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1. 发明授权

US08388539B2 Operation supporting device, method, and program 失效
标题翻译：操作支持装置，方法和程序
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。

2. 发明申请

US20080051651A1 Operation Supporting Device, Method and Program 审中-公开
标题翻译：操作支持设备，方法和程序
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。

3. 发明授权

US08463360B2 Surgery support device, surgery support method, and computer readable recording medium storing surgery support program 有权
标题翻译：手术支持装置，手术支持方法和存储手术支持程序的计算机可读记录介质
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）。

4. 发明申请

US20110054300A1 SURGERY SUPPORT DEVICE, SURGERY SUPPORT METHOD, AND COMPUTER READABLE RECORDING MEDIUM STORING SURGERY SUPPORT PROGRAM 有权
标题翻译：手术支持装置，手术支持方法和计算机可读记录媒体存储支持计划
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）。

5. 发明申请

US20120010498A1 OPERATION SUPPORTING DEVICE, METHOD, AND PROGRAM 失效
标题翻译：操作支持的设备，方法和程序
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。

6. 发明授权

US08849374B2 Surgery assistance system and optical axis position measurement device 有权
标题翻译：手术辅助系统和光轴位置测量装置
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。

7. 发明申请

US20070112248A1 Drill unit with camera 审中-公开
标题翻译：钻孔单元带相机
公开(公告)号：US20070112248A1
公开(公告)日：2007-05-17
申请号：US11599590
申请日：2006-11-15
申请人： Susumu Terakawa , Takashi Sakurai , Seiji Yamamoto , Atsuo Miyakawa , Hideo Hirukawa , Takeo Tanaami
发明人： Susumu Terakawa , Takashi Sakurai , Seiji Yamamoto , Atsuo Miyakawa , Hideo Hirukawa , Takeo Tanaami
IPC分类号： A61B1/00
CPC分类号： A61B1/05 , A61B17/32002 , A61B2090/3614
摘要： A drill unit equipped with a camera, a body of which has a camera hole at the center, and two holes formed to the left and right side of the camera hole 4 including a discharge hole 2 for discharging air and water to the drilled portion, and a suction hole 3 for sucking water and air from the drilled portion. A first and a second drill holes are formed at the top and bottom of the camera hole. Illuminating holes are also formed to illuminate the drilled portion. The camera serves to project an image of the drilled portion. The first and the second drilling members are used to fracture the body tissues, to clean the fractured portion with water, and to suck water used for the cleaning so as to be discharged. The body of the drill unit is rotated to change the drilling position for the fracture in the same way for forming the hole led to the affected portion.
摘要翻译：具有相机的钻机，其主体具有中心的相机孔，以及形成在相机孔4的左右两侧的两个孔，包括用于向钻孔部分排放空气和水的排放孔2，以及用于从钻孔部分吸取水和空气的抽吸孔3。在相机孔的顶部和底部形成第一和第二钻孔。还形成照明孔以照射钻孔部分。相机用于投影钻孔部分的图像。第一和第二钻孔构件用于破坏身体组织，用水清洁断裂部分，并吸入用于清洁的水以便排出。钻孔单元的主体旋转以改变用于断裂的钻孔位置，以形成导向受影响部分的孔。

8. 发明授权

US08666476B2 Surgery assistance system 有权
标题翻译：手术辅助系统
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。

9. 发明授权

US08208982B2 Evanescent catheter system 失效
标题翻译：衰减导管系统
公开(公告)号：US08208982B2
公开(公告)日：2012-06-26
申请号：US11720398
申请日：2005-12-01
申请人： Atsuo Miyakawa , Matsuyuki Doi , Seiji Yamamoto , Susumu Terakawa
发明人： Atsuo Miyakawa , Matsuyuki Doi , Seiji Yamamoto , Susumu Terakawa
IPC分类号： A61B5/1455
CPC分类号： G01N21/648 , A61B5/0071 , A61B5/0084
摘要： An evanescent catheter system having a tip portion of an optical fiber capable of securely measuring fluorescence intensity or fluorescence spectrum of a substance around a catheter tip, without being hindered by optical absorption of hemoglobin in erythrocytes in blood, and being capable of calculating an existing amount of a fluorescence-emitting substance existing in an evanescent light generating part. A protecting layer 22 and a cladding 23 are removed from an upper semicircular part of a core 24 at a tip of a catheter 21 to expose the core 24. When excitation light 29 is incident, evanescent light 25 is generated on the upper semicircular part of the core 24 and a fluorescent substance generates emits fluorescence 30. An interference filter 26 filters out the excitation light and only the fluorescence 30 reaches the photodiode 28, permitting a measuring device to measure an existing amount of the fluorescent substance.
摘要翻译：具有能够可靠地测量导管尖端周围的物质的荧光强度或荧光光谱的光纤的尖端部分的消逝导管系统，不受血液中红细胞中血红蛋白的光吸收的阻碍，并且能够计算出现有量存在于渐逝光产生部分中的荧光发射物质。保护层22和包层23在导管21的顶端从核心24的上部半圆形部分移除，以暴露核心24.当激发光29入射时，在第二部分的上部半圆形部分上产生ev逝光25 核心24和荧光物质产生发射荧光30.干涉滤光片26滤出激发光，只有荧光30到达光电二极管28，允许测量装置测量荧光物质的现有量。

10. 发明申请

US20080275325A1 Evanescent Catheter System 失效
标题翻译：渐逝导管系统
公开(公告)号：US20080275325A1
公开(公告)日：2008-11-06
申请号：US11720398
申请日：2005-12-01
申请人： Atsuo Miyakawa , Matsuyuki Doi , Seiji Yamamoto , Susumu Terakawa
发明人： Atsuo Miyakawa , Matsuyuki Doi , Seiji Yamamoto , Susumu Terakawa
IPC分类号： A61B5/1459
CPC分类号： G01N21/648 , A61B5/0071 , A61B5/0084
摘要： An evanescent catheter system is provided as a system having a structure of a tip portion of an optical fiber capable of securely measuring a fluorescence intensity or fluorescence spectrum of a substance around a catheter tip, without being hindered by optical absorption of hemoglobin in erythrocytes in blood, and being capable of calculating an existing amount of a fluorescence-emitting substance existing in an evanescent light generating part. A protecting layer 22 and a cladding 23 are removed from an upper semicircular part of a core 24 at a tip of a catheter 21 to expose the core 24. An optical filter 26 and a photodiode 28 are located opposite to a lower semicircular part. When excitation light 29 is incident, evanescent light 25 is generated on the upper semicircular part of the core 24 and a fluorescent substance generates emits fluorescence 30. An interference filter 26 filters out the excitation light and only the fluorescence 30 reaches the photodiode 28, an output intensity of which is guided to the outside to permit a measuring device to measure an existing amount of the fluorescent substance.
摘要翻译：提供了一种ev逝导管系统作为具有能够可靠地测量导管尖端周围的物质的荧光强度或荧光光谱的光纤的尖端部分的结构的系统，而不受血液中红细胞中血红蛋白的光吸收的阻碍并且能够计算存在于渐逝光产生部分中的荧光发射物质的现有量。保护层22和包层23在导管21的尖端处从芯24的上半圆形部分去除以暴露芯24。滤光器26和光电二极管28位于与下半圆形部分相对的位置。当激发光29入射时，在芯24的上半部分产生ev逝光25，荧光物质产生荧光30.干涉滤光片26过滤出激发光，只有荧光30到达光电二极管28，其输出强度被引导到外部，以允许测量装置测量荧光物质的现有量。

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