CN100366217C - Treatment tool and magnetic resonance imager - Google Patents
Treatment tool and magnetic resonance imager Download PDFInfo
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- CN100366217C CN100366217C CNB02818243XA CN02818243A CN100366217C CN 100366217 C CN100366217 C CN 100366217C CN B02818243X A CNB02818243X A CN B02818243XA CN 02818243 A CN02818243 A CN 02818243A CN 100366217 C CN100366217 C CN 100366217C
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Abstract
A reference position marker having at least three reflectors is fastened to an upper magnet of an MRI apparatus forming a uniform magnetic field between the upper magnet and a lower magnet paired with the upper magnet both being supported by a pole. A position sensor having a light-emitting device and a sensing camera is provided to the upper magnet swingably by an arm mechanism and vertically movably. The doctor holding a pointer having at least three reflectors like the reference position marker indicates the portion of a subject to be imaged by means of the pointer. Using the position sensor, the positions of the reference position marker and the pointer are determined. The position sensor outputs information on the position of the cross section to be imaged to a control unit of the MRI apparatus. Thus, the cross section indicated by the doctor using the pointer is automatically imaged and displayed on a monitor. While observing the image displayed on the monitor, the doctor can operate the pointer. A holding member for fixing an insertion member to be inserted into the affected part of the body of the subject being examined or treated is detachably attached to the pointer.
Description
Technical field
The present invention relates to a kind of technology of utilizing nmr phenomena to take subject, relate in particular to the technology of monitoring to the position of subject puncture or utensil that inserts and affected part relation.
Background technology
The MRI device that utilizes nuclear magnetic resonance, NMR (NMR) phenomenon to obtain the faultage image of human body is widely used in medical institutions.This MRI device is main matter proton Density Distribution or the spatial distribution in relaxation time of the tested intravital nuclear spin device that carries out image conversion in vivo that will constitute subject.
In the past, the MRI device was based on for aspect graph picture or the function image of obtaining tested intravital internal organs, use in order to obtain blood-stream image in addition.
But,, have realized that to be used for IVR be more suitably with or not be not exposed to MRI device in the lonizing radiation examinee along with the progress of the interventional radiology that under image viewing, carries out the treatment of subject (Interventional Radiology:IVR) to recently.
The technology of the MRI device that IVR is suitable for is called as and gets involved MRI (InterventionalMRI) or built-in function MRI (Intraoperative MRI) (below is designated as I-MRI with these.)。I-MRI is in order to perform the operation or to treat and be used to monitor the puncture needle that is inserted into subject, biopsy needle, cold therapy and be inserted into the position of tested intravital utensil with respect to pathological changes portion with probe and then peritoneoscope etc.And requirement will be inserted into tested intravital above-mentioned utensil in I-MRI and these utensils time dependent position in vivo almost is depicted in the image in real time.
When the MRI device that uses tunnel type Magnet is in the past taken, because the patient is positioned at airtight space, so the doctor can not choose check point, such MRI device is unconformable for I-MRI, and use the MRI device of opening Magnet, because the doctor can easily choose examinee's check point, so the research and development of I-MRI are significant with the exploitation progress of EPI method pulse train and fluoroscopy pulse train.
Yet, promptly allow to photographic images section at high speed, for the section of taking also as in the past, with at first taking the probe image more than 2, the method for setting according to these probe image then, the front end of the puncture needle that is inserted into subject or biopsy needle etc. followed the tracks of in real time being confirmed to be difficulty by image.Expectation here need not be taken probe image and can be set the technology of taking section arbitrarily.
Take section arbitrarily if can set, and can observe the image of the section of this setting in real time, then the front end of puncture needle etc. correctly can be guided to pathological changes portion, so becoming, I-MRI can be very easy to carry out, like this when can shortening the review time, also observe the treatment under the image easily, can alleviate examinee's burden.
In the MRI device, the technology as following the tracks of utensils such as above-mentioned puncture needle records " Real timeinteractive MRI on a conventional scanner; Baker etc., MaganeticResconance in Medicine:38 volume, pp.355-367 (1997) " (be designated as document 1.) and No. 5,512,827, United States Patent (USP), No. 5,365,927, United States Patent (USP), No. 6,026,315, United States Patent (USP).
In addition, as using optical guidance technology to take the technology of puncture section, record " NerveRoot Infiltration of the First Sacral Root With MRI Guidance; Rist Ojata etc., Journal of Magnetic Resonance Imaging 12:pp.556-561 (2000) " (being designated as document 2).In the document 2, the pole piece reference position marker that the MRI device that uses C type Magnet is set is disclosed, the parts that the bracket of puncture needle is followed the tracks of are set simultaneously, and with both inventions of camera, but in addition do not have more definite structure.
The 1st purpose of the present invention is to make the technology of recording and narrating in document 2 further to become the formation that is suitable for practicality.
The 2nd purpose of the present invention is to improve its reliability.
The 3rd purpose of the present invention is to provide a kind of and does not use probe image and can set the technology of the shooting section of subject arbitrarily.
The 4th purpose of the present invention is to provide a kind of technology of faultage image of the front position that can roughly take above-mentioned puncture needle etc. in real time.
The 5th purpose of the present invention be to provide a kind of can be to MRI device automatic setting along the localized technology of the shooting of the thinly-sliced aspect of treatment apparatus.
The 6th purpose of the present invention be to extend and open the more field that utilizes of type MRI.
Summary of the invention
The present invention is for solving above-mentioned above problem, it is characterized in that, have: support pair of magnet and the MRI device door frame that constitutes in the mode that will be clipped in the middle by the measurement space that uniform magnetic field constitutes, with by being fixedly installed on the reference position marker that door frame portion or near at least 3 luminous bodys it or reflector constitute, and keep at least 3 luminous bodys or reflectors and can at random change the shooting section setting apparatus of setting its position in described measurement space or near it, optical pickocff with the position of detecting luminous body on described reference position marker and the described shooting section setting apparatus or reflector, with based on the detection signal that provides from described optical pickocff, the coordinate system that the position and the gradient of described shooting section setting apparatus is transformed into MR imaging apparatus go forward side by side line output coordinate transformation device and use from the signal sets of this coordinate transformation device output and take section and carry out the device of taking sequence.
Described door frame, be with pair of magnet with upper and lower to configuration and the vertical magnetic field mode by 1 or 2 shore supports, it is ideal that described reference position marker is installed on the upper magnet.
And, also can be to described pair of magnet, by 2 shore supports that described measurement space is clipped in the middle, described reference position marker, be separately positioned on the place ahead and 2 places, rear in the zone that demarcates by described 2 pillars, or 1 reference position marker releasably is installed on the fixedly tool of being located at the place ahead and 2 places, rear.
In addition, described optical pickocff, by comprise that fulcrum on the upper magnet that is arranged on described door frame extends, the arm-type travel mechanism of the rotating mechanism of rotation around Magnet and the reciprocating mechanism that moves along the vertical direction supports is ideal.
Described door frame can be the horizontal magnetic field mode with pair of magnet along continuous straight runs configuration, and described reference position marker can be installed on the Magnet of any one party of pair of magnet.Described optical pickocff, use be by send ultrared light-emitting component and detect by this light-emitting component send, by being arranged on described reference position marker and taking ultrared 2 position sensors that infrared camera constitutes of the reflector reflection on the section setting apparatus.
On described shooting section setting apparatus, have configuration at grade 3 light-emitting components or reflectors and be configured in predetermined distance and leave described planar locational 1 light-emitting component or reflector gets final product.
In addition, also can be with described shooting section setting apparatus, in described measurement space, be arranged on the utensil of action of extremity of the described subject of restriction, and, and be inserted in the described subject, carry out the treatment of pathological changes portion or the set of instruments of inspection lumps together.
And, in order to reach the 2nd above-mentioned purpose, I-MRI treatment apparatus of the present invention, it is characterized in that, have: luminous body more than 3 or reflector, with the supporting member of respectively described luminous body of held separate or reflector with clamp the profile of the parts that are inserted into subject and the 1st retaining member that keeps and exert pressure and the 2nd retaining member that keeps to described the 1st retaining member.
And, described the 1st retaining member, be to have the cylinder that connects the through hole that inserts member, form the line of rabbet joint of crossing this conus portion and extending when at one end forming circular cone to the other end, described the 2nd retaining member, be the hole of taking in described the 1st retaining member, and by the body that has the hole that forms conus portion at its front end with to fasteningly constituting with parts that described the 1st retaining member that is contained is exerted pressure, described supporting member and described the 2nd retaining member can load and unload.
In addition, it is characterized in that the 1st retaining member and the 2nd retaining member make described bar-like member keep described insertion member in the face parallel with the face of at least 3 luminous bodys or reflector formation.
Also can be on described the 2nd retaining member the formation columnar projections, what be to form on the described supporting member inserts in the hole chimeric described columnar projections and forms one, and fixes described columnar projections by the screw that is screwed on the supporting member.2 columnar projections of formation are corresponding with it on described the 2nd supporting member, form 2 patchholes on described supporting member.
Described supporting member has separately and supports a plurality of arms of described luminous body or reflector, and described the 2nd holding device has at least one sticking department of the described over-hang part of locking, and this sticking department also can be a pair of projection of clamping a described arm.And then, also can be on of described a pair of projection, be provided for described arm is pressed to the screw that the opposing party's arm positions.
Description of drawings
Fig. 1 is the figure that is used to illustrate that the summary of the MRI device of the 1st embodiment of the present invention constitutes.
Fig. 2 is the front view of MR imaging apparatus shown in Figure 1.
Fig. 3 is the vertical view of MR imaging apparatus shown in Figure 1.
Fig. 4 is the flow chart of expression initialization order.
Fig. 5 is the figure that is used to illustrate that the summary of the MRI device of the 2nd embodiment of the present invention constitutes.
Fig. 6 is the figure that is used to illustrate that the summary of the MRI device of the 3rd embodiment of the present invention constitutes.
Fig. 7 is the axonometric chart of outward appearance of the treatment apparatus of expression the 1st embodiment of the present invention.
Fig. 8 is the figure of the component parts of expression retaining member shown in Figure 7.
Fig. 9 is the figure that is used to illustrate that the summary of inner part of the retaining member of the 1st embodiment constitutes.
Figure 10 is the figure of production order of regulating part that is used to illustrate the retaining member of the 1st embodiment.
Figure 11 is the figure of production order of external part that is used to illustrate the retaining member of the 1st embodiment.
Figure 12 is the figure of production order of holder that is used to illustrate the retaining member of the 1st embodiment.
Figure 13 is the figure that is used to illustrate that the summary of the emulator of the 1st embodiment constitutes.
Figure 14 is the figure that is used to illustrate that the summary of retaining member of the treatment apparatus of the 2nd embodiment constitutes.
Figure 15 is the figure that is used to illustrate that the summary of the regulating part of the 2nd embodiment constitutes.
Figure 16 is the figure that is used to illustrate that the summary of the treatment apparatus of the 3rd embodiment constitutes.
Figure 17 is the figure that is used to illustrate that the summary of the treatment apparatus of the 4th embodiment constitutes.
Figure 18 is the figure of detailed formation that is used to illustrate the retaining member of the 4th embodiment.
Figure 19 is the figure of detailed formation that is used to illustrate the retaining member of the 4th embodiment.
Figure 20 is the vertical view that is used to illustrate that the summary of the treatment apparatus of the 4th embodiment constitutes.
Figure 21 be used to illustrate when using the retaining member of the 4th embodiment, to the figure of the influence of measurement image.
Figure 22 is the figure of effect that is used to illustrate the retaining member of the 4th embodiment.
Figure 23 is the figure that is used to illustrate that the summary of the treatment apparatus of the 5th embodiment constitutes.
Figure 24 is the vertical view that is used to illustrate that the summary of the treatment apparatus of the 5th embodiment constitutes.
Figure 25 is the figure that is used to illustrate that the summary of the treatment apparatus of the 6th embodiment constitutes.
Figure 26 is the vertical view that is used to illustrate that the summary of the treatment apparatus of the 6th embodiment constitutes.
Figure 27 is the figure that is used to illustrate that the summary of the treatment apparatus of the 7th embodiment constitutes.
Figure 28 is the figure that is used to illustrate that the summary of the treatment apparatus of the 8th embodiment constitutes.
The specific embodiment
Below, the MR imaging apparatus of the embodiment of the invention is described with reference to Fig. 1～Fig. 6.
Fig. 1 is the ideograph that the integral body of the MR imaging apparatus of expression the 1st embodiment of the present invention constitutes.Fig. 2 is the front view of MR imaging apparatus shown in Figure 1, and Fig. 3 is the vertical view of MR imaging apparatus shown in Figure 1.
The MRI device of present embodiment, it for example is vertical magnetic field mode 0.3T permanent magnet formula MRI device, as shown in Figure 1, comprising: the upper magnet 3 that produces vertical magnetostatic field and bottom Magnet 5, be connected pillar 7 that these Magnet support upper magnet 3 simultaneously, position probing instrument 9, arm 11, monitor 13, monitor support portion 15, benchmark measuring tool 17, general purpose computer 19, therapeutic bed 21, control part 23 etc.In these elements, will produce with Magnet by the magnetostatic field that upper magnet 3 and bottom Magnet 5 and pillar 7 constitute, be assembled into the assembly that this magnetostatic field produces with the transmission of the RF on Magnet coil, gradient magnetic field coil (these diagrams have all been omitted) and be called door frame 1.The not shown leaning magnetic field generating unit of MRI device produces leaning magnetic field with pulse mode ground, and the maximum inclination magnetic field intensity is 15mT/m, and through-rate is 20mT/m/ms.And then, the MRI device of present embodiment, have the subject in magnetostatic field 24 is produced the not shown RF transmitter that nuclear magnetic resonance, NMR use and receives the not shown RF receptor of the NMR signal that provides from subject 24, they are resonance type coils of 12.8MHz.
Here, describe as benchmark measuring tool 17, indicator 27 and the position probing instrument 9 of the shooting section of the MR image of feature of the present invention portion being used to determine.MRI device of the present invention, be 2 infrared cameras, 25 detection reference measuring tools 17 and the indicator 27 that is used on the position probing instrument 9, with the actions of knowing 6 dimensions of recognizing indicator 27 in real time, be position and direction, take by the fault plane of the subject 24 of indicator 27 indications and faultage image be shown to the device of monitor 13.
In addition, the MRI device of present embodiment, as shown in Figure 3, infrared camera 25 produces the distance of the center 1m～1.5m in zone at the magnetostatic field that leaves the MRI device, and being played by arm 11 freely to change direction and position.The surveyed area 33 of Fig. 3 is by infrared camera 25 detection reference measuring tool 17a and indicator 27 both sides' scope stably.Stable detection range is that the upper magnet 3 with MRI device 1 is the circular-arc zone at center.This radius is for the situation of present embodiment, and the scope of 170cm～293cm is suitable.In addition, the height of photographing unit is to be suitable about 95cm～107cm.In this scope, for infrared camera 25 moves, the sagging arm 11 from the top of upper magnet 3 is supporting infrared camera 25.That is, infrared camera 25, constitute from magnetostatic field produce the center in zone, stably keeping can detection reference measuring tool 17 and the distance of indicator 27, the state that can at random move simultaneously.
In addition, pillar 7 is arranged on the both sides of upper magnet 3.By these pillars, 2 are separated out for the doctor and can locate the zone of choosing subject.Below, in this explanation, the area side that disposes therapeutic bed 21 is called the place ahead or front, its opposition side is become the rear or the back side.Therapeutic bed 21 with respect to the straight line approximate right angle that connects 2 pillars 7 disposing, its upper plate length direction slidably and the measurement space in Magnet can transport subject or patient.
Because the doctor holds indicator 27 with palm and operates, so be positioned near the below, center of upper magnet 3.In addition, monitor 13, subject 24, operator 29 etc. in Fig. 3, have been omitted.
Below, just use the MRI device that constitutes like this, the method for taking the MR image of subject 24 to describe.Decide the fault plane except that taking, also can use the technique for taking of the fault plane of general MRI device with indicator 27 indication subjects 24.
At first, recognize the position of indicator 27, need to connect the coordinate system of MRI device and the coordinate system of infrared camera 25, will carry out initialization for this reason in order to know with the coordinate of MRI device.Here use this initialized order of flowchart text shown in Figure 4.
Initialization comprises: the fixing step S1 of infrared camera 25 and detection reference measuring tool 17, calculate the step S2 of the coordinate of the benchmark measuring tool 17 in the coordinate system of infrared camera 25, set the step S3 of the coordinate system of MRI device according to initialization emulator (phantom), the step S4 of the gradient of the coordinate system of calculating infrared camera 25 and the coordinate system of MRI device, go out the step S5 of the coordinate of the benchmark measuring tool 17 in the coordinate system of MRI device by the gradient of the coordinate system of the coordinate system of infrared camera 25 and MRI device and the coordinate Calculation of benchmark measuring tool 17 in the coordinate system of infrared camera 25, step S6 that preserves as initial value etc.
Specifically, in step S1, the fixing infrared camera 25 in a place is taken benchmark measuring tools 17 and detection reference measuring tools 17 by infrared camera 25.In step S2, calculate the coordinate of benchmark measuring tool 17 with the coordinate system of predefined infrared camera 25.In step S3, use the initialization emulator to set the coordinate system of MRI device.So-called initialization emulator is the emulator that can resolve the position with the shooting of MRI device.This initialization emulator is set in the MRI device, by certain point of expression initialization emulator appointed positions, can parse which position of the coordinate system that is the MRI device.That is, the initialization emulator is the coordinate system of MRI device.At this moment, the indicator 27 that indicator 27 is used as initialization is used.For example, indicator 27 is put in (X, Y, coordinate place Z)=(40,0,0) of the coordinate system of MRI device.With infrared camera 25 detections coordinate at this moment.Carry out this work in 3 places.
In step S4, calculate the gradient of the coordinate system of the coordinate system obtain the MRI device and infrared camera 25.In step S5, from the gradient of the coordinate system of the coordinate system of infrared camera 25 and MRI device, with the coordinate of benchmark measuring tool 17 the coordinate system of the infrared camera 25 that detects by infrared camera 25, can know the rotation of the coordinate system of the coordinate system of benchmark measuring tool 17 and MRI device.At this moment, owing to benchmark measuring tool 17 is fixed on the MRI device, so rotating to be of benchmark measuring tool 17 and MRI device is constant.In step S6, should rotate and preserve as primary data and finish initialization.
Here, when the position of infrared ray photographing unit 25 and direction change, the coordinate of the benchmark measuring tool 17 that is detected by infrared camera 25 also changes, but owing to be constant to the matrix of the conversion of the coordinate system of MRI device, even, also can detect the position of the coordinate system of MRI device so infrared camera 25 moves.Like this, by connecting the coordinate system of MRI device and the coordinate system of infrared camera 25, can tackle the mobile influence that brings of infrared camera 25 by benchmark measuring tool 17.
Here, benchmark measuring tool 17 detects as a rigid body with 3 reflection spheres 35.At this moment, because the position of 3 reflection spheres 35 relation input in advance, so initial point and coordinate system as rigid body are arranged, be in the information how to tilt by this coordinate system with respect to the coordinate system of infrared camera 25, can connect the coordinate system of MRI device and infrared camera 25.That is, infrared camera 25 can know with respect to the MRI device where recognize oneself be by detection reference measuring tool 17.In order to know the position of recognizing indicator 27, infrared camera 25 must detection reference measuring tools 17 and indicator 27 both.Like this, in the present embodiment, detect indicator 27 and the benchmark measuring tool 17 of representing to take section simultaneously with 2 infrared cameras 25.
In with the initialized MRI device head shot that is through with, as patient's subject 24 as shown in Figure 1, on the therapeutic bed 21 of lying, insert heads to the peristome 32 of the door frame 1 of style of opening.As the operator 29 of operative doctor, grasp and fixing indicator 27.Take commencing signals and after taking the input of beginning, general purpose computer 19 begins to carry out the position measurement of indicator 27 from control part 23 input.The positional information of measured indicator 27 is taken in the general purpose computer 19, and converts the positional information of taking section, the applied information that converts gradient magnetic field coil to, delivers to control part 23 successively according to each Measuring Time.Take successively by this leaning magnetic field applied information, and obtained image is shown on the monitor 13 successively.Operator 29 limits are observed at the image that shows on the monitor 13, limit to show check point ground best and check in the position of change indicator 27 and to treat.When the operator changes the position of indicator 27, always constantly calculate indicator 27 and benchmark measuring tool 17 positions with infrared camera 25.At this moment, data updating rate is better about 2～20 groups/s.The position data of indicator 27 is for example delivered in the general purpose computer 19 by RS232C cable 33.Position data, the shooting section for the MRI fluoroscopy sequences for example demonstrates in 0.5s.The fluoroscopy sequence that to take sequence be TRSG sequence, SG sequence, take EPI etc. more.Can update image in these sequences every 0.5s～4s.Thus, the image to be obtained by the new shooting section of indicator 27 indications is displayed on the LCD monitor 13.
The difficult point of the indicator 27 of optical profile type and the maximum of position probing instrument 9 is to have covered light path by operative doctor or operating theater instruments when operation.But, according to the MRI device of present embodiment, because can any mobile infrared camera 25, thus according to operator 29 or subject 24, can mobile infrared camera 25 according to the position of monitor 13, can easily detect indicator 27.In addition, according to employed be which type of indicator 27 or position probing instrument 9 and can influence the convenience that the MRI device uses greatly, but as present embodiment, if use wireless indicator 27 and transportable infrared camera 25, then do not lose the opening of MRI device, can enough indicators 27 indicate arbitrarily the position easily and obtain desirable faultage image with open asymmetric 2 column support types.
In Fig. 3, about the configuration of infrared camera 25, only inquired into the place ahead of the door frame 1 of configuration therapeutic bed 21, but the MRI device of present embodiment, owing to be the formation of asymmetric 2 column support types, choose so can carry out the position to subject 24 from the rear of door frame 1.Corresponding therewith, by arm mechanism 11 infrared camera 25 rotations are moved to the back side of door frame, also can detect indicator 27.At this moment, by the 2nd benchmark measuring tool 17b, infrared camera 25 can be known the position of recognizing oneself.Like this, have a plurality of benchmark measuring tool 17a, 17b in advance,, can expand the moving range of infrared camera 25 by each benchmark measuring tool 17a, 17b are carried out initial setting.When being arranged on the relative position of 3 reflection spheres 35 on the benchmark measuring tool 17 according to each benchmark measuring tool 17a, 17b change, even at random mobile the infrared camera 25 and benchmark measuring tool 17 that detects changes, it is to detect what kind of benchmark measuring tool 17 that infrared camera 25 also can automatically be discerned.Thereby, by remembering the position of a plurality of benchmark measuring tools 17 in advance respectively, automatically from the position that general purpose computer 19 interior memorizeies are read the benchmark measuring tool 17 the detection, automatically (by inter-process) obtains the shooting profile data in the coordinate system of MRI device.
In Fig. 5, shown the 2nd embodiment in the MRI device of the present invention.The 2nd embodiment shown in Fig. 5 is with the different of the 1st embodiment, when the extremity of the subject of taking with the MRI device 24, at this moment, is being used for setting indicator 27 on the fixer 37 of mobile lower limb optionally.In addition, in the present embodiment, the part identical with the 1st embodiment given same-sign and omitted explanation, formation different with the 1st embodiment and feature portion etc. are described.
The 3rd embodiment that represents MRI device of the present invention at Fig. 6.The 3rd embodiment shown in Figure 6 and the 2nd embodiment different be in, on the lower limb of subject 24 with direct fixing indicator 27 such as belt.According to present embodiment, can carry out the shooting of specific section without restriction to the lower limb of action lightheartedly.
The indicator 27 of present embodiment replaces the indicator 27 of above-mentioned the 1st～the 3rd embodiment, can constitute the heating that the heats to treat affected part instrument with the cooling usefulness of instrument or coolant treatment affected part integratedly.In addition, also indicator 27 can be fixed on each instrument and use.In a word, as long as heating or refrigerative position always are comprised in the photography section of taking in the section, can setting the MRI portrait.
Owing to the general therapeutic position is the spherical or oval spherical of diameter 2～3cm, so, as long as indicator 27 is fixed near the front end of heating cooling therapeutic appliance, just can always comprise heating, cooled region ground decision shooting section.At this moment, for heating to treat, the heater of the irradiation unit of use optical fiber or use microwave, the hyperacoustic heater of use boundling etc. suit.In addition, for coolant treatment, the local chiller of use He gas etc. suits.
In addition, the indicator 27 of present embodiment and position probing instrument 9 are so-called passives, but also can use active type.Yet,,, require to consider influence to magnetic field so particularly indicator is used the situation of active type because active type needs the electric power feed mechanism of illuminating.In addition,, light emitting diode can be connected to position probing instrument 9 sides, detect the emission light that is arranged on 3 reflection spheres 35 on the indicator 27 by photographing unit as passive.And active type for example is provided with the luminous body of infrared light-emitting diode etc. at least 3 indicators, detect these luminous bodys with 2 photographing units.MRI device of the present invention can use wherein any one of passive, active type, but key is in order to know the 6 dimension actions of recognizing indicator 27, to be position and direction, as long as 3 reflectors or luminous body, 2 optical pickocffs that detect these light are arranged.In addition, in the present embodiment, be 3 and be illustrated being located at reflection sphere on benchmark measuring tool 17, the indicator 27, but also can be provided with more than 4.Detection for the position, because the information that needs minimum 3 reflectors or luminous body to provide, so by being provided with more than 4, according to the position of optical pickocff and the position and the angle of angle, reflector or luminous body, even the overlapping or crested of reflector or luminous body, but there are 3 can detect owing to minimum, so more can guarantee precision.
In addition, in the present embodiment, be that operator 29 holds indicator 27 indication fault planes, but also can support indicator 27 by nonmagnetic supporting member and swing arm.
In addition, in the present embodiment, MRI device as style of opening, with asymmetric 2 column support types of adopt producing vertical magnetic field, the device that can carry out carrying out choosing the position from 3 directions of the left and right directions that lies in the subject 24 on the therapeutic bed and head side is that example is illustrated, but the MRI device is not limited to this, also can use two circle type Magnet of adopt producing horizontal magnetic field or with lower magnet on the shore supports and produce the MRI device of the Magnet of vertical magnetic field type.
In addition, the RF coil of MRI device of the present invention according to taking the position, taking purpose, can separately use all kinds.For example, can use the surface coils of taking partial position with high sensitivity, also can take with low coverage, the position that requires high quality graphic and use local coil ear, jaw joint, extremities joint etc.In addition, also can use in abutting connection with configuration mini table planar coil, realize the poly array coil (also can be described as array coil mutually) that amplify in the high sensitivity and the visual field.Take and during abdominal part takes, can use the broad sensitivity profile in visual field volume coils relatively uniformly at common head, but also can use multiple oscillator resonator and slotted-tube resonator, solenoid coil etc.In addition, MRI device of the present invention sends the cable of usefulness for general purpose computer 19, uses RS232C cable 33, but in order to prevent that it is ideal using Connectorized fiber optic cabling to MR image the sneaking into of ripple of making an uproar.
According to the MRI device of the invention described above, doctor etc. do not take probe image just can be rapidly and the shooting section of setting subject easily take.
The following describes with the combination of above-mentioned I-MRI device, band treatment or check the embodiment of the treatment apparatus of the indicator that patient's intravital pathological changes portion uses.
Fig. 7 is the figure that the summary of the 1st embodiment of expression treatment apparatus constitutes.In Fig. 7,301a～301d represents the 1st～the 4th reflection sphere (bright spot mechanism), 302a is illustrated in the 1st supporting member of assigned position supporting reflex ball 301a～301c, 302b represents to be supported and fixed on the 2nd supporting member of the 4th reflection sphere on the 1st supporting member 302a, 303 expression retaining members, member (insertion section) is inserted in 304 expressions, 305 expression supported holes.
As shown in Figure 7, the treatment apparatus 202 of the 1st embodiment is for having the formation of the 1st of reflected infrared ray～the 4th reflection sphere 301a～301d.The the 1st～the 3rd reflection sphere 301a～301c wherein is configured in from the upper face side of the end of the central part of the 1st supporting member 302a, the overhanging member (arm) that stretches out laterally with 120 ° interval respectively.Like this, the reason that 4 reflection spheres are set is, also as previously mentioned, because when under the situation of 3 reflection spheres, taking 3 reflection spheres with infrared camera, coincide according to taking 2 reflection spheres of direction, can produce the insufficient situation of detection information, so be provided with in order to prevent this class state of affairs.At the upper face side (disposing face one side of the 1st～the 3rd reflection sphere 301a～301c) of the 1st supporting member 302a, dispose center, to going up the 2nd supporting member 302b that direction is extended with this face is vertical from the 1st supporting member 302a.And,, dispose the 4th reflection sphere 301d at the fore-end of the 2nd supporting member 302b.Like this, on the treatment apparatus 202 of the 1st embodiment, form indicator by 4 reflection sphere 301a～301d and the 1st supporting member 302a and the 2nd supporting member 302b.More than the indicator of Gou Chenging is sold, is called as the product of " 3/4 SPHERE, PASSIVE TRACKINGFRAME " type by TraxtalTechnologies company.
In addition, in the treatment apparatus 202 of the 1st embodiment, side below the 1st supporting member 302a (with the opposite side of configuration the 1st～the 4th reflection sphere 301a～301d side) is disposing retaining member 303.In the 1st embodiment, shown in the back, form pillar (the 1st pillar) on retaining member 303, chimeric the 1st supporting member 302a that is goes up on the pillar hole (the 1st pillar hole) 305 that forms by this pillar, can unload the 1st supporting member 302a and retaining member 303.In addition, on retaining member 303, for example having from its peripheral direction keeps puncture needle, biopsy needle, peritoneoscope, endoscope, probe, guide line, cold therapy with the clamping device of visiting first grade insertion member 304, by adjusting the holding position that this clamping device can move insertion member 304 along the length direction that inserts member 304.That is, can set front position changeably with respect to the insertion member 304 of indicator.
Then, Fig. 8 is the figure that the summary of the retaining member among expression the 1st embodiment constitutes, Fig. 9 is the figure that is used for illustrating that the summary of inner part of the retaining member of the 1st embodiment constitutes, Figure 10 is the figure of production order of regulating part that is used for illustrating the retaining member of the 1st embodiment, Figure 11 is the figure of production order of external part that is used for illustrating the retaining member of the 1st embodiment, Figure 12 is the figure of production order of holder that is used for illustrating the retaining member of the 1st embodiment, below, the formation of the retaining member 303 among the 1st embodiment is described based on Fig. 8～Figure 12.Wherein, Fig. 9 (a) is the vertical view of inner part, and Fig. 9 (b) is the front view of inner part, and Fig. 9 (c) is the sectional view of the A-A line of Fig. 9 (b), and Fig. 9 (d) is the left view of inner part, and Fig. 9 (e) is the right view of inner part.In addition, the material of retaining member 303 can be used nonmagnetic substances such as polrvinyl chloride.And then the miscellaneous part by retaining member 303 also uses nonmagnetic substance, can prevent the image quality decrease of layer image.
In Fig. 8～Figure 12,401 expression external parts, 402 expression inner parts, 403 expression regulating parts, 404 expression holders, 405 expression axles, 406 expression pull bars, 407 expression pins, 408 expressions the 1st pillar, 409 expressions the 2nd pillar, 410 expression axis holes, 411 expressions the 2nd pillar hole, 412 expression pin-and-holes, 501 expression conus portions, 502 expression through holes, 601 expression cylinders, 602 expression female threads, 603 expression conical bores, 604 expression square bodies, 605 expression bonded blocks, 701 representative rings, 702 expression cylinders.
As shown in Figure 8, the retaining member 303 of the 1st embodiment, mechanism's (clamping device) by external part 401 and inner part 402 and regulating part 403 formation clampings insertion members 304, holder 404 and axle 405 and pull bar 406 and pin 407 form above-mentioned clamping device are fixed on fixed mechanism on the 1st supporting member 302a.
Shown in Fig. 9 (a) and (b), (d), inner part 402 is the collet segments that are equivalent to the collet chuck that uses in work mechanism etc., profile is cylindrical shape, form conus portion 501 to the right from the left side of figure, and, with comprise this conus portion 501 at least and up to the right side part, be divided into 4 fens with respect to the central shaft of inner part 402 and form the line of rabbet joint.And the cross section of the drawing right end portion of inner part 402 forms rectangle.In addition, shown in Fig. 9 (e)～(c), form through hole 502 at inner part 402 upper edge central shafts.In this through hole 502, insert member 304.By the inner part 402 of the different multiple class of the diameter of preparing this through hole 502, can the different insertion member 304 of corresponding thickness.
In addition, as be the front view of the regulating part 403 shown in Figure 10 (h) and in shown in the longitudinal section of the regulating part 403 shown in Figure 10 (i), regulating part 403 among the 1st embodiment, constitute by cylinder 601 and square body 604 and bonded block 605, by bonded block 605, at the outer peripheral face configuration square body 604 of cylinder 601.Shown in Figure 10 (a) and (b),, on coaxial, form female thread portion 602 and conical bore 603 in the inside of cylinder 601.To the right to half of the length of cylinder 601, form female thread portion 602 from the drawing of cylinder 601 left side, on the right side of cylinder 601, conical bore 603 forms to such an extent that the diameter of female thread side is bigger than right-hand member.And the internal diameter of female thread portion 602 forms bigger than the external diameter of the maximum of the conus portion 501 of inner part 402.In addition, to the circular cone and the diameter of conical bore 603, be processed into and cooperate with the conus portion 501 of inner part 402.
Shown in Figure 10 (c), (e), at the core of bonded block 605, form square column hole corresponding to the thickness of square body 604, and, being formed flatly the upper face side of bonded block 605, the opposite face side is along the concave of the outer peripheral face of cylinder 601.Thereby,, can form square body 604 from the outstanding regulating part 403 of the outer peripheral face of cylinder 601 by in the outer peripheral face adhesive bond parts 605 of cylinder 601, square column hole, inserting and bonding square body 604 at this bonded block 605.And, bonded block 605 is to the fixing parts of square body 604 usefulness of cylinder 601, unwanted the time, also can omit, further, also the profile of cylinder 601, square body 604 can be the structure of one by welding or soldering or casting, forging.Particularly when different patients was used treatment apparatus, owing to need sterilization, when reducing part count, it was ideal adopting the fixing means of tolerance sterilization as far as possible.
Below, according to Figure 11 external part 401 is described.External part 401 be with inner part 402 by being pressed in the parts of using on the regulating part 403, be the parts that are equivalent to the fastening tool of chuck.External part 401 is made of ring body 701 and cylinder 702.Ring body 701 is bigger than the profile diameter of cylinder 702, and makes external part 401 rotations easily.On the big part of the diameter of the periphery of cylinder 702,, form pin thread 704 corresponding to the female thread that on regulating part 403, forms.In addition, cylinder 702 forms square hole 705 and columned hole 706 along the axle center.Square hole 705 is entrenched on the rectangular portion of inner part 402, and columned hole 706 is entrenched on the shaft portion of central part of inner part 402.In addition, external part 401 also can be that bar-shaped parts are imposed machined into and integrally formed.
Thereby, as shown in figure 11, in the clamping device of the 1st embodiment, by internal configurations inner part 402 at regulating part 403 and external part 401, can when rotation external part 401, be pressed into inner part 402, by the conus portion of the fastening inner part 402 of conical bore part of regulating part 403, the partitioning portion of inner part 402 is fastening, fixes the insertion parts 304 by through hole 502.In addition,, fastening to insertion parts 304 can be removed, moving of insertion parts 304 can be carried out by the external part 401 that relaxes.As described later, when multiple treatment apparatus is inserted into subject, can only unload indicator part from the insertion member that is inserted into subject.Thereby, can enough same indicators carry out the insertion of a plurality of insertion members 304 successively.
The holder that just constitutes the joint portion of indicator and clamping device below describes.Figure 12 (a) and (b) are side view and front views of holder 404.Shown in side view, on holder 404, form the axis hole 410 that connects to the opposing party's side from a side side, in front view, on holder 404, form circular the 1st pillar hole 801 and quadrate the 2nd pillar hole 411 in addition.Quadrate the 2nd pillar hole 411 is divided into 2 parts by the side from the side that forms axis hole 410 by the line of rabbet joint of the 2nd pillar hole 411 up to the front of the 1st pillar hole.Here, on the 1st pillar hole 801, the 1st pillar by the mode of inserting in the bonding internal diameter that is entrenched in the 1st pillar hole 801 with the distolateral external diameter shown in Figure 12 (c) forms shown in Figure 12 (f), can form the outstanding fixed mechanism of the 1st pillar from the upper face side of clamping 404.And, the 2nd pillar 409 of insertion regulating part 403 on the 2nd pillar hole 411, the axle 405 of on axis hole 410, packing into.Retention mechanism in that this end setting of 405 is made of pin 407 and pull bar 406 thus, carries out the loading and unloading of clamping device.
According to above formation, in the 1st embodiment, owing to keep inserting member 304 abreast with the face that forms the 1st supporting member 302a, so can reduce the spatial size that treatment apparatus 202 occupies.Its result, can increase can nonrecoverable treatment apparatus 202 or insert the quantity of member 303.Its result is owing to reducing the time that diagnosis and treatment need, so can reduce the burden of subject 101 and operative doctor 203.
Figure 13 is the figure that is used for illustrating in the summary formation of the preferred emulator of the 1st embodiment.This emulator is provided with in the portion pedestal portion 901 that fixing emulator uses and is had the adjustment part 902 that is used for setting in all directions a plurality of patchholes 903 of treatment apparatus 202 by the not shown emulator that is the MR imaging apparatus among the 1st embodiment and constitutes.
This emulator, because when on the position that preestablishes pedestal portion 901, being provided with, write down the position of device body in coordinate system of each patchhole 903, so operative doctor 203 is before measuring, the treatment apparatus (treatment apparatus of usefulness is handled in rotation) of emulation and rotation processing is carried out in use, with the position of treatment apparatus indicating device body in coordinate axes, by detecting this indicating positions with detecting photographing unit 113, according to the coordinate figure in the device coordinate system with by the relation between the coordinate figure that detects photographing unit 113 detections, can generate and to be transformed into the transform data of the coordinate position in device body by the coordinate position that detects photographing unit 113 detections.
Figure 14 is the figure that is used for illustrating that the summary of the retaining member in the 2nd embodiment of the treatment apparatus that MR imaging apparatus is used constitutes.In Figure 14, the 1001st, external part, the 1002nd, inner part, the 1003rd, regulating part.In the following description, the retaining member among the 1st embodiment external part 1001 and the regulating part 1003 different with structure are described.
In the retaining member in the 2nd embodiment, regulating part 1003 is directly installed on the pillar hole 305 of the 1st supporting member 302a that forms indicator.That is, as shown in Figure 15 (b) of the sectional view of the A-A line among Figure 15 (a) and Figure 15 (a) like that, in the body part that forms regulating part 1003, when making the 1st pillar 1101 integratedly, form recess 1102 at the outer peripheral face of the 1st pillar 1101.And, with regulating part 403 in the 1st above-mentioned embodiment equally, portion processes female thread portion 1103 and taper hole 1104 within it.
In addition, external part 1001 uses square material to make its profile integratedly, similarly processes pin thread in periphery with external part 401, and processes the parking space of inner part in inside.
According to this formation, the retaining member of the 2nd embodiment as shown in figure 14, inner part 1002 is inserted in inside at regulating part 1003 and external part 1001, by fastening external part 1001 of screw and regulating part 1003 time, because the conus portion of inner part 1002 is pushed in the conical bore of regulating part 1003, so the partitioning portion of inner part 1002 is fastened, then can fixedly pass the insertion member of the not shown through hole of inner part 1002.
Be formed on the recess 1102 of the outer peripheral face of the 1st pillar 1101, will be with consistent with the limit screw hole site that processes towards pillar hole 305 on supporting member 302a, by fastening limit screw after retaining member is installed on the indicator, can reach and prevent deviating from and rotate the dislocation that brings by retaining member.Its result can improve the positional precision of treatment apparatus.
Figure 16 is the figure that is used for illustrating that the summary of the treatment apparatus that uses constitutes in the MR imaging apparatus of the 3rd embodiment of the present invention.In Figure 16,1201 expression retaining members.Because the treatment apparatus 202 of this embodiment only is retaining member 1201 differences, and other formation all the treatment apparatus 202 with the 1st embodiment is identical, so only describe in the following description with regard to retaining member 1201.
The retaining member 1201 of the 3rd embodiment, a distolateral elastomeric element 1201c who is inserted 2 grip block 1201a, 1201b of member 304 and closed these grip blocks by clamping constitutes.On grip block 1201a, 1201b, form the lion indicator measured length and clamp the suitable shape of inserting member, for example form concavo-convex, and then, can make up though omitted 2 plates of diagram with opening and closing.And configuration elastomer 1201c between these 2 plates, for example flat spring, helical spring, rubber etc. keep inserting member 304 between grip block 1201a, 1201b.And in this embodiment, grip block and elastomeric element all use the nonmagnetic material material.By such constituting, unload owing to only just can insert packing into of member 304, so can further improve diagnosis efficiency with the switching of grip block.
Figure 17 is the axonometric chart that is used for illustrating the summary formation of the treatment apparatus 1401 that uses in the MR imaging apparatus of the 4th embodiment of the present invention, Figure 18 (a) is the side view of retaining member, Figure 18 (b) is the sectional view of the A-A line of Figure 18 (a), Figure 19 (a) is the vertical view of retaining member, and Figure 19 (b) is the sectional view of the B-B line among Figure 19 (a).
In addition, because the treatment apparatus in the present embodiment only is retaining member 1401 differences, other the formation all treatment apparatus 202 with the 1st embodiment is identical, so, only describe in the following description with regard to retaining member 1401.In addition, same with the treatment apparatus of above-mentioned the 1st to the 3rd embodiment, in the treatment apparatus (particularly retaining member) of present embodiment, even also the MR image is not brought influence, for example make by nonmagnetic substance such as plastics or polrvinyl chloride and nonmagnetic metal 18-8 rustless steel, copper, aluminum etc. in order in the magnetic field of MRI device, to use.
As Figure 17 and shown in Figure 180, the retaining member 1401 of the 4th embodiment is identical with the retaining member of the 2nd embodiment, for regulating part 1403 being installed in the formation on the 1st supporting member 302a.
That is, shown in Figure 19 (b), in the body part of making regulating part 1403, when making the 1st pillar 1404 integratedly, on the outer peripheral face of the 1st pillar 1404, form recess 1405.In addition, on the pillar hole 305 of indicator side, process the screw thread that not shown limit screw is used.This is identical with the 2nd embodiment.
In addition, retaining member 1401 shown in Figure 17 and Figure 18 (a), by be with the upper face side (forming a side of the 1st pillar 1404) of the regulating part 1403 of the same shape of the retaining member of the 2nd embodiment to the extension 1406 that extends with the direction of insertion opposition side that inserts member 304, in the both sides pair of locking portion 1407 that direction is outstanding upward of the end of this extension 1406, be used to prevent extension 1406 bendings reinforcing portion formation and form as one.
And, shown in Figure 18 (a), contact the 1st supporting member 302a shown in Figure 7 together forming flat condition above the top and extension 1406 of regulating part 1403, constituting above both.In addition, extension 1406 is formed in order to make below it side and to insert member 304 and do not contact and leave suitable gap.
And then when being inserted into the 1st pillar 1404 on the 1st supporting member 302a, when extension 1406 had the length of the arm portion that reaches the 1st supporting member 302a, pair of locking portion 1407 was fitted to the arm portion of the 1st supporting member 302a mutually.Figure 20 has represented mutual chimerism at this moment.From this Figure 20 as can be known, clamp the arm of the 1st supporting member 302a fixes from both sides owing to sticking department 1407 thus, so, for example, can also obtain effect shown below except from the lateral parts of the 1st supporting member 302a effect only by screw stop mechanism supports the 1st pillar 1404 that connects pillar hole 305 time.
As the 1st effect, because 3 positions that can determine with respect to the retaining member 1401 of the 1st supporting member 302a with the 1st pillar 1404 and pair of locking portion 1407 are not all the skew of the retaining member 1401 of reason (for the supporting member 302 of treatment apparatus 202) to the 1st supporting member 302a so can prevent the fastening strength because of examiner's difference screw stop function.
As the 2nd effect,, can prevent the skew of the front position of treatment apparatus 202 (inserting member 304) owing to can prevent the skew of retaining member 1401 (for the supporting member 302 of treatment apparatus 202) to the 1st supporting member 302a.
Figure 21 is the figure that is used to illustrate the influence of the measurement image when using the retaining member of the 4th embodiment.Figure 21 (a) is that explanation constitutes the figure for the rotation amount of movement (a represents with angle) of the insertion member 304 of the reason of the retaining member skew of the 1st supporting member, Figure 21 (b)～(d) be the fault plane (TRS) parallel with the 1st supporting member 302a of each rotation amount of movement and with the measurement image of the fore-end of the insertion member of the vertical fault plane of this TRS (COR).Figure 21 (b)～(d) is rotation amount of movement a in 0 (zero), 2～3 °, about 5 °, with the measurement image of TRS and COR in the TRS of the position of the front end that demonstrates insertion member 304 and the measurement image of COR.
By Figure 21 (b) as can be known, when rotation amount of movement a is 0 (zero), demonstrate the image of the front end of insertion member 304 with the measurement image of TRS and COR.
To this, shown in Figure 21 (c), when rotation amount of movement a is 2～3 °, in the measurement image of TRS, demonstrate the image of the front end that inserts member 304.To this, in the measurement image of COR, do not demonstrate the front position of inserting member 304, the apparent front position of inserting member 304 that goes up is lacked than actual insertion amount, that is and, the front position of inserting member 304 demonstrates than the actual forward face in position.
Equally, shown in Figure 21 (d), when rotation amount of movement a is 5 °, in the measurement image of TRS, demonstrate the image of the front end that inserts member 304.To this, in the measurement image of COR, do not demonstrate the front position of inserting member 304, apparent go up insert member 304 front position than actual insertion amount still less, that is, the front position of inserting member 304 demonstrates than the actual more forward face in position.
Figure 22 is the figure of effect that is used for illustrating the retaining member of the 4th embodiment of the present invention.Figure 22 (a) is the figure that measures by the repeatability of the installation site of the retaining member decision of the retaining member of the 2nd embodiment and the 4th embodiment, is to use the measurement image of COR and measures the result of the repeatability of installation site.In addition, Figure 22 (b), (c) are the figure of measurement result of side-play amount of the measurement image of the TRS of the expression retaining member that uses the different probe of diameter retaining member when inserting member 304, that use the 2nd embodiment and the 4th embodiment and COR.In these figure, A～E is to use a plurality of retaining members of the same shape that is formed into the 2nd embodiment and F is to use the situation of the retaining member of the 4th embodiment.
Shown in Figure 22 (a), when using the retaining member of the 2nd embodiment, A is that only initial the 1st time is the situation that demonstrates needle point in central segment within 3 installations, and the position of other 2 its needle points is from central offset.In addition, B is in 3 times are installed, and the position of the 1st time only initial needle point is from central offset, and in addition 2 times is the degree skew that can take with the layering two of central segment and adjacency.And then, C, D, E 3 install for 3 times whole, the position of its needle point is from central offset.
To this, in the retaining member (being designated as subsidiary dike) of the 4th embodiment, that installs for 3 times all only demonstrates needle point in central segment, does not produce skew.
In addition, side-play amount by the needle point of inferring from the shooting of thickness=interval=10,8,6, the 4mm shown in Figure 22 (b) also can be learnt, for the measurement image of TRS, the 2nd embodiment retaining member, the 4th embodiment retaining member 1401 all are can very suitable side-play amount to checking and treating.In addition, skew for the needle point of the measurement image of COR, promptly, skew for the angle a direction shown in Figure 21 (a), by Figure 22 (c) as can be known, the reasonable A retaining member of repeatability shown in Figure 22 (a), the side-play amount when using its diameter as the insertion member 304 of 3.4mm, 2.4mm is 4 bigger～5mm.In addition, even on the retaining member of B, the side-play amount when using its diameter as the insertion member 304 of 3.4mm, 1.3mm is also as about 2mm.
To this, in the retaining member 2401 that uses the 4th embodiment, side-play amount when diameter is the whole insertion member 304 of 3.4mm, 2.4mm, 1.3mm is roughly 0mm, the skew in the time of obviously can preventing the installation for the insertion member of the 1st supporting member 302a.
Figure 23 is the figure that the summary of the treatment apparatus that uses in the MR imaging apparatus of explanation in the 5th embodiment constitutes.Because indicator portion and the 1st embodiment's is identical in the present embodiment, thus retaining member only is described, in addition, because the retaining member of the present embodiment part similar to the 4th embodiment is a lot, so the part different with it only is described.
As shown in figure 23, the retaining member of this embodiment, identical with the pair of locking portion 1407 on the retaining member of the 4th embodiment, form the sticking department 2001 of 2 subtends.And the interval of pair of locking portion 2001 is formed the interval identical or wideer slightly than its width with the width of the 1st supporting member 302a, the screw hole 2002 that connects at a square one-tenth of sticking department.For on this screw hole 2002, being screwed into lock screw 2003, the side of the 1st supporting member 302a is given pressure and is fixed.The expression at this moment installment state be Figure 24.Like this, in the retaining member of the 5th embodiment,, also add the fore-end of lock screw 2003 and the opposing party 2 of sticking department 2001 totally 3 points, support the 1st supporting member 302a except support at the 1st pillar 1404.
Its result can obtain the effect identical with the 4th above-mentioned embodiment.
Figure 25 is the figure that is used for illustrating that the summary of the treatment apparatus that uses constitutes in the MR imaging apparatus of the 6th embodiment.Because indicator portion and the 1st embodiment's is identical in the present embodiment, so retaining member only is described.As shown in figure 25, in the retaining member of present embodiment, form the 1st extension 2202a and the 2nd extension 2203b, form the 1st sticking department 2203a, the 2nd sticking department 2203b respectively at its extension.
In combination this retaining member and indicator portion, as shown in figure 26, form 2 of 3 arms of the 1st supporting member 302a, contact with sticking department 2203a, 2203b and locate.And the formation position of the 1st and the 2nd sticking department 2203a, 2203b is not limited to illustrated position, also can be arranged on the position in each 1 place of 2 arms of contact.
Also can access the effect identical according to above formation with the 4th above-mentioned embodiment.
Figure 27 is the figure that is used for illustrating that the summary of the treatment apparatus that uses constitutes in the MR imaging apparatus of the 7th embodiment.Present embodiment is the example that the sticking department 2401 of U word shape is set on retaining member, forms the protruding 2401a of sticking department 2401, thus the fixing arm of instruction unit.
Even such formation also can access the effect identical with the 4th above-mentioned embodiment.
Figure 28 is the figure that is used for illustrating that the summary of the treatment apparatus that uses constitutes in the MR imaging apparatus of the 8th embodiment.Present embodiment is provided with the 2nd pillar 2501 to retaining member, by the position of the 1st pillar 1404 and 2501 pairs of indicator decisions of the 2nd pillar retaining member.For this reason, need on the 1st supporting member 302a, form the patchhole that inserts the 2nd pillar 2501.
In the retaining member of the 4th to the 7th above-mentioned embodiment, be the formation that supports the 1st supporting member 302a with 3, but in the retaining member of the 8th embodiment, for supporting constituting of the 1st supporting member 302a by 2.Its result, because the structure of retaining member becomes simply, so when accessing the effect identical with the maintaining part 1401 of the 4th above-mentioned embodiment, the effect of the processing in the time of can obtaining carrying out easily integrally formed retaining member.
In addition, in the present embodiment, form the 2nd pillar 2501, but form the 2nd pillar 2501, also can form patchhole in the retaining member side certainly in the 1st supporting member 302a side in the retaining member side.
More than, specify the present invention is based on the foregoing description, but the present invention is not the invention that is limited to the foregoing description, in the scope that does not break away from its aim, can do many variations certainly.
If simply record and narrate the representational effect that obtains by in above disclosed the present invention, can be listed as state as follows:
(1) can take in real time the layer image of the front end position for the treatment of apparatus.
(2) can reduce the burden of operative doctor.
(3) can reduce examinee's burden.
(4) can improve diagnosis efficiency and therapeutic efficiency.
(5) can prevent that retaining member is to supporting the position skew of member.
(6) can prevent the skew of the front end position for the treatment of apparatus.
Claims (10)
1. MR imaging apparatus is characterized in that having:
With the mode that will be clipped in the middle by the measurement space that uniform magnetic field constitutes support pair of magnet and the MRI device that constitutes use door frame and
The reference position marker that constitutes by at least 3 luminous bodys that are fixedly installed on door frame portion or reflector and
Keep at least 3 luminous bodys or reflector and can at random change the shooting section setting apparatus of setting its position in described measurement space or near it and
Detect luminous body on described reference position marker and the described shooting section setting apparatus or reflector the position optical pickocff and
The coordinate system that is transformed into MR imaging apparatus based on the detection signal that provides from described optical pickocff, with the position and the gradient of described shooting section setting apparatus go forward side by side line output coordinate transformation device and
Use is taken section and is carried out the device of taking sequence from the signal sets of this coordinate transformation device output.
2. according to the described MR imaging apparatus of claim 1, it is characterized in that: described door frame, be with pair of magnet with upper and lower to configuration and the vertical magnetic field mode by 1 or 2 shore supports, described reference position marker is installed on the upper magnet.
3. according to the described MR imaging apparatus of claim 2, it is characterized in that: described pair of magnet, by 2 shore supports that described measurement space is clipped in the middle, described reference position marker is separately positioned on the place ahead and 2 places, rear in the zone that is demarcated by described 2 pillars.
4. according to the described MR imaging apparatus of claim 2, it is characterized in that: described pair of magnet, by 2 shore supports that described measurement space is clipped in the middle, a reference position marker releasably is installed on fixture, and this fixture is arranged on the place ahead and the rear in the zone that is demarcated by 2 pillars.
5. according to the described MR imaging apparatus of claim 1, it is characterized in that: described optical pickocff, by comprise that fulcrum on the upper magnet that is arranged on described door frame extends, the arm-type travel mechanism document received support of the rotating mechanism of rotation around Magnet and the reciprocating mechanism that moves along the vertical direction.
6. according to the described MR imaging apparatus of claim 1, it is characterized in that: described door frame is the horizontal magnetic field mode with pair of magnet along continuous straight runs configuration, and described reference position marker is installed on the Magnet of any one party of pair of magnet.
7. according to claim 1 or 5 described MR imaging apparatus, it is characterized in that: described optical pickocff, by sending ultrared light-emitting component and detecting by this light-emitting component and send, constitute by ultrared 2 infrared cameras that are arranged on the reflector reflection on described reference position marker and the shooting section setting apparatus.
8. according to the described MR imaging apparatus of claim 1, it is characterized in that: on described shooting section setting apparatus, have configuration at grade 3 light-emitting components or reflectors and be configured in predetermined distance and leave described planar locational 1 light-emitting component or reflector.
9. according to the described MR imaging apparatus of claim 1, it is characterized in that: described shooting section setting apparatus in described measurement space, is arranged on the utensil of action of extremity of the described subject of restriction.
10. according to the described MR imaging apparatus of claim 1, it is characterized in that: described shooting section setting apparatus and is inserted in the described subject, carries out the treatment of pathological changes portion or the set of instruments of inspection lumps together.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001285949 | 2001-09-19 | ||
| JP2001285331 | 2001-09-19 | ||
| JP285949/2001 | 2001-09-19 | ||
| JP285331/2001 | 2001-09-19 | ||
| JP2002096291 | 2002-03-29 | ||
| JP96291/2002 | 2002-03-29 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1555245A CN1555245A (en) | 2004-12-15 |
| CN100366217C true CN100366217C (en) | 2008-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB02818243XA Expired - Fee Related CN100366217C (en) | 2001-09-19 | 2002-09-19 | Treatment tool and magnetic resonance imager |
Country Status (3)
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| JP (1) | JP4178108B2 (en) |
| CN (1) | CN100366217C (en) |
| WO (1) | WO2003026505A1 (en) |
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|---|---|---|---|---|
| JP4565885B2 (en) * | 2004-04-28 | 2010-10-20 | 株式会社日立メディコ | Nuclear magnetic resonance imaging system |
| DE102004063981B4 (en) * | 2004-09-15 | 2007-10-04 | Carl Zeiss Vision Gmbh | Measuring bracket, and device and method for determining the pretilt angle α of a spectacle frame |
| JP4822399B2 (en) * | 2005-04-13 | 2011-11-24 | 株式会社日立メディコ | Medical diagnostic imaging equipment |
| CA2654343C (en) * | 2006-06-05 | 2015-02-10 | Technion Research & Development Foundation Ltd. | Controlled steering of a flexible needle |
| EP2640302B1 (en) * | 2010-11-17 | 2017-12-20 | Boston Scientific Scimed, Inc. | Bearing assembly for instrument |
| EP2549284A1 (en) * | 2011-07-21 | 2013-01-23 | Koninklijke Philips Electronics N.V. | Position marker for use in an MRI apparatus |
| KR102323206B1 (en) * | 2014-08-13 | 2021-11-08 | 삼성전자주식회사 | The method and apparatus for filtering magnetic field induced in the coil of magnetic resonance imaging system |
| IL236003A (en) | 2014-11-30 | 2016-02-29 | Ben-Yishai Rani | Model registration system and method |
| CN107940189B (en) * | 2018-01-02 | 2024-03-22 | 合肥和尔适科技发展有限公司 | Rotatable support for mounting magnetic resonance matched equipment |
| CN110379493B (en) * | 2019-08-29 | 2023-04-21 | 中国科学技术大学 | Image navigation registration system and image navigation system |
| CN110464461A (en) * | 2019-08-29 | 2019-11-19 | 中国科学技术大学 | A kind of intervention operation navigation device based on MRI guidance |
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| CN1063360A (en) * | 1991-01-07 | 1992-08-05 | 比色裂比斯医院协会 | The method of detection and localization of cancer |
| CN1086698A (en) * | 1992-09-11 | 1994-05-18 | 麦格纳·莱伯公司 | Permanent magnet structure |
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| US5617857A (en) * | 1995-06-06 | 1997-04-08 | Image Guided Technologies, Inc. | Imaging system having interactive medical instruments and methods |
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| JPH08509144A (en) * | 1993-04-22 | 1996-10-01 | ピクシス，インコーポレイテッド | System to locate relative position of objects |
| US6275721B1 (en) * | 1999-06-10 | 2001-08-14 | General Electriccompany | Interactive MRI scan control using an in-bore scan control device |
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- 2002-09-19 WO PCT/JP2002/009618 patent/WO2003026505A1/en active Application Filing
- 2002-09-19 CN CNB02818243XA patent/CN100366217C/en not_active Expired - Fee Related
- 2002-09-19 JP JP2003530149A patent/JP4178108B2/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1063360A (en) * | 1991-01-07 | 1992-08-05 | 比色裂比斯医院协会 | The method of detection and localization of cancer |
| CN1086698A (en) * | 1992-09-11 | 1994-05-18 | 麦格纳·莱伯公司 | Permanent magnet structure |
| US5617857A (en) * | 1995-06-06 | 1997-04-08 | Image Guided Technologies, Inc. | Imaging system having interactive medical instruments and methods |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN1555245A (en) | 2004-12-15 |
| JP4178108B2 (en) | 2008-11-12 |
| WO2003026505A1 (en) | 2003-04-03 |
| JPWO2003026505A1 (en) | 2005-01-06 |
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