PROBLEM TO BE SOLVED: To permit a minimally invasive surgery and to reduce the burden on a patient by improving the precision of the surgery and reducing the time for the surgery in case of the minimally invasive surgery.SOLUTION: A feature point having a geometric feature is set on a medical image, and a positional error between the feature point and a measurement point corresponding to the feature point to be measured during the surgery is estimated by point measurement error estimating means, and the appropriateness of the feature point is determined. Then, a group of feature points and a group of measurement points are captured as sets, and the error between the sets is estimated by registration error estimating means. Accordingly, the best combination of the feature point group can be obtained to further improve the accuracy of the surgery.COPYRIGHT: (C)2010,JPO&INPIT【課題】 低侵襲手術による場合でも、手術の高精度化、短時間化をはかることで、低侵襲手術を可能にするとともに、患者の負担を軽減する。【解決手段】 医用画像上で幾何的特徴を有する特徴点を設定し、術中に計測する特徴点に対応した計測点との位置誤差を点計測誤差推定手段によって推定し、特徴点の良否を判別するとともに、さらに、特徴点群と計測点群を集合として捉え、集合同士の誤差をレジストレーション誤差推定手段によって推定することで、特徴点群のベストの組み合わせが得られるようにしてより一層手術の精度を高める。【選択図】 図2
