MEDICAL IMAGING DEVICE, LEARNING MODEL GENERATION METHOD, AND LEARNING MODEL GENERATION PROGRAM

• Main Authors: KURODA YOHEI, USUI MASARU, YOKOYAMA KAZUTO, ARIKI YUKA, NAGAO DAISUKE
• Format: Patent
• Language: English; Japanese
• Published: 18.03.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; DIAGNOSIS; HAND TOOLS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MANIPULATORS; MEDICAL OR VETERINARY SCIENCE; OPTICAL ELEMENTS, SYSTEMS, OR APPARATUS; OPTICS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; SURGERY; TRANSPORTING

To enable an autonomous operation of an endoscope to be executed more appropriately.SOLUTION: A medical imaging device includes: an arm part in which a plurality of links are connected by a joint part, for supporting an imaging part for taking a surgical field image; and a control part for driving the joint part of the arm part on the basis of the surgical field image, and controlling a position and/or a posture of the imaging part. The control part includes: a learning part for generating a learned model that has learned a trajectory of the position and/or the posture on the basis of an operation to the position and/or the posture of the imaging part, and predicting the position and/or the posture of the imaging part using the learned model; and a correction part for learning the trajectory on the basis of a result of the evaluation by a doctor to the position and/or the posture of the imaging part driven on the basis of the prediction.SELECTED DRAWING: Figure 7 【課題】内視鏡の自律動作をより適切に実行可能とすることを目的とする。【解決手段】本開示に係る医療用撮像装置は、複数のリンクが関節部により連結され、術野画像を撮像する撮像部を支持するアーム部と、術野画像に基づいてアーム部の関節部を駆動して撮像部の位置および／または姿勢を制御する制御部と、を備える。制御部は、撮像部の位置および／または姿勢に対する操作に基づき位置および／または姿勢の軌跡を学習した学習済モデルを生成し、学習済モデルを用いて撮像部の位置および／または姿勢を予測する学習部と、予測に基づき駆動されている撮像部の位置および／または姿勢に対する、医師による評価結果に基づいて軌跡を学習する修正部と、を含む。【選択図】図７