Medical guiding system
A medical guiding system of the invention includes: a detection portion for detecting a position and an orientation of a medical instrument and positions of feature points of a subject; a storage portion for storing reference image data having positional information on an organ of a human body; and a guide image creation portion for creating a guide image indicating the position of the medical instrument with respect to the subject from the reference image data. The guide image creation portion calculates the position of the medical instrument with respect to the subject, based on the position and the orientation of the medical instrument and the positions of feature points of the subject which are detected by the detection portion, and creates a guide image by correcting the calculated position of the medical instrument, using the positions of the feature points.
1. A medical guiding system comprising:
a detection portion configured to detect at least one of a position and an orientation of a medical instrument and at least one of positions and orientations of a plurality of feature points of a subject in a real space;
a storage portion configured to store reference image data having anatomical positional information on at least one organ of a human body; and
a guide image creation portion configured:
to define a mapping for converting at least one of the position and the orientation of the medical instrument in the real space into at least one of a position and an orientation in the reference image data based on information on:
at least one of positions and orientations of the plurality of feature points of the subject in the real space, and
at least one of positions and orientations of a plurality of reference image feature points which correspond to the plurality of feature points in the reference image data, and
to create a guide image indicating a position of the medical instrument or an observation position by the medical instrument based on the mapping and the reference image data,
to correct the position of the medical instrument or the observation position by the medical instrument which the guide image indicates, based on information on:
at least one of positions and orientations of a plurality of in-vivo feature points in a body of the subject in the real space, and
at least one of positions and orientations of one or more correction feature points which anatomically correspond to the in-vivo feature points in the reference image data, and
to change anatomical positions of the in-vivo feature points to be used in the correction depending on an anatomical region for which the medical instrument is used.
2. The medical guiding system according to claim 1 , wherein
the in-vivo feature points are two, and
the correction corrects the calculated position of the medical instrument or the calculated observation position by the medical instrument by correcting a scale size of the mapping based on comparison of a distance between the two in-vivo feature points and a distance between two correction feature points.
3. The medical guiding system according to claim 2 , wherein the correction moves the position of the medical instrument or the observation position by the medical instrument which the guide image indicates, such that one of the in-vivo feature points coincides with one of the reference image feature points which corresponds to the one of the in-vivo feature points, and correct the calculated position of the medical instrument or the observation position by the medical instrument.
4. The medical guiding system according to claim 3 , wherein presence or absence of execution of the correction of the scale size of the mapping is switched depending on the anatomical region for which the medical instrument is used.
5. The medical guiding system according to claim 1 , wherein the correction moves the position of the medical instrument or the observation position by the medical instrument which the guide image indicates, such that one of the in-vivo feature points coincides with one of the reference image feature points which corresponds to the one of the in-vivo feature points, and correct the calculated position of the medical instrument or the observation position by the medical instrument.