Abstract: A position measuring device of the invention includes a light emitter configured to emit a laser light, a hologram configured to generate a reconstructed image of an inclined surface relative to an optical axis, a light receiver disposed on a reconstructed image forming surface of the hologram, and a measurement unit configured to measure a position of an object based on a position of light received by the light receiver. In the position measuring device of the invention, the light emitter may emit a linear laser light and the light receiver may include an image sensor having a two-dimensional array of pixels.

Abstract: An illumination apparatus according to the present invention includes a light source, a reflecting mirror, an optical system, and a calculator. The reflecting mirror includes a first reflector and a second reflector, and is capable, while changing a reflection angle, of reflecting and directing at an object a first divided light, the first divided light being a portion of light from the light source emitted at the first reflector. The optical system divides the light from the light source into the first divided light and a second divided light, and guides the second divided light to the second reflector. The calculator is capable of calculating the reflection angle of the reflecting mirror by receiving the second divided light reflected by the second reflector.

Abstract: A position measuring device includes a light emitter, an image capturer, a first beam splitter, a first light receiver, a second light receiver, a calculator, and a controller. The first light receiver receives light that propagates along a first optical axis toward the light emitter and is reflected by the first beam splitter, and outputs a first signal. The second light receiver outputs a second signal corresponding to an intensity of light propagating along a second optical axis toward the image capturer. The controller controls the intensity of the laser light based on the second signal when a difference between the first signal and the second signal is smaller than a predetermined threshold, and performs control so that the laser light has a predetermined intensity when the difference between the first signal and the second signal is equal to or greater than the threshold.

Abstract: A position measuring device of the invention includes a light emitter configured to emit a laser light, a hologram configured to generate a reconstructed image of an inclined surface relative to an optical axis, a light receiver disposed on a reconstructed image forming surface of the hologram, and a measurement unit configured to measure a position of an object based on a position of light received by the light receiver. In the position measuring device of the invention, the light emitter may emit a linear laser light and the light receiver may include an image sensor having a two-dimensional array of pixels.

Abstract: A position measuring device includes a light emitter, an image capturer, a first beam splitter, a first light receiver, a second light receiver, a calculator, and a controller. The first light receiver receives light that propagates along a first optical axis toward the light emitter and is reflected by the first beam splitter, and outputs a first signal. The second light receiver outputs a second signal corresponding to an intensity of light propagating along a second optical axis toward the image capturer. The controller controls the intensity of the laser light based on the second signal when a difference between the first signal and the second signal is smaller than a predetermined threshold, and performs control so that the laser light has a predetermined intensity when the difference between the first signal and the second signal is equal to or greater than the threshold.

Abstract: An illumination apparatus according to the present invention includes a light source, a reflecting mirror, an optical system, and a calculator. The reflecting mirror includes a first reflector and a second reflector, and is capable, while changing a reflection angle, of reflecting and directing at an object a first divided light, the first divided light being a portion of light from the light source emitted at the first reflector. The optical system divides the light from the light source into the first divided light and a second divided light, and guides the second divided light to the second reflector. The calculator is capable of calculating the reflection angle of the reflecting mirror by receiving the second divided light reflected by the second reflector.

Abstract: 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.

Abstract: 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).

Abstract: 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).

Abstract: 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.

Abstract: 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.

Abstract: 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).

Abstract: Even when the optical axis is offset in a rigid endoscope, the actual optical axis position is measured in advance, and surgery navigation can be performed by using the actual optical axis position.

Abstract: 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).

Abstract: 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.