JP2024017939A - Medical information processing method, medical appliance, and medical system - Google Patents

Abstract

To efficiently and accurately acquire the position and attitude of a medical appliance.SOLUTION: A medical information processing method according to an embodiment acquires a sensing result from a sensor for sensing known space information belonging to a medical appliance disposed with respect to an analyte for an inspection or treatment, identifies the position and attitude of the medical appliance based on the sensing result, and controls output of information indicating the identified position and attitude.SELECTED DRAWING: Figure 2

Description

Embodiments disclosed in this specification and the drawings relate to a medical information processing method, a medical instrument, and a medical system.

2. Description of the Related Art There are medical image diagnostic apparatuses that generate medical image data in which internal tissues of a subject are imaged. Examples of medical image diagnostic devices include X-ray CT (Computed Tomography), X-ray diagnostic devices, ultrasound diagnostic devices, and MRI (Magnetic Resonance Imaging) devices. An X-ray CT device irradiates the subject placed on a bed with X-rays and generates CT image data of the subject's axial tomography based on electrical signals based on the X-rays detected by the X-ray detector. Generate reconstructed image data such as volume data.

In a medical image diagnostic apparatus, the position and orientation of a medical instrument such as a needle device may be detected. The position and orientation of the medical instrument is determined by detection using a magnetic field, detection using a stereo camera, or the like. In the case of detection using a magnetic field, it is necessary to install equipment to create a magnetic field in the examination room, and there are also problems such as the magnetic field being distorted if there are many metals in the surrounding area. In the case of detection using a stereo camera, there are problems such as the operator's shadow being difficult to recognize, and multiple needles coming close to each other causing interference.

Japanese Patent Application Publication No. 2006-3263

One of the problems to be solved by the embodiments disclosed in this specification and the drawings is to efficiently and accurately acquire the position and orientation of a medical instrument. However, the problems to be solved by the embodiments disclosed in this specification and the drawings are not limited to the above problems. Issues corresponding to each effect of each configuration shown in the embodiments described later can also be positioned as other issues.

The medical information processing method according to the embodiment acquires sensing results from a sensor that senses known spatial information, which is a medical instrument placed on a subject and used for examination or treatment, which the medical instrument has. , the position and orientation of the medical instrument are specified based on the sensing results, and the output of information indicating the identified position and orientation is controlled.

FIG. 1 is an external view showing the configuration of a medical instrument according to an embodiment. FIG. 2 is a block diagram showing the configuration and functions of the medical instrument according to the embodiment. FIG. 3 is a flowchart showing an example of the operation of the medical instrument according to the embodiment. FIG. 4 is a perspective view for explaining a method for identifying the position and posture of a medical instrument according to an embodiment. FIG. 5 is a perspective view for explaining a method for specifying the position and posture of a medical instrument in the first modified example of the medical instrument according to the embodiment. FIG. 6 is a perspective view for explaining a method for identifying the position and posture of a medical instrument in a second modified example of the medical instrument according to the embodiment. FIG. 7 is a flowchart showing the operation of the second modified example of the medical instrument according to the embodiment. FIG. 8 is a block diagram showing the configuration and functions of a third modified example of the medical instrument according to the embodiment. FIG. 9 is a perspective view for explaining a method of presenting the position and posture of a medical instrument in the third modified example of the medical instrument according to the embodiment. FIG. 10 is a diagram illustrating an example of a template of display content in the third modified example of the medical instrument according to the embodiment. FIG. 11 is a diagram showing a display example in the third modified example of the medical instrument according to the embodiment. FIG. 12 is a schematic diagram showing the configuration of the medical system according to the embodiment. FIG. 13 is a block diagram showing the configuration and functions of the medical system according to the embodiment. FIG. 14 is a flowchart showing an example of the operation of the medical system according to the embodiment.

Hereinafter, embodiments of a medical information processing method, a medical instrument, and a medical system will be described in detail with reference to the drawings.

The medical instruments according to the embodiments include a needle device including a needle and a needle holder used for biopsy, a needle used for ablation, an ultrasonic probe with a needle guide function, and the like. Moreover, the medical system according to the embodiment includes a medical instrument and a medical image diagnostic apparatus. Medical image diagnostic devices include X-ray CT devices, X-ray diagnostic devices, ultrasound diagnostic devices, MRI devices, nuclear medicine diagnostic devices, etc. used with medical instruments.
(Medical equipment)

FIG. 1 shows the appearance of a medical instrument 10 according to an embodiment. FIG. 2 shows the configuration and functions of the medical instrument 10 according to the embodiment. For example, the medical instrument 10 includes a needle 11 used for biopsy and a needle holder 12. The needle holder 12 also includes a sensor 13 , a memory 14 , a network interface 15 , and a processing circuit 16 .

Here, as shown in FIG. 1(A), the needle holder 12 of the medical instrument 10 is equipped with a sensor 13 (for example, three planar field of view sensors 13a to 13c, or three point field of view sensors 13d to 13f). ), a memory 14, a network interface 15, and a processing circuit 16. Alternatively, as shown in FIG. 1(B), the needle holder 12 is configured such that a housing U including a sensor 13, a memory 14, a network interface 15, and a processing circuit 16 is removably attached to the needle holder main body V. This is the structure attached to. Further, as shown in FIG. 1C, the needle holder 12 has a structure including a sensor 13 (for example, one surface field of view sensor 13d), a memory 14, a network interface 15, and a processing circuit 16. In some cases, it may be taken. Note that the needle holder main body V shown in FIG. 1(B) may be provided with one surface field-of-view sensor 13d shown in FIG. 1(C).

The needle 11 is an injection needle that is inserted into a blood vessel, a body cavity, or an internal organ from outside the body of a subject (for example, a patient P) during a test or treatment, and is also called a puncture needle. The needle 11 is used to collect tissue etc. from the patient P for testing, to drain body fluids and phlegm accumulated in the body, and to inject drugs for treatment.

The needle holder 12 holds the needle 11 so that the needle 11 can move forward and backward in the direction of its body axis.

The sensor 13 of the needle holder 12 is provided on the needle holder 12 and senses known spatial information around the medical instrument 10 . As will be described later, in the examination room where the needle holder 12 is used, there are fixed parts such as inner walls, ceilings, and fixtures that are fixed and do not move, and movable parts that are displaced but whose position after displacement can be specified. The sensor 13 senses feature points (shown in FIG. 4) provided on the fixed part or the movable part, patterns (shown in FIG. 5), and scanned bright spots (shown in FIG. 6) as known spatial information.

The sensor 13 is equipped with a surface field-of-view sensor (that is, a two-dimensional sensor) such as one or more cameras, or a point-field-of-view sensor (that is, one-dimensional sensor) such as three or more PDs (Photodiodes). Be prepared. Regarding the former, for example, if a camera with a narrow field of view is used as the sensor 13 to capture a wide area inside the examination room, the sensor 13 may be equipped with a plurality of cameras, for example, three cameras 13a to 13c (FIG. 1(A), (B)). When three cameras 13a to 13c are provided, it is only necessary to detect three points within the field of view of the three cameras 13a to 13c. This has the advantage of being less likely to be hidden. On the other hand, for example, if a camera with a wide angle of view (a camera equipped with a lens such as a wide-angle lens) is provided as the sensor 13 in order to widely capture the inside of the examination room, the sensor 13 may include one or more cameras, e.g. camera 13d (shown in FIG. 1(C)). Even when one camera 13d with a wide angle of view is used, the baseline can be made longer as in the case where three cameras 13a to 13c (shown in FIGS. 1(A) and 1(B)) are used. This has the advantage that positioning accuracy can be improved. Hereinafter, a case where the sensor 13 includes three cameras 13a to 13c will be described as an example, but the sensor 13 is not limited to three cameras.

Then, the position and orientation of the medical instrument 10 are specified based on known spatial coordinates (coordinates of three or more feature points) included in the optical images captured by the three cameras 13a to 13c. This case will be described later using FIG. 4. Alternatively, the position and orientation of the medical instrument 10 is specified based on known spatial coordinates (coordinates of three or more changing points of the pattern) included in the optical images captured by the three cameras 13a to 13c. This case will be described later using FIG. 5.

Further, the sensor 13 may include three cameras 13a to 13c with extremely small angles of view. On the other hand, a large number of figures (a group of bright spots forming a star shape, a square, a circle, etc.) are formed within a large number of points r (shown in FIG. 6) whose spatial coordinates are known. Then, each of the three cameras 13a to 13c detects a predetermined figure from among a large number of figures, thereby specifying the position and orientation of the medical instrument 10. For example, when the camera 13a detects a star-shaped figure, the camera 13b detects a square figure, and the camera 13a detects a round figure, the positions of the detected figures are determined according to the type of the detected figure. can be specified. As a result, the viewing direction of each of the cameras 13a to 31c can be specified, so the position and orientation of the medical instrument 10 can be specified. Note that the minimum angle of view means an angle of view that allows one figure to be captured.

On the other hand, when a PD is used as the sensor 13, the sensor 13 is configured using three or more PDs, for example, three PDs 13e to 13g (as shown in FIGS. 1(A) and 1(B) ). On the other hand, one bright spot is scanned within a large number of points r (shown in FIG. 6) whose spatial coordinates are known. Then, each of the three PDs 13e to 13g specifies the position and orientation of the medical instrument 10 by detecting a predetermined bright spot from among the scanned bright spots. For example, when the PDs 13e to 13g detect bright spots, the positions of the detected bright spots can be specified depending on the time of detection. Thereby, the viewing direction of each of the PDs 13e to 31g can be specified, so the position and posture of the medical instrument 10 can be specified. This case will be described later using FIGS. 6 and 7.

The memory 14 of the needle holder 12 is composed of, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, a hard disk, an optical disk, or the like. The memory 14 may be configured by a portable medium such as a USB (Universal Serial Bus) memory and a DVD (Digital Video Disk). The memory 14 stores various processing programs (including an OS (Operating System) and the like in addition to application programs) used in the processing circuit 16 and data necessary for executing the programs. Note that the memory 14 is an example of a storage section.

The network interface 15 of the needle holder 12 is constituted by a connector conforming to parallel connection specifications or serial connection specifications. The network interface 15 transmits and receives information to and from external devices on the network wirelessly or by wire. Note that the network interface 15 is an example of an input section and an output section.

Processing circuitry 16 of needle holder 12 controls the overall operation of medical instrument 10. The processing circuit 16 means a dedicated or general-purpose processor such as a CPU (Central Processing Unit), an MPU (Micro Processor Unit), or a GPU (Graphics Processing Unit), as well as an ASIC, a programmable logic device, and the like. Examples of programmable logic devices include simple programmable logic devices (SPLDs), complex programmable logic devices (CPLDs), and field programmable gate arrays (FPGAs). Can be mentioned.

Furthermore, the processing circuit 16 may be configured by a single circuit, or may be configured by a combination of a plurality of independent processing circuit elements. In the latter case, a memory may be provided individually for each processing circuit element, or a single memory may store programs corresponding to the functions of a plurality of processing circuit elements.

The processing circuit 16 reads out and executes a computer program stored in the memory 14 or directly incorporated into the processing circuit 16 to obtain an acquisition function F1, a specific function F2, an output control function F3, and a needle. Control function F4 is realized. Note that all or part of the functions F1 to F4 are not limited to being realized by executing a computer program, and may be provided in the medical instrument 10 as a circuit such as an ASIC.

The acquisition function F1 is the medical instrument 10 placed on the patient P and used for examination or treatment, and includes a function of acquiring sensing results from the sensor 13.

The specifying function F2 includes a function of specifying the position and orientation of the medical instrument 10 based on the sensing result obtained by the obtaining function F1. Here, the specific function F2 specifies the position and orientation of the medical instrument 10 based on the coordinates of feature points detected by the plane-field cameras 13a to 13c or the camera 13d as the sensor 13 (see the figure below). 4 and Figure 5). Alternatively, the specifying function F2 specifies the position and orientation of the medical instrument 10 based on the coordinates of the bright spots detected by the point field PDs 13e to 13g as the sensors 13 (FIG. 6, which will be described later).

The output control function F3 includes a function of controlling the output of information indicating the position and orientation of the medical instrument 10 specified by the specific function F2. For example, the output control function F3 may output or display the information from a speaker or display (both not shown) as an output unit attached to the needle holder 12, or output the information from the network interface 15 as an output unit to an external device. or project the information from a projector 80 (shown in FIG. 8) as an output unit.

The needle control function F4 includes a function of controlling the forward and backward movement of the needle 11 with respect to the needle holder 12. Note that depending on the type of needle 11, there are cases where the needle 11 does not move forward or backward relative to the needle holder 12, and in that case, the needle control function F4 is not necessary.

Next, the operation of the medical instrument 10 (medical information processing method) will be explained using FIG. FIG. 3 is a diagram showing the operation of the medical instrument 10 as a flowchart. In FIG. 3, the numbers added to "ST" indicate each step of the flowchart.

First, the acquisition function F1 acquires sensing results from a sensor 13 that senses known spatial information, which is a medical instrument 10 placed on a patient P and used for examination or treatment, which the medical instrument 10 has. (Step ST1).

The specifying function F2 includes a function of specifying the position and orientation of the medical instrument 10 based on the sensing result obtained in step ST1. A method for identifying the position and posture of the medical instrument 10 will be explained using FIG. 4.

As shown in FIG. 4, an imaging device (for example, the imaging device 50 shown in FIG. 12) and a bed device on which a patient P is placed (for example, the bed device 60 shown in FIG. 12) are arranged in the examination room. Then, the operator punctures the patient P with the needle 11 while adjusting the position and posture of the medical instrument 10 to be held. In that case, the cameras 13a to 13c (shown in FIG. 1A) recognize feature points in the examination room, and the acquisition function F1 acquires features with known spatial information from the cameras 13a to 13c as sensing results. Obtain an optical image containing points. The specific function F2 specifies the position and orientation of the medical instrument 10 in the examination room based on feature points included in the optical image.

For example, the feature point is a point on the fixed part that has known spatial information, and/or a point on the movable part that has known spatial information and can calculate the amount of displacement from it. The specific function F2 can determine the amount of displacement of a point on the movable part based on the output of the rotary encoder of the drive mechanism of the movable part (obtained from the medical image diagnostic apparatus). For example, the fixed portion is a corner C1 of an inner wall (or ceiling), a corner C2 of a fixture B, or the like. The movable parts include a point C3 on the external cover of the tiltable imaging device 50, a bore boundary wall, and the like. Note that the coordinates of the feature points may be obtained (calibrated) in advance and stored in the memory 14.

The position and orientation of the medical instrument 10 are determined by pattern searching of optical images acquired by the cameras 13a to 13c. Each optical image acquired by the cameras 13a to 13c includes a figure based on three or more, for example three, feature points provided on the inner wall or ceiling. In the pattern search, the specific function F2 slides and rotates each optical image within the search area of the template image at regular intervals (step width), and searches for the position and angle with the maximum correlation value, thereby searching the cameras 13a to 13c. Each spatial position, that is, the spatial position of the medical instrument 10 is specified, and the posture of the medical instrument 10 is specified based on the spatial position of each of the cameras 13a to 13c. Alternatively, the specific function F2 is to input a new optical image to a trained model that has learned a large number of optical images including three feature points and the spatial positions of the cameras 13a to 13c corresponding to each optical image. Then, the spatial positions of the cameras 13a to 13c corresponding to the new optical image, that is, the spatial position of the medical instrument 10 may be specified.

Note that the specific function F2 determines the position and orientation of the medical instrument 10 by measuring the distances to the three feature points using information about what kind of area is included in the field of view of the cameras 13a to 13c. It can also be specified. Further, as described above, if the camera has a wide angle of view, the sensor 13 may be one camera 13d (shown in FIG. 1C). Since the field of view is expanded when the camera 13d equipped with a wide-angle lens is used, there is an advantage that the base line length can be made longer, similar to the case where the three cameras 13a to 13c are used. In this case, by preparing various template images for various positions and postures of the medical instrument 10, the specific function F2 determines the position of the camera 13d, that is, the position of the medical instrument 10, by pattern search using each template image. At the same time, the posture of the medical instrument 10 is also specified.

Returning to the explanation of FIG. 3, the output control function F3 transmits information indicating the position and orientation of the medical instrument 10 specified by the specific function F2 to a speaker (not shown), a display (not shown), and a projector 80 (not shown). 8) or a medical image diagnostic apparatus (for example, the console device 70 shown in FIG. 12) (step ST3). Then, the operator adjusts the position and posture of the medical instrument 10 according to the output based on step ST3 (step ST4).

As a result of the adjustment in step ST4, the operator determines whether the medical instrument 10 is in a predetermined position and posture (step ST5). Note that the determination in step ST5 may be made by the needle control function F4. In that case, the needle control function F4 determines whether the difference between the current position and posture of the medical instrument 10 after adjustment in step ST4 and the target puncture position and puncture angle based on the puncture plan is within a threshold value. By doing so, it is determined whether the medical instrument 10 is in a predetermined position and posture.

If the determination in step ST5 is YES, that is, the medical instrument 10 is in the predetermined position and posture, the surgeon performs the adjustment while performing imaging (for example, CT fluoroscopy) with the imaging device 50. The needle 11 is advanced from the needle holder 12 of the medical instrument 10, and tissue collection and ablation from the patient P are started (step ST6). On the other hand, if the determination in step ST5 is NO, that is, the medical instrument 10 is not in the predetermined position and orientation, the acquisition function F1 again acquires the sensing result from the sensor 13 that senses known spatial information (step ST1 ). In this way, by repeating steps ST1 to ST5, it is possible to repeat the adjustment of the position and orientation of the medical instrument 10 using the output of information indicating the position and orientation of the medical instrument 10.

As described above, according to the medical instrument 10, the position and orientation of the medical instrument 10 itself can be efficiently and precisely acquired without using a magnetic field or a stereo camera. Thereby, the time required for testing or treatment using the medical instrument 10 can be reduced. Furthermore, when performing an examination or treatment using the medical instrument 10 while irradiating X-rays, unnecessary exposure can be reduced by reducing the time required for the examination or treatment, and unnecessary exposure due to redoing the procedure can be reduced. You can also.

(First modification)
Other methods may be used for specifying the position and posture of the medical instrument 10 using the specific function F2. Another method will be explained using FIG. 5.

As shown in FIG. 5, an imaging device (for example, the imaging device 50 shown in FIG. 12) and a bed device (for example, the bed device 60 shown in FIG. 12) on which the patient P is placed are arranged in the examination room. Furthermore, a pattern that allows the coordinates to be specified is displayed on the inner wall (or ceiling) of the examination room or the bore boundary wall of the imaging device 50. Possible patterns include pseudo-random patterns, grids, coded coordinates, and multiple combinations. The pattern may be displayed by printing (for example, wallpaper) or by projection. Furthermore, the pattern may be displayed using visible light or using other than visible light such as infrared light (in this case, the cameras 13a to 13c are infrared cameras).

The operator punctures the patient P with the needle 11 while adjusting the position and posture of the medical instrument 10 to be held. In that case, the cameras 13a to 13c (shown in FIG. 1A) recognize patterns in the examination room, and the acquisition function F1 acquires patterns with known spatial information from the cameras 13a to 13c as sensing results. Obtain an optical image containing: The specific function F2 specifies the position and orientation of the medical instrument 10 in the examination room based on a pattern included in the optical image that allows the coordinates to be specified. For example, the pattern is displayed on a fixed part that has known spatial information and/or a movable part that can calculate the known spatial information and the amount of displacement from it. The specific function F2 can determine the amount of displacement of the movable part based on the output of the rotary encoder (obtained from the medical image diagnostic apparatus) obtained from the roller of the drive mechanism of the movable part. For example, the fixed portion is an inner wall, fixture B, or the like. The movable parts include the tiltable outer cover of the imaging device 50 and the bore boundary wall.

As described above, according to the first modified example of the medical instrument 10, the position and orientation of the medical instrument 10 itself can be efficiently and precisely acquired without using a magnetic field or a stereo camera, as described above. .

(Second modification)
Regarding the method of specifying the position and posture of the medical instrument 10 using the specific function F2, a method other than the use of optical images described using other FIGS. 4 and 5 may be used. Another method will be explained using FIGS. 6 and 7.

As shown in FIG. 6, an imaging device (for example, the imaging device 50 shown in FIG. 12) and a bed device (for example, the bed device 60 shown in FIG. 12) on which the patient P is placed are arranged in the examination room. Further, a bright spot scanning type light emitter 90 is provided on the inner wall (or floor) of the examination room to irradiate highly directional light (for example, laser light). For example, the light emitter 90 is a projector, and by scanning a bright spot on a light-colored ceiling at a mirror angle (hereinafter referred to as "mirror angle"), one of many points r is selected at a specific time. It is possible to make only the bright spot the bright spot. For convenience of explanation, FIG. 6 shows a large number of points r so that the distance between adjacent points is wide, and one of the three PDs in the point field of view attached to the needle holder is a bright spot r1. The state at time t1 when detecting is illustrated.

The operator punctures the patient P with the needle 11 while adjusting the position and posture of the medical instrument 10 to be held. In that case, the PDs 13e to 13g (shown in FIGS. 1(A) and 1(B)) detect the light of three or more (for example, three) bright spots r1 to r3 (i.e., , scattered light), the acquisition function F1 acquires detection information (including detection time) indicating that the bright spots r1 to r3 were detected from the PDs 13e to 13g, respectively, as sensing results. The acquisition function F1 can specify the line-of-sight direction of each of the PDs 13e to 13g based on the detection information.

Furthermore, since the mounting positions of the PDs 13e to 13g (shown in FIGS. 1A and 1B) to the needle holder 12 are known, the specific function F2 is based on the line of sight direction of the PDs 13e to 13g and the relative position of the PDs 13e to 13g. Based on the relationship, the position and orientation of the medical instrument 10 in the examination room are specified.

A method for specifying the position and orientation of the medical instrument 10 using the bright spots shown in FIG. 6 will be described using the flowchart shown in FIG. 7. In FIG. 7, the numerals appended to "ST" indicate each step of the flowchart. Note that steps ST11 to ST16 shown in FIG. 7 show details of step ST1 shown in FIG. 3.

The acquisition function F1 controls the light emitter 90 to start scanning a bright spot on the ceiling (step ST11). The PD 13e detects the light of the bright spot at time t1 (step ST12). Next, the PD 13f detects the light of the bright spot at time t2 (step ST13). Next, the PD 13g detects the light of the bright spot at time t3 (step ST14). The acquisition function F1 acquires times t1 to t3 at which light was detected in steps ST11 to ST13.

On the other hand, the acquisition function F1 acquires a plurality of mirror angles (information regarding which of the many points r is a bright spot) corresponding to times t1 to t3 from the light emitter 90 (step ST15). The acquisition function F1 calculates the coordinates of the bright spots r1 to r3 detected by the PDs 13e to 13g (the coordinates of each of the many points r are converted from the detection time) based on the mirror angles at times t1 to t3 acquired in step ST15. (step ST16). The acquisition function F1 can specify that the bright spot detected by the PD 13e is the bright spot r1 among the many points r, based on the mirror angle at the time t1 when the PD 13e detects the light. Note that the bright spots at times t2 and t3 when the PDs 13f and 13g detect light can also be identified in the same way as the bright spots at time t1. The bright spot detected by the PD 13f at time t2 is defined as a bright spot r2, and the bright spot detected by the PD 13g at time t3 is defined as a bright spot r3.

The acquisition function F1 specifies the line-of-sight directions of the PDs 13e to 13g, respectively, based on the coordinates of the bright spots r1 to r3 specified in step ST16 (step ST17). Furthermore, the mounting positions of the PDs 13e to 13g on the needle holder 12 are known. The specifying function F2 specifies the position and orientation of the medical instrument 10 based on the coordinates of the three bright spots r1 to r3 specified in step ST16 and the relative positional relationship of the PDs 13e to 13g (step ST2).

Further, although the case where the light emitter 90 is a projector and the PDs 13e to 13g detect light from a bright spot from the projector has been described using FIGS. 6 and 7, the present invention is not limited to this case. For example, the light emitter 90 may be an LCD (Liquid Crystal Display) provided on the ceiling of the examination room, and the PDs 13e to 13g may be configured to detect light from pixels lit by the LCD. In an LCD, pixels are normally lit all the time, but by scanning the lighting (that is, bright spots), it is possible to turn on only one pixel out of a large number of pixels at a specific time.

In addition, in FIGS. 6 and 7, when the bright spots scanned by the light emitter 90 are monochromatic, by scanning the bright spots one by one within the multiple points r, it is possible to It is necessary to have one bright spot that shines at the time. However, if the bright spots scanned by the light emitter 90 are multicolored and the PDs 13e to 13g are color sensors capable of distinguishing colors, it is possible to have multiple bright spots shining at the same time within a large number of points r. . In that case, there is an advantage of shortening the scanning time for the entire number of points r.

As described above, according to the second modification of the medical instrument 10, the position and orientation of the medical instrument 10 itself can be efficiently and precisely acquired without using a magnetic field or a stereo camera.

(Third modification)
The processing circuit 16 of the medical device 10 may project a support image toward a predetermined location to assist the position or posture of the medical device. This case will be explained using FIGS. 8 to 11.

FIG. 8 shows the configuration and functions of a third modification of the medical instrument 10 according to the embodiment. For example, the medical instrument 10 includes a needle 11 used for biopsy and a needle holder 12. The needle holder 12 also includes a sensor 13 , a memory 14 , a network interface 15 , and a processing circuit 16 . The medical instrument 10 also controls the operation of a projector 80.

In FIG. 8, the same members as those in FIGS. 1A and 2 are denoted by the same reference numerals, and their explanations will be omitted.

8 and 9 illustrate medical instrument 10 and projector 80. FIG. As shown in FIG. 9, the projector 80 is mounted on the ceiling (or wall, etc.) of the examination room so that it can rotate about the vertical axis (double-dashed line) and the horizontal axis (dotted line). The projector 80 projects the current position and orientation of the medical instrument 10 onto a predetermined location as a support image showing the orientation of the target puncture position and puncture angle based on the puncture plan. The target puncture position and puncture angle may be acquired from a medical image diagnostic apparatus (for example, the X-ray CT apparatus 40 shown in FIG. 12). Note that the projector 80 is an example of an output section.

As shown in FIG. 9, an imaging device (for example, the imaging device 50 shown in FIG. 12) and a bed device on which a patient P is placed (for example, the bed device 60 shown in FIG. 12) are arranged in the examination room. After adjusting the position and posture of the medical instrument 10 to be held, the operator punctures the patient P with the needle 11. In that case, the output control function F3 outputs a support image showing the orientation for matching the position and orientation of the medical instrument 10 specified by the specific function F2 to the target puncture position and puncture orientation of the medical instrument 10 based on the puncture plan. is projected from the projector 80 onto a predetermined location. Specifically, the output control function F3 controls the vertical axis rotation and horizontal axis rotation of the projector 80, and displays the virtual medical instrument 10' at a predetermined location according to the puncture plan, for example, the virtual medical instrument 10' having the target puncture position and puncture posture. A support image is projected from the projector 80 toward an inner wall (or ceiling, etc.) on the extension of the body axis of the patient. Note that the amount of change in the vertical axis rotational direction and the horizontal axis rotational direction (orientation change amount) of the projector 80 is determined by the output of a rotary encoder obtained from the roller of the drive mechanism of the projector 80 (obtained from the medical image diagnostic apparatus). It can be calculated based on Furthermore, the projection location of the support image is not limited to one that changes depending on the puncture plan, but may be a fixed location such as an inner wall, or may be displayed on a display (not shown) in the examination room. .

For example, the output control function F3 projects information from the projector 80 using projection pattern templates shown in FIGS. 10(A) and 10(B). The projection pattern may be expressed by brightness, code, density of lines, dots, etc.

The output control function F3 projects the support image generated from the template (shown in FIG. 11A) from the projector 80 toward a predetermined location in order to match the target puncture position and puncture angle of the medical instrument 10. let In FIG. 11A, the broken line rectangular portion in the upper template is shown in the lower part. The operator must adjust the center of the projected support image so that the extension of the medical instrument 10 to be held matches the projection location of the support image (for example, the extension of the body axis of the virtual medical instrument 10'). The position and posture of the medical instrument 10 to be gripped are changed so that the position and orientation of the medical instrument 10 coincide with the center of the circle on the template. Then, the broken line rectangle shown in the upper row of FIG. 11(A) approaches the center of the circle on the template. The operator repeats changes in the position and posture of the medical instrument 10, and determines that the center of the dashed rectangular support image (lower row of FIG. 11(A)) has reached the center of the circle on the template (FIG. 10(A)). Then, tissue collection and ablation from patient P are started.

The output control function F3 also directs the support image generated from the template (shown in FIG. 11(B)) from the projector 80 to a predetermined location in order to match the target puncture position and puncture angle of the medical instrument 10. and project it. In FIG. 11B, the portion of the broken line rectangle in the template in the upper row is shown in the lower row. The operator must adjust the center of the projected support image so that the extension of the medical instrument 10 to be held matches the projection location of the support image (for example, the extension of the body axis of the virtual medical instrument 10'). The position and posture of the medical instrument 10 to be gripped are changed so that the position and orientation of the medical instrument 10 coincide with the center of the circle on the template. Then, the broken line rectangle shown in the upper part of FIG. 11(B) approaches the center of the arrow of the template. The operator repeats changes in the position and posture of the medical instrument 10, and when the operator determines that the center of the dashed rectangular support image (FIG. 11(B)) has reached the center of the arrow on the template (FIG. 10(B)), the patient Start tissue collection and ablation from P.

As described above, according to the third modification of the medical instrument 10, it is possible to support the operator's work to set the current position or posture of the medical instrument to the target puncture position and puncture angle.

(Medical system)
A medical system according to an embodiment includes a medical instrument and a medical image diagnostic apparatus communicably connected to the medical instrument. Medical image diagnostic devices include X-ray CT devices, X-ray diagnostic devices, ultrasound diagnostic devices, MRI devices, nuclear medicine diagnostic devices, etc. used with medical instruments. Hereinafter, unless otherwise specified, an example will be described in which the medical system according to the embodiment is an X-ray CT apparatus used with medical instruments.

Data acquisition methods using X-ray CT devices include the Rotate/Rotate (R-R) method, in which the X-ray source and X-ray detector rotate around the subject as a single unit, and the ring-shaped There are various methods such as a stationary/rotate (SR) method in which a large number of detection elements are arrayed in the X-ray tube and only the X-ray tube rotates around the subject. The present invention is applicable to either method. Hereinafter, an X-ray CT apparatus according to an embodiment will be described, taking as an example a case where the third generation rotation/rotation method, which is currently the mainstream, is adopted.

The imaging device includes an X-ray tube, an X-ray detector, a rotating part (for example, a rotating frame) in which the X-ray tube and the X-ray detector are arranged facing each other and rotates, and a fixed part (for example, for holding the rotating frame). It is a gantry device equipped with a fixed frame) and acquires X-ray detection data. Furthermore, when the medical image diagnostic apparatus is an X-ray diagnostic apparatus, the imaging apparatus includes an X-ray tube and an X-ray detector, and acquires X-ray detection data. Further, when the medical image diagnostic apparatus is an ultrasound diagnostic apparatus, the imaging apparatus is an ultrasound probe and acquires a received signal based on reflected waves of ultrasound waves. Note that the ultrasound probe can also be an imaging device and a medical instrument whose position and orientation are to be detected. Further, when the medical image diagnostic apparatus is an MRI apparatus, the imaging apparatus includes a static magnetic field magnet, a gradient magnetic field magnet, a high frequency pulse transmitting section, and an MR signal receiving section, and acquires MR data (MR signal). .

The console device controls the operation of the imaging device and generates image data based on data acquired by the imaging device.

FIG. 12 shows the overall configuration of the medical system 20 according to the embodiment. FIG. 13 shows the configuration and functions of the medical instrument 10 according to the embodiment. The medical system 20 includes a medical instrument 10 and an X-ray CT device 40 as a medical image diagnostic device. The X-ray CT apparatus 40 includes an imaging device 50, a bed device 60, and an image processing device (for example, a console device) 70. The imaging device 50 and the bed device 60 are installed in an examination room. The imaging device 50 acquires X-ray detection data (also referred to as "pure raw data") regarding the patient P to be imaged placed on the bed device 60. The console device 70 generates raw data by performing preprocessing on the detection data for a plurality of views, and reconstructs and displays CT image data by performing reconstruction processing on the raw data.

In FIG. 12, for convenience of explanation, a plurality of imaging devices 50 are drawn above and below the left side, but in actual configuration, there is only one imaging device 50.

Similar to the medical instrument 10 shown in FIGS. 1 and 2 (including the first to third modified examples), the medical instrument 10 includes a needle 11 used for biopsy and a needle holder 12, and the needle holder 12 includes a sensor. 13, a memory 14, a network interface 15, and a processing circuit 16A. The processing circuit 16A has the same configuration as the processing circuit 16 shown in FIG.

The imaging device 50 of the X-ray CT apparatus 40 includes an X-ray source (for example, an X-ray tube) 51, an X-ray detector 52, a rotating section (for example, a rotating frame) 53, an X-ray high voltage device 54, It includes a control device 55, a wedge 56, a collimator 57, and a data acquisition circuit (DAS: Data Acquisition System) 58. Note that the imaging device 50 is an example of a gantry.

The X-ray tube 51 is provided on a rotating frame 53. The X-ray tube 51 is a vacuum tube that generates X-rays by applying a high voltage from the X-ray high voltage device 54 and irradiating thermoelectrons from a cathode (filament) toward an anode (target). For example, the X-ray tube 51 includes a rotating anode type X-ray tube that generates X-rays by irradiating a rotating anode with thermoelectrons.

In addition, in the embodiment, it can be applied to both a single-tube type X-ray CT device and a so-called multi-tube type X-ray CT device in which multiple pairs of X-ray tubes and X-ray detectors are mounted on a rotating ring. Applicable. Furthermore, the X-ray source that generates X-rays is not limited to the X-ray tube 51. For example, instead of the X-ray tube 51, a focus coil that converges the electron beam generated from the electron gun, a deflection coil that electromagnetically deflects it, a target that surrounds half the circumference of the patient P and generates X-rays when the deflected electron beam collides with it. X-rays may be generated by a fifth generation system including a ring. Note that the X-ray tube 51 is an example of an X-ray irradiation unit.

The X-ray detector 52 is provided on the rotating frame 53 so as to face the X-ray tube 51 . The X-ray detector 52 detects the X-rays irradiated from the X-ray tube 51 and outputs detection data corresponding to the X-ray dose to the DAS 58 as an electrical signal. The X-ray detector 52 has, for example, a plurality of X-ray detection element rows in which a plurality of X-ray detection elements are arranged in the channel direction along one circular arc centered on the focal point of the X-ray tube. The X-ray detector 52 has, for example, a structure in which a plurality of X-ray detection element rows in which a plurality of X-ray detection elements are arranged in the channel direction are arranged in the slice direction (column direction, row direction).

Further, the X-ray detector 52 is, for example, an indirect conversion type detector having a grid, a scintillator array, and a photosensor array. The scintillator array includes a plurality of scintillators, and each scintillator includes a scintillator crystal that outputs light in an amount of photons corresponding to the amount of incident X-rays. The grid is disposed on the X-ray incident side of the scintillator array and has an X-ray shielding plate that has a function of absorbing scattered X-rays. Note that the grid is sometimes called a collimator (one-dimensional collimator or two-dimensional collimator). The optical sensor array has a function of converting the amount of light from the scintillator into an electrical signal, and includes optical sensors such as photomultiplier tubes (PMTs).

Note that the X-ray detector 52 may be a direct conversion type detector having a semiconductor element that converts incident X-rays into electrical signals. Further, the X-ray detector 52 is an example of an X-ray detection section.

The rotating frame 53 supports the X-ray tube 51 and the X-ray detector 52 so as to face each other. The rotating frame 53 is an annular frame that rotates the X-ray tube 51 and the X-ray detector 52 together under the control of a control device 55, which will be described later. Note that in addition to the X-ray tube 51 and the X-ray detector 52, the rotating frame 53 may further include and support an X-ray high voltage device 54 and a DAS 58. Furthermore, the rotating frame 53 is an example of a rotating section.

In this way, the X-ray CT apparatus 40 rotates the rotating frame 53, which supports the X-ray tube 51 and the X-ray detector 52 facing each other, around the patient P, thereby providing multiple views of the patient P. Collects 360° worth of detection data. Note that the reconstruction method for CT image data is not limited to the full scan reconstruction method using 360° worth of detection data. For example, the X-ray CT apparatus 40 may employ a half-reconstruction method in which CT image data is reconstructed based on detection data for a half-circle (180°) + fan angle.

The X-ray high voltage device 54 is provided on the rotating frame 53 or a non-rotating portion (for example, a fixed frame, not shown) that rotatably supports the rotating frame 53. The X-ray high voltage device 54 has electric circuits such as a transformer and a rectifier. The X-ray high voltage device 54 includes a high voltage generator (not shown) that has a function of generating a high voltage to be applied to the X-ray tube 51 under the control of a control device 55, which will be described later. Below, it has an X-ray control device (not shown) that controls the output voltage according to the X-rays irradiated by the X-ray tube 51. The high voltage generator may be of a transformer type or an inverter type. Note that in FIG. 12, for convenience of explanation, the X-ray high voltage device 54 is placed at a position in the positive direction of the x-axis with respect to the X-ray tube 51; It may be placed at a position in the direction.

The control device 55 includes a processing circuit, a memory, and a drive mechanism such as a motor and an actuator. The configurations of the processing circuit and memory are the same as the processing circuit 16 and memory 14 of the medical instrument 10 shown in FIG. 2, so a description thereof will be omitted.

The control device 55 has a function of receiving input signals from an input interface, which will be described later, attached to the console device 70 or the imaging device 50, and controlling the operations of the imaging device 50 and the bed device 60. For example, the control device 55 receives an input signal and performs control to rotate the rotation frame 53, control to tilt the imaging device 50, that is, a gantry device, and control to operate the bed device 60 and the top plate 63. Note that the control for tilting the imaging device 50 is performed by the control device 55 tilting the rotating frame 53 about an axis parallel to the X-axis direction based on tilt angle information input by an input interface attached to the imaging device 50. This is achieved by rotating the . Note that the control device 55 may be provided in the imaging device 50 or may be provided in the console device 70. Note that the control device 55 is an example of a control section.

The control device 55 also controls the rotation angle of the X-ray tube 51 and the rotation angle of the wedge 56 and collimator 57, which will be described later, based on imaging conditions input from an input interface, which will be described later, attached to the console device 70 and the imaging device 50. Control behavior.

The wedge 56 is provided on the rotating frame 53 so as to be disposed on the X-ray exit side of the X-ray tube 51. The wedge 56 is a filter for adjusting the amount of X-rays irradiated from the X-ray tube 51 under the control of the control device 55. Specifically, the wedge 56 is a filter that transmits and attenuates the X-rays irradiated from the X-ray tube 51 so that the X-rays irradiated from the X-ray tube 51 to the patient P have a predetermined distribution. It is. For example, the wedge 56 (wedge filter, bow-tie filter) is a filter made of aluminum processed to have a predetermined target angle and a predetermined thickness.

The collimator 57 is also called an X-ray diaphragm or a slit, and is provided on the rotating frame 53 so as to be disposed on the X-ray emission side of the X-ray tube 51. The collimator 57 is a lead plate or the like for narrowing down the irradiation range of the X-rays transmitted through the wedge 56 under the control of the control device 55, and forms an X-ray irradiation aperture by combining a plurality of lead plates or the like.

The DAS 58 is provided on the rotating frame 53. The DAS 58 includes an amplifier that performs amplification processing on the electrical signals output from each X-ray detection element of the X-ray detector 52 under the control of the control device 55, and an amplifier that amplifies the electrical signals under the control of the control device 55. It has an A/D (Analog to Digital) converter that converts into a signal, and generates detection data after amplification and digital conversion. Detection data for multiple views generated by the DAS 58 is transferred to the console device 70.

Here, the detection data generated by the DAS 58 is transmitted from a transmitter having a light emitting diode (LED) provided in the rotating frame 53 to a receiver having a photodiode provided in the fixed frame of the imaging device 50 by optical communication. and is transferred to the console device 70. Note that the method of transmitting detection data from the rotating frame 53 to the fixed frame of the imaging device 50 is not limited to the above-mentioned optical communication, and any method of non-contact data transmission may be used. Furthermore, the rotating frame 53 is an example of a rotating section.

The bed device 60 includes a base 61, a bed driving device 62, a top plate 63, and a support frame 64. The bed device 60 is a device on which a patient P to be scanned is placed, and the patient P is moved under the control of the control device 55.

The base 61 is a casing that supports the support frame 64 so as to be movable up and down in the vertical direction (y-axis direction).

The bed driving device 62 is a motor or actuator that moves the base 61 in the vertical direction (y-axis direction).

The top plate 63 is a plate provided on the upper surface of the support frame 64 and has a shape on which the patient P can be placed. The top plate 63 can be moved by a top plate drive device that is a motor or actuator that moves the top plate 63 in the longitudinal direction (z-axis direction) of the top plate 63.

Note that the top drive device may move the support frame 64 in the longitudinal direction (z-axis direction) of the top 63 in addition to the top 63. Further, the top drive device may move the base 61 of the bed device 60 together. When the present invention is applied to standing CT, a method may be adopted in which a patient moving mechanism corresponding to the top plate 63 is moved. Furthermore, when performing imaging that involves a relative change in the positional relationship between the imaging system of the imaging device 50 and the top plate 63, such as scano imaging for helical scanning or positioning, the relative change in the positional relationship is This may be performed by driving the top plate 63, by moving the fixed portion of the imaging device 50, or by a combination thereof.

The console device 70 is configured as a computer and includes a memory 71, a display 72, an input interface 73, a network interface 74, and a processing circuit 75. Note that although the console device 70 will be described as being separate from the imaging device 50, the imaging device 50 may include the console device 70 or a part of each component of the console device 70. Further, in the following description, it is assumed that the console device 70 executes all functions with a single console, but these functions may be executed with a plurality of consoles.

The memory 71 has the same configuration as the memory 14 shown in FIG. Further, the stored OS may include a GUI (Graphic User Interface) that uses graphics extensively to display information on the display 72 for operators such as surgeons, and allows basic operations to be performed using the input interface 73. You can also do it. Note that the memory 71 is an example of a storage section.

The display 72 displays various information. For example, the display 72 is a liquid crystal display, a CRT (Cathode Ray Tube) display, an OLED (Organic Light Emitting Diode) display, or the like. Further, the display 72 may be of a desktop type, or may be configured with a tablet terminal or the like that can communicate wirelessly with the main body of the console device 70. Note that the display 72 is an example of an output section.

The input interface 73 includes an input device that can be operated by an operator such as a technician, and an input circuit that inputs signals from the input device. Input devices include mice, keyboards, trackballs, switches, buttons, joysticks, touchpads that perform input operations by touching the operating surface, touchscreens that integrate the display screen and touchpad, and non-controllers that use optical sensors. This is realized by a touch input circuit, a voice input circuit, etc. When the input device receives an input operation from an operator such as a surgeon, the input circuit generates an electrical signal according to the input operation and outputs it to the processing circuit 75. Further, the input interface 73 may be provided in the imaging device 50. Furthermore, the input interface 73 may be configured with a tablet terminal or the like that can communicate wirelessly with the main body of the console device 70. Note that the input interface 73 is an example of an input section.

The network interface 74 has the same configuration as the network interface 15 shown in FIG. 2, and transmits and receives information to and from external devices on the network wirelessly or by wire. Note that the network interface 74 is an example of an input section and an output section.

The processing circuit 75 has the same configuration as the processing circuit 16 shown in FIG. 2, and controls the overall operation of the X-ray CT apparatus 40.

Next, the configuration and functions of the medical system 20 will be explained using FIG. 13. The medical system 20 includes a medical instrument 10 and an X-ray CT apparatus 40 shown in FIG. Note that the medical system 20 may further include a light emitter 90 (shown in FIG. 6) or a projector 80 (shown in FIG. 9).

The processing circuit 16A of the needle holder 12 realizes the needle control function F4 by reading and executing a computer program stored in the memory 14 or directly incorporated into the processing circuit 16A. Further, the processing circuit 75 of the X-ray CT apparatus 40 reads and executes a computer program stored in the memory 71 or directly incorporated into the processing circuit 75, thereby performing the acquisition function F1 and the specific function F2. , realizes an output control function F3 and an imaging control function F5. Note that all or part of the functions F1 to F3 and F5 are not limited to the case where they are realized by executing a computer program, and even when the X-ray CT apparatus 40 is provided as a circuit such as an ASIC. good. Further, all or part of the functions F1 to F3 and F5 may be realized by the processing circuit on the imaging device 50 side or the processing circuit 16A of the medical instrument 10.

The needle control function F4 of the needle holder 12 includes the function of controlling the movement of the needle 11 toward and away from the needle holder 12, as described above.

The acquisition function F1 of the X-ray CT apparatus 40 includes a function of acquiring the sensing results of the sensor 13 from the needle holder 12 via the network interface 74. As described above, the specifying function F2 includes a function of specifying the position and orientation of the medical instrument 10 based on the sensing result obtained by the obtaining function F1. As described above, the output control function F3 includes a function of outputting information indicating the position and orientation of the medical instrument 10 specified by the specific function F2.

The imaging control function F5 includes a function of controlling the operation of the imaging device 50 and generating CT image data as image data based on the X-ray detection data acquired by the imaging device 50. The imaging control function F1 can also store the generated image data in the memory 71 or display it on the display 72.

Next, the operation of the medical system 20 (medical information processing method) will be explained using FIG. FIG. 14 is a diagram showing the operation of the medical system 20 as a flowchart. In FIG. 14, the symbol "ST" with a number indicates each step of the flowchart. Note that in FIG. 14, steps that are the same as those shown in FIG. 3 are given the same reference numerals, and descriptions thereof will be omitted.

First, the X-ray CT device 40 of the medical system 20 controls the operation of the imaging device 50 to perform imaging of the patient P to generate image data, and based on the image data, a puncture plan (target puncture position and puncture angle) is created (step ST71).

The operator then positions and positions the medical instrument 10 so that the information indicating the position and posture of the medical instrument 10 output based on step ST3 matches the target puncture position and puncture angle created in step ST71. Adjust the posture (step ST12). In step ST12, the output control function F3 converts the coordinate system indicating the current position and orientation of the medical instrument 10 into the coordinate system of the patient P via CT image data acquired in advance for puncture planning. I can do it. The output control function F3 also controls the patient P's coordinate system based on the amount of displacement of the top plate 63, which is a movable part whose amount of displacement can be calculated, such as forward/backward movement, vertical movement, and left/right movement with respect to the bore of the imaging device 50. It is also possible to perform calibration.

As a result of the adjustment in step ST12, the operator determines whether the medical instrument 10 is in a predetermined position and posture (step ST5). Note that, as described above, the determination in step ST5 may be performed by the needle control function F4. In that case, the needle control function F4 determines that the difference between the current position and posture of the medical instrument 10 after adjustment in step ST12 and the target puncture position and puncture angle based on the puncture plan created in step ST71 is within a threshold value. Depending on whether or not the medical instrument 10 is in a predetermined position and posture, it is determined whether or not the medical instrument 10 is in a predetermined position and posture.

Although the medical system 20 according to the embodiment has been described in a case where the medical image diagnostic apparatus adjusts the position and posture of the needle 11 under CT fluoroscopy in the X-ray CT apparatus 40, the present invention is not limited to this case. For example, the medical system 20 according to the embodiment may be used in a case where the position and posture of a needle are adjusted under fluoroscopy in an X-ray fluoroscope as a medical image diagnostic device, or an ultrasonic probe in an ultrasound diagnostic device as a medical image diagnostic device. This also includes the case of adjusting the position and posture of.

As described above, according to the medical system 20, the position and orientation of the medical instrument 10 itself can be efficiently and accurately acquired without using a magnetic field or a stereo camera. Thereby, the time required for testing or treatment using the medical instrument 10 can be reduced. Furthermore, when performing an examination or treatment using the medical instrument 10 while irradiating X-rays, unnecessary exposure can be reduced by reducing the time required for the examination or treatment, and unnecessary exposure due to redoing the procedure can be reduced. You can also.

Note that the acquisition function F1 is an example of an acquisition unit. The specific function F2 is an example of a specific part. The output control function F3 is an example of an output control section. The needle control function F4 is an example of a needle control section. The imaging control function F5 is an example of an imaging control section.

According to at least one embodiment described above, the position and orientation of the medical instrument 10 can be efficiently and accurately acquired.

Although several embodiments have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, changes, and combinations of embodiments can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention as well as within the scope of the invention described in the claims and its equivalents.

10...Medical instruments 16, 16A...Processing circuit 20...Medical system 40...Medical image diagnostic device (for example, X-ray CT device)
70...Image processing device (for example, console device)
75... Processing circuit 80... Projector 90... Light emitter F1... Acquisition function F2... Specific function F3... Output control function F4... Needle control function F5... Imaging control function B... Fixtures

Claims (12)

Obtaining sensing results from a sensor that senses known spatial information, which is a medical device placed on a subject and used for testing or treatment, which the medical device has,
Identifying the position and orientation of the medical device based on the sensing results,
controlling the output of information indicating the identified position and orientation;
Medical information processing method. A medical instrument placed on a subject and used for testing or treatment,
A sensor that senses known spatial information that the medical device has;
an output unit that outputs the position and orientation of the medical instrument based on the sensing result by the sensor;
Medical equipment equipped with. an acquisition unit that acquires sensing results from the sensor;
an identification unit that identifies the position and orientation of the medical instrument based on the sensing results;
an output control unit that controls output of information indicating the identified position and orientation from the output unit;
The medical device according to claim 2, comprising: The medical device according to claim 2;
a medical image diagnostic device that is communicably connected to the medical instrument and includes an output section;
A medical system comprising:
an acquisition unit that acquires sensing results from the sensor of the medical instrument;
an identification unit that identifies the position and orientation of the medical instrument based on the sensing results;
an output control unit that controls output of information indicating the specified position and orientation from the output unit of the medical image diagnostic apparatus;
A medical system equipped with The output control unit converts a coordinate system indicating the specified position and orientation into a coordinate system of a subject to be imaged by the medical image diagnostic apparatus.
The medical system according to claim 4. The output control unit calibrates the coordinate system of the subject based on the displacement amount of the movable part whose displacement amount can be calculated.
The medical system according to claim 5. The sensor is a two-dimensional sensor,
The acquisition unit obtains, from the two-dimensional sensor, a point on the fixed part that has known spatial information and/or a point on the movable part from which known spatial information and displacement amount can be calculated, as the sensing result. Obtain an optical image that includes as feature points,
The identification unit identifies the position and orientation of the medical instrument based on the optical image.
The medical system according to claim 4. The sensor is a two-dimensional sensor,
The acquisition unit obtains, as the sensing result, a pattern displayed from the two-dimensional sensor on a fixed part having known spatial information and/or a movable part from which known spatial information and displacement amount can be calculated. Obtain an optical image containing
The identification unit identifies the position and orientation of the medical instrument based on the optical image.
The medical system according to claim 4. The acquisition unit acquires an optical image including the pattern displayed by printing or projection.
The medical system according to claim 8. The acquisition unit acquires an optical image including the pattern displayed using visible light or infrared light.
The medical system according to claim 8. Equipped with a bright spot scanning type light emitter,
The sensor is a one-dimensional sensor,
The acquisition unit acquires detection information indicating that a bright spot with known spatial information has been detected from the one-dimensional sensor as the sensing result,
The identification unit identifies the position and orientation of the medical instrument based on the detection information.
The medical system according to claim 4. The output unit includes a projector for projecting information indicating the specified position and orientation,
The output control unit controls projection of information indicating the identified position and orientation from the projector.
The medical system according to any one of claims 4 to 11.

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