PROBLEM TO BE SOLVED: To determine the appropriateness of the conditions of piercing specified beforehand based on the general consideration given to all puncture situations expected to occur when an incision is made on biological tissues.SOLUTION: The puncture planning support device 10 includes a model preparation means 11 for preparing an internal organ model 26, a stress calculation means 12 for calculating the stress of the internal organ near the needle position from the conditions of piercing set up beforehand, when the needle tip position is changed immediately before the organ surface incision, an error calculation means 13 for calculating the position of a target T in each case of the changed needle tip positions and determine a positional error L, i.e., the distance between the target T and the needle movement line K, an expected value calculation means 14 for calculating an expected value IP of the positional error L, using a probability density function indicating the variation of stress &sigma when an incision is made on the organ, from the values obtained by the stress calculation means 12 and the error calculation means 13, and a determination means 15 for determining the appropriateness of the terms of piercing from the expected value IP.COPYRIGHT: (C)2010,JPO&INPIT【課題】 生体組織の切断時において想定される穿刺状況を総合的に考慮して、予め指定した刺入条件の判定を行えるようにすること。【解決手段】 穿刺プランニング支援装置10は、臓器モデル26を作成するモデル作成手段11と、臓器表面が切断する直前の針の先端位置を変化させたときに、当該各先端位置の近傍における臓器の応力を予め設定した刺入条件から求める応力算出手段12と、ターゲットTの位置を各先端位置それぞれの場合について求め、ターゲットTと針の移動線Kとの離間距離となる位置誤差Lを各先端位置それぞれについて求める誤差算出手段13と、応力算出手段12と誤差算出手段13で求めた値から、臓器が切断するときの応力σのばらつきを表す確率密度関数を使って位置誤差Lの期待値IPを求める期待値算出手段14と、期待値IPに基づいて刺入条件の判定をする判定手段15とを備えている。【選択図】 図1
