CN101631507A - Navigation device - Google Patents
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- CN101631507A CN101631507A CN200880008169A CN200880008169A CN101631507A CN 101631507 A CN101631507 A CN 101631507A CN 200880008169 A CN200880008169 A CN 200880008169A CN 200880008169 A CN200880008169 A CN 200880008169A CN 101631507 A CN101631507 A CN 101631507A
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- Prior art keywords
- navigator
- coil
- magnetic field
- support
- seat
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
- A61B2034/731—Arrangement of the coils or magnets
- A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
Abstract
The invention relates to a navigation device for creating a magnetic field for navigating a medical instrument introduced into the body of a patient (3) using a magnet, particularly an endoscopic capsule (4). A tube-like, particularly cylindrical carrier (6, 6a, 6b, 6c, 29), with at least three flat coils (7) extending in the circumferential direction and made of a conductor (20) extending in a surface, is provided for creating an adjustable magnetic field, substantially perpendicular to the longitudinal axis of the carrier (6, 6a, 6b, 6c, 29) in the inside of the carrier (6, 6a, 6b, 6c, 29).
Description
Technical field
The present invention relates to a kind of navigator, described navigator is used to produce a magnetic field, and described magnetic field is used for navigating to being admitted to the intravital medical apparatus and instruments with a magnet of a patient, and described medical apparatus and instruments is specific to be a capsule endoscope.
Background technology
When the patient being carried out expectant treatment or diagnosis, there are some known armarium in the prior art, these armarium can be admitted to (particularly in the hollow organ) in patient's body, and are navigated by different way.For example, when gastric mucosa was carried out routine examination, known way was will to send in the stomach through the endoscope of corresponding optimization by esophagus.This inspection can make the patient not feel well, and part patient also can feel pain, and in addition, it is on the scene that whole checking process all needs the doctor.
Therefore, the someone has proposed to be used for to sending into the replacement scheme that intravital medical apparatus and instruments navigates.These replacement schemes mainly are for described medical apparatus and instruments is equipped with a permanent magnet, so just can carry out corresponding navigation to this medical apparatus and instruments by a corresponding external magnetic field.With the gastric mucosa inspection is example, and conventional art recommend to use a capsule endoscope, fill water under one's belt after, by the patient this capsule endoscope is swallowed.Subsequently, this capsule endoscope swims on the water surface, and should control it along the line of vision of this capsule endoscope this moment by an external magnets, makes it carry out two dimensional motion on the water surface.In the process that water level under one's belt slowly descends, can be whole mucosa photographic map picture.
The at present used most volume of the navigator that produces suitable magnetic field is very big, and operation inconvenience, wherein, on the support a plurality of solenoids, particularly Helmholtz coil is installed.Another known way is that the patient is sent in the tubulose frame, and the same arranged around with magnetic resonance equipment of this tubulose frame has corresponding solenoid.The shortcoming of these embodiments of navigator is, equipment heaviness, not easy to operate not only, and the patient can not feel well in checking process yet, and in addition, its cost is also quite high.
Summary of the invention
Therefore, the purpose of this invention is to provide a kind of navigator that is used for the magnetic navigation medical apparatus and instruments, this navigator easy operating, volume is less, and cost is also lower.
According to the present invention, with regard to the navigator of the described type of introductory song, the solution of reaching this purpose is: be provided with particularly cylinder-shaped bracket of a tubulose, described support comprises at least three flat coils, described flat coil constitutes along circumferential extension and by a conductor that extends along a surface, and these flat coils are used for producing a controlling magnetic field that is basically perpendicular to the longitudinal axis extension of described support at described internal stent.
In view of the above, the present invention advises using smooth substantially flat coil, but not uses most cases lower volume solenoid bigger and with high costs.For example, so-called " fingerprint coil " a kind of flatwise coil that can be used within the scope of the present invention that comes to this.Wherein, be provided with a conductor of shape extension in the shape of a spiral.Certainly can use a loop coil that comprises an above wire turn, the conductor of this coil does not extend to coil central authorities yet.Adopting under the toroidal situation, this loop coil is corresponding arranges that along rack surface when this support was cylindrical or oval, this loop coil can bend easily.In the case, this toroidal wire turn is arranged side by side to small part on support.This coil is known as " drum winding " again.
In these flat coils, total total at least three flat coils that is to say that along circumferentially extending if this support is cylindrical, these at least three flat coils are located on the barrel surface of a bending on described cylinder-shaped bracket or in cylinder-shaped bracket.Can produce a controlling magnetic field at this internal stent by these flat coils.Wherein, can regulate (for example by a corresponding control device that is used to these coil current feeds), make this magnetic field be basically perpendicular to the longitudinal axis of this support this magnetic field.In view of the above, if one is in the patient's upper body that takes a seat posture and is surrounded by this tubular bracket, just can produce the magnetic-field component or the magnetic field gradient that extend along a horizontal plane.This point is advantageous particularly for the described floatation type capsule of introductory song, and this capsule can be directed at the effect lower edge of a uniform magnetic field component one line of vision, and carries out moving accordingly with the intensity of this magnetic field gradient under the effect of a magnetic field gradient that is produced.
Use low-cost flat coil not only can bring corresponding cost advantage, but also can dwindle the volume of described navigator, particularly its radial dimension.Make described navigator lighter whereby, volume is littler, thereby is easier to operation.
Wherein, the quantity along the flat coil of circumferential arrangement is not limited to three.Fact proved that four flat coils are the quantity of easy operating.In addition, for magnetic field can further being strengthened or improving the adjustability in magnetic field, also be provided with the flat coil that another layer at least radially is staggeredly arranged along described support.In the case, described flat coil be distributed in two-layer at least on.For example, under the situation that has four flat coils, two-layer flat coil can be set, wherein every layer of two flat coil.These flat coils can become several layers according to the mutual stacked arrangement of its make, but can not make the volume of described navigator become big.Described navigator still keeps basic compact structure.
Generally speaking, producing a controlling magnetic field that extends along described support y direction also is reasonably, that is to say, if be example with the above-mentioned patient of taking a seat, produces the controlling magnetic field that an in the vertical direction extends exactly.On navigator of the present invention, can reach this purpose by two kinds of designs, these two kinds of designs also can be adopted simultaneously.
The first makes described support comprise a solenoid that is made of several ring shaped conductors, and this solenoid is used to produce a controlling magnetic field that extends along the y direction of described support.In view of the above, except that described flat coil, also be provided with on the described support or in the described support at least one along circumferentially around the inner chamber of described support coiled count the conductor of circle, can produce a magnetic field whereby along the longitudinal extension of described support.
Another favourable design is, described navigator comprises a seat, and described seat is used to settle to take a seat the patient that posture is received treatment.Adopt the range of extension of the coil of above-mentioned arrangement to reduce to some extent, operability makes moderate progress, and this point helps the smooth realization of this scheme.So just need not to make the patient to lie low for a long time in narrow large volume device.If be provided with such seat, this seat just can have a bottom flatwise coil, and this flatwise coil is arranged in the seat face, perpendicular to described support vertically, be used to produce a controlling magnetic field along the longitudinal extension of described support.Described seat face just constitutes a plane perpendicular to the longitudinal axis of described support originally, thereby can advantageously arrange a bottom flatwise coil with this seat face, can adjustable mode produce a magnetic field or a magnetic field gradient equally by this bottom flatwise coil along the longitudinal extension of described support.Thereby also on this direction with simple and save spatial mode and realize navigation property.
Comprise in described navigator under the situation of a seat, the invention provides two kinds and be used for described support and flatwise coil thereof are centered on the solution that described patient arranges.First scheme is to make this have at least one hinge at the support that is vertically blocked and be fixed on the position on the described seat, and described hinge is used to open described support.Described tubular bracket is opened, so that allow the patient on described seat, take a seat.With this support when closed once again, the patient has been located in this internal stent subsequently.Two hinges also can be set certainly, can make described stent open become accurate double-vane shape whereby.A support that is vertically blocked on two positions also can be set in principle, this support wherein half can temporarily unload so that the patient is positioned at this internal stent.
Taking this kind to block under the situation of measure on the described support, particularly, can cause respective conductors to be cut off existing multilamellar also along under the situation of the flat coil that circumferentially is staggeredly arranged.In the case, a plurality of slotting formula contact or sliding contacts that a conduction connects of can setting up can be set when support is closed.
For being complementary, also can make the support that is fixed on the described seat have adjustable height with the patient of different heights.This scheme can realize by an electromagnetic actuator device, fluid pressure drive device or pneumatic actuating device.
As support is installed the replacement scheme of this scheme on the seat, also a device can be set, this device is used between a second position of surrounding away from the primary importance of described seat and patient that will be sitting on the described seat described support being carried out altitude mixture control.This device be as can being designed to a crane, but also can adopt any other forms of design, guiding carrier for example, and described support can move on this guiding carrier by a pneumatic or power-jdriven gear.Wherein, earlier support is promoted to described primary importance, the patient can be taken a seat on the seat, again support is dropped to the described second position that the patient is surrounded subsequently.
As mentioned above, can being provided with one, to be used in adjustable mode be the control device of described coil current feed.This control device reasonably is furnished with at least one executive component that is used to regulate described magnetic field.Can regulate the direction in described magnetic field and/or intensity and/or described field gradients by this executive component, wherein, described control device is designed for the described coil situation of switching on accordingly of measuring in the case.In view of the above, user can be set magnetic direction and magnetic field intensity by the executive component that adopts respective design easily, and direction and the intensity of setting the magnetic field gradient of required generation.Described control device is automatically with the corresponding current feed of the paired described coil of these data reductions.As executive component, as a rotary adjuster, particularly a roller can be set.Can make things convenient for, intuitively the direction in the magnetic field of extending perpendicular to the described support longitudinal axis be regulated by this roller.Equally,, a force transducer, particularly a joystick can be set also, can regulate the intensity of magnetic field intensity or magnetic field gradient by this joystick as executive component.The executive component of any other type also can be set certainly, and for example a keyboard or a mouse can carry out corresponding adjusting whereby on a display member.
If described medical apparatus and instruments has camera function, can advantageously respective image be stored together with the current orientation and the intensity in the magnetic field on this apparatus position, because of the cause of the adjusting that user carried out, this orientation and intensity have been Given informations.Can accurately know the current line of vision of this medical apparatus and instruments whereby.Can in process of reconstruction, be used subsequently, or utilize this line of vision in a model, to realize stack, maybe this line of vision is applied to use image before the art to this line of vision.Also can with a location systems exchange information.This navigation system can adopt Electromagnetic Design, but under the situation that described navigator is more easy to operate than existing navigator, range of extension is littler, for example using a ultrasonic system also is advantageous particularly and without a doubt, this ultrasonic system can be installed in described internal stent simply.Under special circumstances,, perhaps can reappear the motion of described medical apparatus and instruments in the hollow organ, just can abandon using this navigation system fully according to Distribution of Magnetic Field if can from the image that the camera head of described medical apparatus and instruments is produced, obtain relevant information.
Produce at needs under the situation (for example needing to realize the suspension of described medical apparatus and instruments) in extra-heavy magnetic field, described coil also can adopt the superconduction design at least in part.
Yet under any circumstance, described support comprises that one is used for described coil is carried out refrigerative chiller, all is reasonably, and described chiller is specific to be a radiant type radiator and/or a specific water cooling plant that wriggles and extend.Usually the radiant type radiator made from highly heat-conductive material can be designed to a panel radiator by the outer surface heat radiation.In order to increase radiating surface, several outwards outstanding heat dissipation elements can be set on this radiant type radiator.This device is known as " finned radiator " usually again.
Description of drawings
By embodiment and accompanying drawing other advantages of the present invention and details are described below, wherein:
Fig. 1 is first embodiment of a navigator;
Fig. 2 one comprises the sectional view of the support of three flatwise coils;
Fig. 3 one comprises the sectional view of the support of four flatwise coils;
Fig. 4 is the perspective views of supports according that comprises a hinge;
Fig. 5 is the sketch map that can be applicable to the two-layer flatwise coil on the support shown in Figure 4;
Fig. 6 is the block diagram of described navigator; And
Fig. 7 is second embodiment of a navigator.
The specific embodiment
What Fig. 1 showed is the significant components of navigator 1 of the present invention.This navigator comprises a seat 2 that can allow patient 3 take a seat.In the present embodiment, patient 3 has swallowed a capsule endoscope 4, and this capsule endoscope is just swimming in the liquid of its stomach 5 inside this moment.Capsule endoscope 4 is medical apparatus and instruments that comprise a permanent magnet, is controlled by the directed and motion of 1 pair of this capsule endoscope of navigator.
For this reason, navigator 1 comprises a tubular bracket 6, is furnished with several flat coils 7 on this support, and these flat coils extend along the surface of described support, and is made of a conductor that extends along a surface, and present embodiment uses three flat coils 7 altogether.Can produce the magnetic field that the along continuous straight runs direction of the longitudinal axis of support 6 (promptly perpendicular to) extends by these flat coils 7,, can regulate this magnetic field by being these flat coil feeds.If capsule 4 the zone in the generation one uniform magnetic field, then this capsule under the effect that is positioned at its inner magnet only along the magnetic direction orientation.If produce a gradient in the zone of capsule 4, this capsule will move along respective direction at liquid surface.
For the patient of different heights being checked and treat, support 6 is installed on the guide rail 8, can carry out altitude mixture control to described support by a driving device 9.Therefore, generally speaking support 6 is installed on the seat 2.
In addition, for producing the magnetic field of extending, also be furnished with a bottom flatwise coil 10 in the seat face 11 of seat 2 along the longitudinal axis of support 6.As a supplement or replacement scheme, a solenoid 12 that is incorporated in the support 6, only dots also can be set herein, described solenoid is made of several belt conductors.
Respective electrical current feed to coil 7,10 and 12 is controlled by a control device of not making detailed icon herein, hereinafter will be elaborated to this control device by Fig. 6.
What Fig. 2 showed is the sectional view of a support 6a, is furnished with three flat coils 7 on this support.Support 6a is cylindrical, but also ovalize or other shapes.These flat coils 7 are arranged in the surface of described support with regular spaces.In order to lead the heat that electric current produced in the flat coil 7 diffusing, also all be furnished with a chiller 13 on each flat circle 7, this chiller is a radiant type radiator 14 at this, described radiant type radiator is made of a heat-conducting plate (for example copper heat-conducting plate), has several heat dissipation elements that are used to increase area of dissipation to give prominence at this heat-conducting plate.This radiant type radiator is also referred to as " finned radiator " usually.
What Fig. 3 showed is the sectional view of another support 6b, and this support has four flat coils 7.Fact proved, use four acts that flat coil 7 is ideals.
Except that radiant type radiator 14, also can adopt the chiller 13 of other types, for example a water cooling plant.Wherein, cooling water these coils of flowing through that can wriggle.If coil 7 adopts the superconduction design, then also can use a nitrogen chiller.
What Fig. 4 showed is another design of support 6c.The support 6c that is in opening that is showed with perspective view only has a hinge 17 in the present embodiment herein.Because position 16 is positioned at the zone of a flat coil 7 in the present embodiment, thereby be provided with the slotting formula connector 18 that several are used for the conductor of this flat coil 7 of corresponding connection when support 6c is closed.For making support 6c and various patient's volume matched, also a specific overlay region can be set on position 16, wherein, for example available each sliding contact is set up above-mentioned connection.
What Fig. 5 showed is the perspective view of two- layer 19a, 19b flat coil, and every layer has two flat coils 7, and these two flat coils radially are staggeredly arranged on support 6c.Obviously, what relate to is so-called " fingerprint coil " herein, that is to say, the conductor 20 of flat coil 7 shape in the shape of a spiral extends.
The flat coil 7 of ground floor 19a and the flat coil 7 of second layer 19b be in addition along circumferentially being staggeredly arranged, thereby on the intercepted position 16 of support 6c, must be longitudinally the conductor 20 of a flat coil 7 be blocked.In order to make this flat coil 7 under the situation of support 6c closure, still have a sealing conductor 20, must be provided with and insert formula connector 18.
Fig. 6 shows is the schematic diagram of how single coil being controlled and how by user magnetic field being regulated.For this reason, navigator 1 comprises a control device 21, can be coil 7 feeds in adjustable mode by a programmable power supply 22 by this control device.For simplicity, accompanying drawing only illustrates a flat coil 7 that is designed to the fingerprint coil, and all the other coils are then by this flat coil representative.Certainly can be that bottom flatwise coil 10 that possible exist and the solenoid 12 that may exist carry out feed in adjustable mode also by programmable power supply 22.
User can be by different executive components 23 regulation expection magnetic fields, and accompanying drawing has carried out exemplary illustration to joystick in these executive components 24 and roller 25.By a display device 26 exportable information, and further regulate.
After user is stipulated its desired magnetic field by executive component 23, be corresponding current feed with these data conversion to coil 7,10 and 12 by control device 21.
Wherein, the design adopted of executive component 23 make user as far as possible intuitively mode navigator 1 is used.The direction in the magnetic field of can be easily along continuous straight runs being extended by roller 25 is regulated.Play 24 magnetic field gradients that are used to stipulate various intensity of joystick of force transducer effect, described magnetic field gradient is used for making capsule 4 to move at stomach 5.
Can be provided for setting other executive components of other magnetic field parameters in addition, sliding damper that is used to regulate described magnetic field intensity for example, or be used for executive component that one is regulated along the magnetic field of the longitudinal extension of support 6.
What Fig. 7 showed is second embodiment of a navigator 27.Present embodiment also is provided with a seat 28, but comprises that the support 29 of described flat coil is not installed on this seat 28, and is mounted in a device 30 that is used for this support 29 is carried out altitude mixture control.This device is in this pattern design by a crane 31.Support 29 can be dropped to one near on the second position of this seat from a primary importance away from seat 28 in this way, vice versa.This process is represented with arrow A.
Be that the gastric mucosa shooting is an example with a capsule endoscope that comprises a magnet at last, the working method of described navigator is carried out cutline.Earlier fill liquid (for example water) in patient 3 stomach 5, this patient swallows capsule endoscope 4 with relief.This capsule endoscope has buoyancy, thereby swims in liquid surface in stomach 5, and meanwhile, this liquid flows away from stomach 5 lentamente.That is to say that when patient 3 was seated, the floating height of capsule endoscope 4 changed lentamente.Produce a magnetic field by navigator 1 or 27 this moment.If what produce is the uniform magnetic field that an along continuous straight runs extends, capsule endoscope 4 will with the angled orientation in this magnetic field, in the case, capsule 4 just can be rotated, so that be gastric mucosa photographic map picture from different directions.If capsule 4 just is rotated, will produce the image of a series of whole mucosa of showing at last in the mode of spiral extension under the effect in this magnetic field.If desired more double check is carried out in some zone of stomach 5, just can this capsule endoscope be moved at liquid surface by applying a gradient.Whereby can be more near gastric mucosa.Be used for producing the coil 10,12 in the magnetic field of (being vertical direction) extension longitudinally if be provided with, just can capsule 4 moved up or down, so that corresponding change line of vision by producing a corresponding magnetic field.If produce the magnetic field of respective strengths, then also can realize the suspension of capsule endoscope 4 in stomach 5.At last, capsule endoscope 4 leaves stomach 5 with last part liquid, and is excreted by natural way.
Claims (14)
1. navigator, described navigator is used to produce a magnetic field, and described magnetic field is admitted to the intravital medical apparatus and instruments with a magnet of a patient (3) to one and navigates, and described medical apparatus and instruments is specific to be a capsule endoscope (4),
It is characterized in that,
Be provided with a tubulose particularly cylinder-shaped bracket (6,6a, 6b, 6c, 29), described support comprises at least three flat coils (7), described flat coil is along circumferentially extending and being made of a conductor (20) that extends along a surface, be used for described support (6,6a, 6b, 6c, 29) innerly produce one and be basically perpendicular to described support (6,6a, 6b, 6c, 29) the controlling magnetic field that extends of the longitudinal axis.
2. navigator according to claim 1 is characterized in that,
A flat coil (7) is a fingerprint coil, and described fingerprint coil comprises the conductor (20) of shape extension in the shape of a spiral.
3. navigator according to claim 1 and 2 is characterized in that,
(19a is 19b) along the flat coil that radially is staggeredly arranged (7) of described support (6,6a, 6b, 6c, 29) to be provided with at least another layer.
4. the described navigator of each claim in requiring according to aforesaid right is characterized in that,
Described support (6,6a, 6b, 6c, 29) comprises that a solenoid that is made of ring shaped conductor (12), described solenoid are used to produce a controlling magnetic field that extends along the y direction of described support (6,6a, 6b, 6c, 29).
5. the described navigator of each claim in requiring according to aforesaid right is characterized in that,
Described navigator comprises a seat (2,28), and described seat is used to settle the patient (3) who receives treatment with sitting posture.
6. navigator according to claim 5 is characterized in that,
Described seat (2,28) has a bottom flat coil (10) that is arranged in the seat face (11), this coil perpendicular to described support (6,6a, 6b, 6c, 29) the longitudinal axis arrange, be used to produce one along described support (6,6a, 6b, 6c, 29) the controlling magnetic field of longitudinal extension.
7. according to claim 5 or 6 described navigator, it is characterized in that,
Described a position (16) go up the support vertically blocked and be installed on the described seat (2) (6,6a, 6b 6c) has at least one hinge (17), described hinge be used to open described support (6,6a, 6b, 6c).
8. according to claim 5 or 6 described navigator, it is characterized in that,
Be provided with a device (30), be used for away between the primary importance of described seat and the second position that will be sitting in patient (3) encirclement on the described seat (28) described support (29) being carried out altitude mixture control at one.
9. the described navigator of each claim in requiring according to aforesaid right is characterized in that,
Being provided with one, to be used in adjustable mode be the control device (21) of described coil (7,10,12) current feed.
10. navigator according to claim 9 is characterized in that,
Be provided with at least one executive component that is used to regulate described magnetic field (23).
11. navigator according to claim 10 is characterized in that,
Can regulate the direction in described magnetic field and/or intensity and/or described field gradients by described executive component (23), described control device (21) is designed for described coil (7,10, the 12) situation of switching on accordingly of measuring.
12. navigator according to claim 11 is characterized in that,
Described at least one executive component (23) comprises a particularly roller (25) and/or force transducer joystick (24) particularly of a rotary adjuster.
13. according to the described navigator of each claim in the aforesaid right requirement, it is characterized in that,
Described coil (7,10,12) adopts the superconduction design at least in part.
14. according to the described navigator of each claim in the aforesaid right requirement, it is characterized in that,
Described support (6,6a, 6b, 6c, 29) comprises that one is used for described coil (7,10,12) is carried out refrigerative chiller (13), particularly a radiant type radiator (14) and/or particularly a water cooling plant that wriggles and extend.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102007012360.6 | 2007-03-14 | ||
| DE102007012360.6A DE102007012360B4 (en) | 2007-03-14 | 2007-03-14 | navigation device |
| PCT/EP2008/052842 WO2008110545A1 (en) | 2007-03-14 | 2008-03-11 | Navigation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101631507A true CN101631507A (en) | 2010-01-20 |
| CN101631507B CN101631507B (en) | 2011-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008800081694A Active CN101631507B (en) | 2007-03-14 | 2008-03-11 | Navigation device |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN101631507B (en) |
| DE (1) | DE102007012360B4 (en) |
| WO (1) | WO2008110545A1 (en) |
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| CN103040426A (en) * | 2012-12-20 | 2013-04-17 | 深圳市资福技术有限公司 | System and method for controlling running orbit of capsule endoscope |
| CN103181748A (en) * | 2012-12-20 | 2013-07-03 | 深圳市资福技术有限公司 | Control system and control method for operation posture of capsule endoscope |
| CN103405211A (en) * | 2013-08-14 | 2013-11-27 | 深圳市资福技术有限公司 | System and method for controlling running state of capsule endoscope in body |
| CN104622417A (en) * | 2015-02-03 | 2015-05-20 | 重庆金山科技（集团）有限公司 | Capsule endoscope control system and detecting equipment with control system |
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| DE102010021095A1 (en) | 2010-05-20 | 2011-11-24 | Siemens Aktiengesellschaft | Navigation device has endoscopic capsule that is floated at liquid surface and is inserted in patient, where coil arrangement is formed for generating magnetic field in working chamber |
| US11077317B2 (en) * | 2019-01-23 | 2021-08-03 | Warren Z McCarthy | Intravenous radiation treatment method |
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| JP4709594B2 (en) * | 2004-08-03 | 2011-06-22 | オリンパス株式会社 | Magnetic guidance medical system |
| US8235055B2 (en) * | 2005-01-11 | 2012-08-07 | Uti Limited Partnership | Magnetic levitation of intraluminal microelectronic capsule |
| DE102005010489B4 (en) * | 2005-03-04 | 2007-02-01 | Siemens Ag | Coil system for non-contact magnetic navigation of a magnetic body in a patient located in a working space |
-
2007
- 2007-03-14 DE DE102007012360.6A patent/DE102007012360B4/en active Active
-
2008
- 2008-03-11 WO PCT/EP2008/052842 patent/WO2008110545A1/en active Application Filing
- 2008-03-11 CN CN2008800081694A patent/CN101631507B/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103040426A (en) * | 2012-12-20 | 2013-04-17 | 深圳市资福技术有限公司 | System and method for controlling running orbit of capsule endoscope |
| CN103181748A (en) * | 2012-12-20 | 2013-07-03 | 深圳市资福技术有限公司 | Control system and control method for operation posture of capsule endoscope |
| CN103405211A (en) * | 2013-08-14 | 2013-11-27 | 深圳市资福技术有限公司 | System and method for controlling running state of capsule endoscope in body |
| CN104622417A (en) * | 2015-02-03 | 2015-05-20 | 重庆金山科技（集团）有限公司 | Capsule endoscope control system and detecting equipment with control system |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102007012360A1 (en) | 2008-09-18 |
| DE102007012360B4 (en) | 2015-06-18 |
| CN101631507B (en) | 2011-06-15 |
| WO2008110545A1 (en) | 2008-09-18 |
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