公开(公告)号：US20110125006A1

公开(公告)日：2011-05-26

申请号：US12933232

申请日：2009-03-17

申请人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Masaaki Kinpara ,  Akira Miura

发明人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Masaaki Kinpara ,  Akira Miura

IPC分类号： A61B6/03

CPC分类号： A61B19/5244 ,  A61B1/0057 ,  A61B5/06 ,  A61B5/064 ,  A61B5/103 ,  A61B34/20 ,  A61B2017/00725 ,  A61B2034/107 ,  A61B2034/2055 ,  G06F19/00

摘要： Even when the optical axis is offset in a rigid endoscope, the actual optical axis position is measured in advance, and surgery navigation can be performed by using the actual optical axis position.A surgery assistance system comprising 3-dimensional shape measurement means for measuring a 3-dimensional surface shape of a patient; and a rigid endoscope (11) to be inserted into the body of the patient; wherein the rigid endoscope has a position-orientation detection marker (12) measurable by the 3-dimensional shape measurement means; 3-dimensional tomographical data of the patient imaged in advance and a position relationship relating to the actual optical axis position of the rigid endoscope measured in advance are stored in the computation means; 3-dimensional tomographical data and the 3-dimensional surface shape of the patient measured by the 3-dimensional shape measurement means are aligned; the position, orientation, and optical axis of the rigid endoscope are computed on the basis of the position-orientation detection marker measured by the 3-dimensional shape measurement means and the stored actual optical axis position of the rigid endoscope; and the aligned 3-dimensional tomographical data, the optical axis of the rigid endoscope, and the intersection of the optical axis and the tissue wall are displayed.

摘要翻译： 即使在刚性内窥镜中的光轴偏移的情况下，也可以预先测定实际的光轴位置，也可以通过实际的光轴位置进行手术导航。 一种手术辅助系统，包括用于测量患者的三维表面形状的三维形状测量装置; 以及插入患者体内的刚性内窥镜（11） 其中所述刚性内窥镜具有可由所述三维形状测量装置测量的位置取向检测标记（12）; 预先拍摄的患者的3维断层数据和与预先测量的刚性内窥镜的实际光轴位置有关的位置关系存储在计算装置中; 三维断层数据和由三维形状测量装置测量的患者的三维表面形状对齐; 基于由三维形状测量装置测量的位置取向检测标记和刚性内窥镜的存储的实际光轴位置来计算刚性内窥镜的位置，方位和光轴; 并且显示对准的三维断层数据，刚性内窥镜的光轴以及光轴和组织壁的交点。

公开(公告)号：US08849374B2

公开(公告)日：2014-09-30

申请号：US12933232

申请日：2009-03-17

申请人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Masaaki Kinpara ,  Akira Miura

发明人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Masaaki Kinpara ,  Akira Miura

IPC分类号： A61B5/05 ,  A61B19/00 ,  A61B1/005 ,  A61B5/103 ,  A61B17/00 ,  A61B5/06

CPC分类号： A61B19/5244 ,  A61B1/0057 ,  A61B5/06 ,  A61B5/064 ,  A61B5/103 ,  A61B34/20 ,  A61B2017/00725 ,  A61B2034/107 ,  A61B2034/2055 ,  G06F19/00

摘要： 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.

摘要翻译： 一种手术辅助系统，包括具有位置取向检测标记的刚性内窥镜，用于获得对应于患者的3D表面的数据的三维（3D）形状测量装置，以及对应于位置取向检测标记的3D表面的数据 以及用于对准患者的预先存储的层析数据和与患者的3D表面相对应的数据的计算单元，基于与位置取向的3D表面相对应的数据计算刚性内窥镜的光轴 检测标记和刚性内窥镜的实际光轴与位置取向检测标记之间的预先获得的3D相对位置关系，用于根据3D断层数据计算患者中的组织壁，并计算组织的交点 墙壁和刚性内窥镜的计算光轴。

公开(公告)号：US20120004541A1

公开(公告)日：2012-01-05

申请号：US13203820

申请日：2010-03-01

申请人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Akira Miura

发明人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Akira Miura

IPC分类号： A61B6/03

CPC分类号： A61B34/20 ,  A61B17/24 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/364 ,  G06F19/00

摘要： Provided is a surgery assistance system to perform relatively fast and accurate alignment between three-dimensional surface shape data acquired by measurement using a three-dimensional surface shape scanner and three-dimensional internal shape data acquired in advance, even when the position of the patient and the surface shape of the skin of the patient change during the surgery. A surgery assistance system (1) includes a three-dimensional surface shape scanner (20) for acquiring three-dimensional surface shape data by measuring a three-dimensional surface shape of a patient (60) and a computing device (40) for processing the data from the three-dimensional surface shape scanner. The computing device stores therein three-dimensional internal shape data of the patient that is acquired in advance by measurement using a three-dimensional tomography scanner (30). The computing device has a unit that aligns the three-dimensional internal shape data and the three-dimensional surface shape data with each other by using data of a portion where a distance between a skeleton and a skin surface is small in the three-dimensional internal shape data and three-dimensional surface shape data corresponding to this portion.

摘要翻译： 提供了一种手术辅助系统，即使当患者的位置和患者的位置，也能够使用三维表面形状扫描仪进行的测量获取的三维表面形状数据和预先获取的三维内部形状数据之间进行相对快速且准确的对准 手术中患者皮肤的表面形状发生变化。 手术辅助系统（1）包括三维表面形状扫描器（20），用于通过测量患者（60）的三维表面形状和用于处理患者的计算装置（40）来获取三维表面形状数据 来自三维表面形状扫描仪的数据。 计算装置通过使用三维断层摄影扫描仪（30）进行测量，预先存储有患者的三维内部形状数据。 计算装置具有通过使用三维内部的骨架与皮肤表面之间的距离小的部分的数据将三维内部形状数据和三维表面形状数据彼此对准的单元 形状数据和对应于该部分的三维表面形状数据。

公开(公告)号：US08666476B2

公开(公告)日：2014-03-04

申请号：US13203820

申请日：2010-03-01

申请人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Akira Miura

发明人： Seiji Yamamoto ,  Toshihisa Takai ,  Etsukazu Hayashimoto ,  Akira Miura

IPC分类号： A61B5/05

CPC分类号： A61B34/20 ,  A61B17/24 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/364 ,  G06F19/00

摘要： Provided is a surgery assistance system to perform relatively fast and accurate alignment between three-dimensional surface shape data acquired by measurement using a three-dimensional surface shape scanner and three-dimensional internal shape data acquired in advance, even when the position of the patient and the surface shape of the skin of the patient change during the surgery. A surgery assistance system (1) includes a three-dimensional surface shape scanner (20) for acquiring three-dimensional surface shape data by measuring a three-dimensional surface shape of a patient (60) and a computing device (40) for processing the data from the three-dimensional surface shape scanner. The computing device stores therein three-dimensional internal shape data of the patient that is acquired in advance by measurement using a three-dimensional tomography scanner (30). The computing device has a unit that aligns the three-dimensional internal shape data and the three-dimensional surface shape data with each other by using data of a portion where a distance between a skeleton and a skin surface is small in the three-dimensional internal shape data and three-dimensional surface shape data corresponding to this portion.

摘要翻译： 提供了一种手术辅助系统，即使当患者的位置和患者的位置，也能够使用三维表面形状扫描仪进行的测量获取的三维表面形状数据和预先获取的三维内部形状数据之间进行相对快速且准确的对准 手术中患者皮肤的表面形状发生变化。 手术辅助系统（1）包括三维表面形状扫描器（20），用于通过测量患者（60）的三维表面形状和用于处理患者的计算装置（40）来获取三维表面形状数据 来自三维表面形状扫描仪的数据。 计算装置通过使用三维断层摄影扫描仪（30）进行测量，预先存储有患者的三维内部形状数据。 计算装置具有通过使用三维内部的骨架与皮肤表面之间的距离小的部分的数据将三维内部形状数据和三维表面形状数据彼此对准的单元 形状数据和对应于该部分的三维表面形状数据。

公开(公告)号：US20080051651A1

公开(公告)日：2008-02-28

申请号：US10599487

申请日：2005-03-29

申请人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato

发明人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato

IPC分类号： A61B8/00

CPC分类号： A61B8/08 ,  A61B8/0816 ,  A61B8/4416

摘要： Surgical operation supporting apparatus and method is disclosed in which based on a plurality of high-definition tomographic images of an operation site produced before surgery, a three-dimensional model of the operation site is generated, and a surface of the operation site is optically measured during the surgical operation, and further, first position information that represents a three-dimensional position of each of points on the surface of the operation site is acquired. Further, an unexposed portion of the operation site is measured with ultrasonic waves during the surgical operation, and the second position information that represents a three-dimensional position of each of points in the unexposed portion of the operation site is acquired. Moreover, based on the first position information and the second position information, displacement and distortion occurring at each of the points in the operation site are estimated using the generated three-dimensional model. And then, in accordance with the estimated displacement and distortion occurring at each of the points in the operation site, the plurality of high-definition tomographic images of the operation site produced before the surgical operation are corrected and the corrected high-definition tomographic images are displayed.

摘要翻译： 公开了一种手术操作辅助装置和方法，其中，根据手术前产生的手术部位的多个高清晰度断层摄影图像，生成操作部位的三维模型，并且操作部位的表面被光学测量 在外科手术中，获取表示操作部位的表面上的各点的三维位置的第一位置信息。 此外，在手术操作期间用超声波测量操作部位的未曝光部分，并且获取表示操作部位的未曝光部分中的每个点的三维位置的第二位置信息。 此外，基于第一位置信息和第二位置信息，使用所生成的三维模型来估计在操作部位的每个点发生的位移和失真。 然后，根据在操作部位的每个点发生的估计的位移和失真，校正在外科手术之前产生的操作部位的多个高清晰度断层图像，并且校正的高清晰度断层图像 显示。

公开(公告)号：US08388539B2

公开(公告)日：2013-03-05

申请号：US13076062

申请日：2011-03-30

申请人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato ,  Keiichi Abe ,  Baigalmaa Tsagaan

发明人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato ,  Keiichi Abe ,  Baigalmaa Tsagaan

IPC分类号： A61B8/00

CPC分类号： A61B8/08 ,  A61B8/0816 ,  A61B8/4416

摘要： Surgical operation supporting apparatus and method is disclosed in which based on a high-definition tomographic images of an operation site produced before surgery, a three-dimensional model of the operation site is generated, and a surface of the operation site is optically measured during the surgical operation, and further, first position information that represents a three-dimensional position of each of points on the surface is acquired. An unexposed portion of the operation site is measured with ultrasonic waves during the surgical operation, and second position information that represents a three-dimensional position of each of points in the unexposed portion is acquired. Based on the first position information and the second position information, displacement and distortion at a portion whose three-dimensional position is not known in the three-dimensional model is estimated to obtain an estimated result. The three-dimensional model is re-corrected by use of a finite element method and the estimated result.

摘要翻译： 公开了基于手术前产生的手术部位的高分辨率断层图像的外科手术辅助装置和方法，生成操作部位的三维模型，并且在手术部位的表面被光学测量 并且进一步获取表示表面上的每个点的三维位置的第一位置信息。 在外科手术中用超声波测量操作部位的未曝光部分，并且获取表示未曝光部分中的每个点的三维位置的第二位置信息。 基于第一位置信息和第二位置信息，估计在三维模型中三维位置未知的部分的位移和失真，以获得估计结果。 通过使用有限元法和估计结果重新校正三维模型。

公开(公告)号：US20110054300A1

公开(公告)日：2011-03-03

申请号：US12278954

申请日：2007-01-31

申请人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato

发明人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato

IPC分类号： A61B5/05

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B2017/00057 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2090/364 ,  A61B2090/373 ,  A61B2090/374

摘要： Presentation of images showing with high resolution the state of a surgical field during surgery is realized with a simple configuration. When performing surgery, a three-dimensional model is generate based on MRI images of a patient captured prior to surgery, and three-dimensional coordinates of each location on a surface of the patient are measured by scanning a laser beam over the surface and detecting laser beam reflected therefrom, and correspondence is made with the MRI image for each location of the surface (frameless/markerless: steps 100 to 116), the position of a surgical instrument is also detected by the laser beam, the position of the surgical instrument derived, and images of the surgical instrument combined onto the MRI images and displayed during surgery (steps 120 to 130).

摘要翻译： 以简单的配置实现了以高分辨率显示外科手术领域的状态的图像的呈现。 当进行手术时，基于手术前拍摄的患者的MRI图像生成三维模型，并且通过在表面上扫描激光束并检测激光来测量患者表面上每个位置的三维坐标 光束反射，并且与MRI图像对应于表面的每个位置（无框架/无标记：步骤100至116），手术器械的位置也由激光束检测，手术器械的位置得到 ，以及组合在MRI图像上并在手术期间显示的手术器械的图像（步骤120至130）。

公开(公告)号：US08463360B2

公开(公告)日：2013-06-11

申请号：US12278954

申请日：2007-01-31

申请人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato

发明人： Seiji Yamamoto ,  Susumu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato

IPC分类号： A61B5/05

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B2017/00057 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2090/364 ,  A61B2090/373 ,  A61B2090/374

摘要： Presentation of images showing with high resolution the state of a surgical field during surgery is realized with a simple configuration. When performing surgery, a three-dimensional model is generate based on MRI images of a patient captured prior to surgery, and three-dimensional coordinates of each location on a surface of the patient are measured by scanning a laser beam over the surface and detecting laser beam reflected therefrom, and correspondence is made with the MRI image for each location of the surface (frameless/markerless: steps 100 to 116), the position of a surgical instrument is also detected by the laser beam, the position of the surgical instrument derived, and images of the surgical instrument combined onto the MRI images and displayed during surgery (steps 120 to 130).

摘要翻译： 以简单的配置实现了以高分辨率显示外科手术领域的状态的图像的呈现。 当进行手术时，基于手术前拍摄的患者的MRI图像生成三维模型，并且通过在表面上扫描激光束并检测激光来测量患者表面上每个位置的三维坐标 光束反射，并且与MRI图像对应于表面的每个位置（无框架/无标记：步骤100至116），手术器械的位置也由激光束检测，手术器械的位置得到 ，以及组合在MRI图像上并在手术期间显示的手术器械的图像（步骤120至130）。

公开(公告)号：US20120010498A1

公开(公告)日：2012-01-12

申请号：US13076062

申请日：2011-03-30

申请人： Seiji Yamamoto ,  Susummu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato ,  Keiichi Abe ,  Baigalmaa Tsagaan

发明人： Seiji Yamamoto ,  Susummu Terakawa ,  Toshihisa Takai ,  Katsuhiro Sato ,  Keiichi Abe ,  Baigalmaa Tsagaan

IPC分类号： A61B8/00 ,  A61B6/00 ,  A61B5/055

CPC分类号： A61B8/08 ,  A61B8/0816 ,  A61B8/4416

摘要： Surgical operation supporting apparatus and method is disclosed in which based on a high-definition tomographic images of an operation site produced before surgery, a three-dimensional model of the operation site is generated, and a surface of the operation site is optically measured during the surgical operation, and further, first position information that represents a three-dimensional position of each of points on the surface is acquired. An unexposed portion of the operation site is measured with ultrasonic waves during the surgical operation, and second position information that represents a three-dimensional position of each of points in the unexposed portion is acquired. Based on the first position information and the second position information, displacement and distortion at a portion whose three-dimensional position is not known in the three-dimensional model is estimated to obtain an estimated result. The three-dimensional model is re-corrected by use of a finite element method and the estimated result.

摘要翻译： 公开了基于手术前产生的手术部位的高分辨率断层图像的外科手术辅助装置和方法，生成操作部位的三维模型，并且在手术部位的表面被光学测量 并且进一步获取表示表面上的每个点的三维位置的第一位置信息。 在外科手术中用超声波测量操作部位的未曝光部分，并且获取表示未曝光部分中的每个点的三维位置的第二位置信息。 基于第一位置信息和第二位置信息，估计在三维模型中三维位置未知的部分的位移和失真，以获得估计结果。 通过使用有限元法和估计结果重新校正三维模型。