient and the data corresponding to the 3D surface of said optical axis position measurement marker, and to use the 3D relative position relationship as the pre-obtained 3D relative position relationship.
[claim3]
3. The surgery assistance system according to claim 2, wherein said optical axis position measurement device includes fixing means for fixing a distal end portion of said rigid endoscope, and a target; and
the computing means is configured to obtain coordinates of the distal end portion of said rigid endoscope and coordinates of said target using the data corresponding to the 3D surface of said optical axis position measurement marker, and to compute a 3D position of the actual optical axis of said rigid endoscope from the coordinates of the distal end portion of said rigid endoscope and the coordinates of said target.
[claim4]
4. The surgery assistance system according to claim 3, wherein said intersection computation means is configured to convert a data representation of the tissue wall in said patient into a data representation of a polygon, and to compute intersections of the optical axis of said rigid endoscope of which the 3D position is computed with surfaces of said polygon as the intersection of said tissue wall and the optical axis of which the 3D position is computed.
[claim5]
5. The surgery assistance system according to claim 4, wherein said display means is configured to further display an image captured by said rigid endoscope.
[claim6]
6. The surgery assistance system according to claim 3, wherein said display means is configured to further display an image captured by said rigid endoscope.
[claim7]
7. The surgery assistance system according to claim 2, wherein said intersection computation means is configured to convert a data representation of the tissue wall in said patient into a data representation of a polygon, and to compute intersections of the optical axis of said rigid endoscope of which the 3D position is computed with surfaces of said polygon as the intersection of said tissue wall and the optical axis of which the 3D position is computed.
[claim8]
8. The surgery assistance system according to claim 7, wherein said display means is configured to further display an image captured by said rigid endoscope.
[claim9]
9. The surgery assistance system according to claim 2, wherein said display means is configured to further display an image captured by said rigid endoscope.
[claim10]
10. The surgery assistance system according to claim 1, wherein said intersection computation means is configured to convert a data representation of the tissue wall in said patient into a data representation of a polygon, and to compute intersections of the optical axis of said rigid endoscope of which the 3D position is computed with surfaces of said polygon as the intersection of said tissue wall and the optical axis of which the 3D position is computed.
[claim11]
11. The surgery assistance system according to claim 10, wherein said display means is configured to further display an image captured by said rigid endoscope.
[claim12]
12. The surgery assistance system according to claim 1, wherein said display means is configured to further display an image captured by said rigid endoscope.
[claim13]
13. A surgery assistance system, comprising: a rigid endoscope having a position-orientation detection marker;
3-dimensional (3D) shape measurement means for obtaining data corresponding to a 3D surface of a patient and data corresponding to a 3D surface of the position-orientation detection marker;
computation means including means for aligning pre-stored tomographical data of the patient and the data corresponding to the 3D surface of said patient measured by said 3D shape measurement means;
means for computing a 3D position of an optical axis of said rigid endoscope on the basis of the data corresponding to the 3D surface of said position-orientation detection marker measured by said 3D shape measurement means after the rigid endoscope is inserted into the patient and a pre-obtained 3D relative position relationship between an actual optical axis of said rigid endoscope and said position-orientation detection marker; and
display means for displaying said 3D tomographical data and the optical axis of said rigid endoscope of which the 3D position is computed.
[claim14]
14. A surgery assistance method for a surgery assistance system including 3-dimensional (3D) shape measurement means, a rigid endoscope having a position-orientation detection marker, computation means and display means, the method comprising: receiving 3D tomographical data of said patient, and obtaining a 3D relative position relationship between an actual optical axis of said rigid endoscope and said position-orientation detection marker;
obtaining, using the 3D shape measurement means, data corresponding to the 3D surface of a patient before the rigid endoscope is inserted into the patient;
aligning, by the computing means, said 3D tomographical data and the data corresponding to the 3D surface of said patient; and
obtaining, using the 3D shape measurement means, data corresponding to the 3D surface of said position-orientation detection marker after the rigid endoscope is inserted into the patient;
computing, by the computing means, a 3D position of an optical axis of said rigid endoscope on the basis of the obtained data corresponding to the 3D surface of said position-orientation detection marker and the 3D relative position relationship between said actual optical axis of said rigid endoscope and said position-orientation detection marker;
identifying, by the computing means, a tissue wall in the patient from said 3D tomographical data;
computing, by the computing means, an intersection of said tissue wall and the optical axis of said rigid endoscope of which the 3D position is computed; and
displaying, by the display means, said 3D tomographical data, the optical axis of said rigid endoscope of which the 3D position is computed, and the intersection of said tissue wall and the optical axis of said rigid endoscope of which the 3D position is computed.
[claim15]
15. The surgery assistance method according to claim 14, wherein said surgery assistance system further comprises an optical axis position measurement device including fixing means for fixing a distal end portion of said rigid endoscope, and a target said fixing means and said target being positioned apart from each other; and said surgery assistance method comprises, before the rigid endoscope is inserted into the patient, a first position measurement step of bringing the distal end portion of said rigid endoscope into contact with a center of said target, measuring said fixing means, said target, and the position-orientation detection marker of said rigid endoscope using said 3D shape measurement means, and computing 3D coordinates of each of said fixing means, said target, and the position-orientation detection marker of said rigid endoscope;
a step of separating the distal end portion of said rigid endoscope from said target and fixing the distal end portion to said fixing means, and moving said target so that the center of the field of view of said rigid endoscope coincides with the center of said target;
a second position measurement step of measuring said target and the position-orientation detection marker of said rigid endoscope using said 3D shape measurement means and computing 3D coordinates of each of said target and the position-orientation detection marker of said rigid endoscope; and
a step of computing and storing the 3D relative relationship of the actual optical axis of said rigid endoscope and said position-orientation detection marker on the basis of the 3D coordinates of each of said fixing means, said target, and the position-orientation detection marker of said rigid endoscope measured in said first position measurement step and said second position measurement step.
[claim16]
16. A non-transitory computer readable medium containing program instructions for a surgery assistance method in a surgery assistance system including a rigid endoscope having a position-orientation detection marker, and 3-dimensional (3D) shape measurement means for obtaining data corresponding to a 3D surface of a patient and data corresponding to a 3D surface of the position-orientation detection marker, execution of the program instructions causing one or more computer processors to perform the steps of: receiving 3D tomographical data of said patient, and obtaining a 3D relative position relationship between an actual optical axis of said rigid endoscope and said position-orientation detection marker;
obtaining the data corresponding to the 3D surface of the patient measured by the 3D shape measurement means;
aligning said 3D tomographical data and the obtained data corresponding to the 3D surface of said patient;
obtaining the data corresponding to the 3D surface of said position-orientation detection marker measured by the 3D shape measurement means after the rigid endoscope is inserted into the patient;
computing a 3D position of an optical axis of said rigid endoscope on the basis of the obtained data corresponding to the 3D surface of said position-orientation detection and the 3D relative position relationship between said actual optical axis of said rigid endoscope and said position-orientation detection marker;
identifying a tissue wall in the patient from said 3D tomographical data;
computing an intersection of said tissue wall and the optical axis of said rigid endoscope of which the 3D position is computed; and
causing display means to display said 3D tomographical data, the optical axis of said rigid endoscope of which the 3Dposition is computed, and the intersection of said tissue wall and the optical axis of said rigid endoscope of which the 3D position is computed.
  • Inventor, and Inventor/Applicant
  • YAMAMOTO SEIJI
  • TAKAI TOSHIHISA
  • HAYASHIMOTO ETSUKAZU
  • KINPARA MASAAKI
  • MIURA AKIRA
  • National University Corporation Hamamatsu University School of Medicine
IPC(International Patent Classification)
Please contact us by E-mai if you have any interests on this patent.

PAGE TOP

close
close
close
close
close
close