CN102327118B - 用于多臂导管的压力感测 - Google Patents

用于多臂导管的压力感测 Download PDF

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CN102327118B
CN102327118B CN201110190031.4A CN201110190031A CN102327118B CN 102327118 B CN102327118 B CN 102327118B CN 201110190031 A CN201110190031 A CN 201110190031A CN 102327118 B CN102327118 B CN 102327118B
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A·戈瓦里
A·C·阿尔特曼
O·科林-施瓦茨
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Abstract

本发明提供了一种用于操作医疗探针的方法，其包括下列步骤：将包括从中心轴向外对角延伸并且连接了相应的位置传感器的一个或多个臂的所述医疗探针的远端顶着体内表面，以使得所述臂在所述表面上施加压力并且响应于所述压力相对于所述中心轴弯曲。测量与所述臂连接的所述相应位置传感器的位置，并且响应于测得的位置来估计所述臂施加的压力。

Description

用于多臂导管的压力感测
技术领域
本发明总体上涉及侵入式探针，具体来讲，涉及确定多臂导管在表面上施加的压力。
背景技术
大量医疗操作涉及将物体(例如传感器、管、导管、分散装置和植入物)设置在体内。目前已为跟踪此类物体开发出了位置感测系统。磁性位置感测是本领域已知的其中一种方法。在磁性位置感测中，通常将磁场发生器置于患者体外的已知位置处。探针远端内的一个或多个磁场传感器响应于这些磁场产生电信号，再对电信号进行处理，以确定探针远端的位置坐标。这些方法和系统在美国专利5,391,199、6,690,963、6,484,118、6,239,724、6,618,612和6,332,089、PCT国际专利公开WO 1996/005768、以及美国专利申请公开2002/0065455A1、2003/0120150A1和2004/0068178A1中有所描述，这些专利的公开内容全部以引用方式并入本文中。
除了在前讨论的具有单远侧顶端的导管之外，其公开内容以引用方式并入本文中的美国专利6,574,492讨论了一种具有从导管远端延伸的多个弹性臂(也称作瓣)的簇的导管。各远侧臂具有位置传感器和一个或多个电极。位于所述簇底部的导管的远端中，还存在另外的位置传感器。
当把探针置于体内时，可能希望使探针远侧顶端(一个或多个)直接接触身体组织。通过(例如)测量远侧顶端(一个或多个)和身体组织之间的接触压力，可以验证接触情况。其公开内容以引用方式并入本文中的美国专利申请公布2007/0100332、2009/0093806和2009/0138007描述了使用埋入导管内的力传感器感测导管远端顶端与体腔内的组织之间的接触压力的方法。导管远端头通过有回弹力的构件(例如弹簧)连接到导管插入管远端。当把有回弹力的构件压到心内膜组织时，构件会在施加到远端头的力的作用下变形。导管内的磁性位置传感器感测远端头相对于插入管远端的偏转(位置和取向)。远端头相对于插入管的移动指示有回弹力的构件的变形，从而指示压力。
发明内容
本文描述的本发明实施例提供了一种用于操作医疗探针的方法，其包括下列步骤：
将包括从中心轴向外对角延伸并且连接了相应的位置传感器的一个或多个臂的所述医疗探针的远端顶着体内表面，以使得所述臂在所述表面上施加压力并且响应于所述压力相对于所述中心轴弯曲；
测量与所述臂连接的所述相应的位置传感器的位置；以及
响应于测得的位置来估计所述臂施加的压力。
在一些实施例中，所述医疗探针包括导管。在实施例中，估计所述压力的步骤包括验证所述臂和所述表面之间的物理接触。在公开的实施例中，估计所述压力的步骤包括通过使用测得的位置检测给定臂的曲率变化来识别所述给定臂与所述表面的物理接触。在另一个实施例中，测量所述位置的步骤包括在所述探针附近施加一个或多个磁场、从所述位置传感器接收相应信号并且基于接收到的所述信号计算所述位置传感器的相应位置，所述信号由位置传感器响应于所述磁场产生并且指示位置传感器的相应位置。
在一些实施例中，估计所述压力的步骤包括计算至少一个相应对的位置传感器之间的至少一个距离并且响应于所述距离来估计所述压力。在另一个实施例中，估计所述压力的步骤包括计算至少一个相应对的臂之间的至少一个角度并且响应于所述角度来估计所述压力。在又一个实施例中，估计所述压力的步骤包括分别计算所述中心轴和至少一个臂之间的至少一个角度并且响应于所述角度来估计所述压力。在再一个实施例中，估计所述压力的步骤包括对所述测得的位置应用所述压力和所述位置之间的预校正关系。
在实施例中，测量所述位置的步骤包括测量与所述中心轴连接的附加位置传感器的位置，并且估计所述压力的步骤包括响应于所测得的附加位置传感器的位置来估计所述压力。估计所述压力的步骤可以包括计算所述附加位置传感器和相应的至少一个位置传感器之间的至少一个距离并且响应于所述距离来估计所述压力。在实施例中，估计所述压力的步骤包括计算所述中心轴和相应的至少一个臂之间的至少一个角度并且响应于所述角度来估计所述压力。
在一些实施例中，所述方法包括向操作者显示所述臂和所述表面的图像并且响应于所估计的压力来选择图形特征，通过使用所述图形特征在所述图像中呈现所述臂。在实施例中，所述方法包括响应于所估计的压力通过与至少一个臂连接的一个或多个电极来选择性地启动信号感测。
另外，根据本发明的实施例提供了一种设备，其包括：
医疗探针，其具有远端，所述远端包括从中心轴向外对角延伸并且连接了相应的位置传感器的一个或多个臂，所述臂被构造成顶着体内表面以在所述表面上施加压力并且响应于所述压力相对于所述中心轴弯曲；以及
处理器，其被构造成测量与所述臂连接的相应的位置传感器的位置并且响应于测得的位置来估计所述臂施加的压力。
另外，根据本发明的实施例提供了一种结合医疗探针操作的计算机软件产品，所述医疗探针包括从中心轴向外对角延伸并且连接了相应的位置传感器的一个或多个臂，所述产品包括计算机可读介质，其中程序指令被存储，当其指令被计算机读取时，使得该计算机测量与所述臂连接的相应的位置传感器的位置，并且响应于测得的位置来估计所述臂施加的压力。
通过以下结合附图的实施例的详细说明，将更全面地理解本发明：
附图说明
图1为根据本发明实施例的使用多臂导管的医疗系统的示意性图示说明；
图2为示出根据本发明实施例的多臂导管的远侧部分细节的示意性侧视图；以及
图3为示意性示出根据本发明实施例的测量多臂导管在体内表面上施加的压力的方法的流程图。
具体实施方式
概述
诸如心内电标测或心脏消融之类的各种诊断和治疗手术使用了其远侧顶端装配有至少一个电极的侵入式探针。电极通常在探针顶着体内组织时进行操作。在这些手术中，通常重要的是在探针和所探测组织之间保持充足的接触压力。另一方面，压力过大会对手术产生不期望的效果，并且在极端情况下，甚至对组织造成物理损害。
本发明的实施例提供了用于测量多臂探针(例如，导管)施加在体腔内组织上的压力的方法和系统。在一些实施例中，医疗探针的远端包括中心轴和从中心轴向外对角延伸的多个臂。各臂装配有位置传感器。在医疗手术过程中，导管的远端顶着体内表面，使得各臂对表面施加压力。由于存在压力，导致臂相对于中心轴弯曲。测量位置传感器在各臂中的位置，并且基于测得的各臂位置估计各臂和表面之间的接触压力。
在一些实施例中，除了装配在多个臂中的位置传感器之外，在中心轴的远端中还装配了附加位置传感器。测量不同位置传感器的位置，包括中心轴中的附加位置传感器的位置，并且基于位置测量结果估计接触压力。
尽管本文描述的实施例主要是指多臂探针，但是在具有装配了位置传感器的单臂的探针中，也可以使用一些本发明所公开的技术。在一些实施例中，基于测得的各臂位置来估计接触压力的大小。在可供选择的实施例中，测得的各臂位置用于验证各臂和表面之间的物理接触，而不必测量压力大小。
在一些实施例中，可以预先校正测得的位置与压力的关系。校正过程中计算出的系数可以被作为校正矩阵存储在与导管连接的非易失性存储器中。然后，当导管位于诸如心脏的体腔内时，探针测量结果和校正系数可以用于验证电极与心脏壁的接触和/或电极和心脏壁之间的压力处于消融和/或感测的正确范围内。
系统具体实施方式
图1是使用根据本发明所公开实施例构造并操作的多臂导管的医疗系统20的图示。系统20可以是基于例如由Biosense Webster Inc.(Diamond Bar，California)制造的CARTOTM系统。系统20包括多臂探针22(例如导管)和控制台24。在以下描述的实施例中，假设探针22用于诊断或治疗处理，例如在心脏26中进行电势标测或者实施心脏组织的消融。或者，加以必要的变通，可以将探针22用于心脏或其他身体器官中的其他治疗和/或诊断用途。
操作者28(例如心脏病学家)将多臂探针22穿过患者30的血管系统，以使得探针22的远端31进入患者心脏26的心室。操作者28推进探针22，使得包括从中心轴34延伸的多个臂32的远端在所需位置或方位接合心内膜组织。探针22通常由其近端处的合适连接器连接到控制台24。
控制台24使用磁位置感测来确定中心轴34和臂32在心脏26内的位置坐标。为了确定位置坐标，控制台24中的驱动电路36驱动磁场发生器38，以在患者30体内产生磁场。通常，磁场发生器38包括线圈，线圈在患者30体外的已知位置处被置于患者躯干下方。这些线圈在包含心脏26在内的预定工作空间内产生磁场。与探针22的臂32连接(在一些实施例中，也与轴34连接)的磁场传感器响应于这些磁场产生电信号。(以下在图2中详细示出探针22的远端、臂32、轴34和不同的位置传感器)。控制台24中的信号处理器40处理电信号以确定臂32以及可能中心轴34的位置坐标，通常同时包括位置坐标和方向坐标。
处理器40通常包括通用计算机，其具有合适的前端和接口电路，用于从探针22接收信号并控制控制台24的其他组件。处理器40可以在软件内编程，以执行本文所述功能。例如，可经网络将软件以电子形式下载到控制台24中，或者可将软件提供在有形介质上，例如光学、磁或电子存储介质。或者，处理器40的一部分或全部功能可以通过专用或可编程数字硬件组件或者使用硬件元件和软件元件的组合来执行。
输入/输出(I/O)接口42允许控制台24与探针22交互。基于(通过接口42和系统20的其他组件)从探针22接收到的信号，处理器40驱动显示器44，以向操作者28呈现心电生理活动的标测图46，并且提供有关远端31在患者体内位置的视觉反馈以及关于正在进行的手术的状态信息和指导。
作为另外一种选择或除此之外，系统20可包括用于在患者30体内操控探针22的自动机构(未示出)。这类机构通常能够既控制探针22的纵向运动(前进/后退)又控制中心轴34和臂32的横向运动(偏转/转向)。在这类实施例中，处理器40基于探针内的磁场传感器所提供的信号产生控制输入，用于控制探针22的运动。这些信号指示中心轴34的位置和施加在中心轴(即，借助臂32)上施加的力，如下文中进一步说明的。
图2为根据本发明实施例的多臂探针22的远端31的示意性侧视图。具体来讲，图2示出中心轴34和臂32的功能元件。远端31包括从中心轴34向外对角延伸的三个臂32的簇。在本实例中，臂32基本上关于中心轴34的纵向轴50对称布置，但是还可以使用任何其它合适的臂构造。图2示出与轴50大体相互分隔120°的臂。在中心轴34和各臂32之间的接合处形成径向凹痕52，以使得各臂在顶着表面(如，心脏26的壁)时向后弯曲。
各臂包括电极54，电极54开始接触心脏组织并且感测该组织中的电信号。电极54可以包括(例如)可用于确定局域电活性(例如，局域活性时间)的单极性电极或双极性电极，并且通常由诸如铂/铱合金或其它合适材料之类的金属材料制成。或者，沿着各臂长度的多电极(未示出)可以用于此目的。
各臂还包括位置传感器56，位置传感器56产生用于控制台24的指示其相应的臂32位置坐标的信号。附加位置传感器58被装配在中心轴34中并且产生用于控制台24的指示中心轴位置坐标的信号。位置传感器56和58中的每个可以包括一个或多个微型线圈，并且通常包括沿着不同轴取向的多个线圈。或者，位置传感器56和58可包括另一类型的磁性传感器、充当位置传感器的电极或其他类型的位置传感器，例如基于阻抗的位置传感器或超声位置传感器。虽然图2示出在各臂中具有单个位置传感器的探针，但是本发明的实施例可以利用在任一个臂中具有不止一个位置传感器的探针。当在医疗手术期间远端31顶着身体组织时，控制台24的处理器40使用从位置传感器56(有时，从传感器58)接收的信号来计算传感器的位置。
在可供选择的实施例中，位置传感器56、58和磁场发生器38的角色可以互换。换句话讲，驱动电路36可以驱动位置传感器56和58中的磁场发生器，以产生磁场。线圈38可被构造成感测磁场并产生指示这些磁场的分量的大小的信号。在本实施例中，处理器40从线圈38接收信号并对其进行处理，以确定中心轴34和臂32在心脏26内的位置坐标。
当顶着体腔壁时，臂32相对于彼此和/或相对于中心轴34的位移提供了各臂变形的测量值。基于从位置传感器56(在一些实施例中，还从传感器58)接收的测量结果，处理器40可以计算臂32顶着心脏26的壁所施加的压力。因此，磁场发生器38与位置传感器56和58的组合用作压力感测系统。不管压力是从正面还是成角度地施加到臂32，该压力感测系统均可正确地读取压力。
在这种环境下，术语“估计接触压力”是指定量的压力测量结果和物理接触的验证。换句话讲，处理器40可以估计各臂所施加压力的数值大小，或者验证各臂是否与心脏表面形成物理接触。在后一种情况下，处理器40产生二进制指示，用于指示各臂是否与表面形成物理接触。
尽管图1和图2示出了具体的系统构造，但也可以采用其他系统构造来实现本发明的实施例，并因而将这些其他系统构造认为是在本发明的精神和范围内。例如，可以用其他类型的位置传感器实施下文描述的方法，如基于阻抗的位置传感器或超声位置传感器。如本文所用，术语“位置传感器”指安装在探针22上的元件，该元件引发控制台24能接收指示元件坐标的信号。因而该位置传感器可包括探针上的接收器，其基于传感器接收到的能量产生位置信号至控制器；或传感器可以包括发射器，发射出探针外部的接收器可感测的能量。在一些实施例中，一些本发明所公开的技术可以与仅具有装配有位置传感器的单个臂的探针一起使用。此外，类似地，实施下文描述的方法时，不仅可以使用导管，而且可以使用其他类型的探针在心脏和其他身体器官及区域进行标测和测量应用。
使用臂位置测量结果进行接触压力估计
如在前所讨论的，本发明的实施例提供了用于测量远端31和体内组织之间的接触压力的方法和系统。在一些实施例中，处理器40处理来自位置传感器56的信号，以确定各臂32的位置坐标，通常同时包括位置坐标和方向坐标。在一些实施例中，处理器40可以使用收集的测量结果来计算各臂32之间的一个或多个角度。参照图2，处理器40可以计算臂32的纵向轴62的相应的对之间的一个或多个角度60。作为另外一种选择或除此之外，处理器40可以计算成对的位置传感器56之间的一个或多个距离64。
在可供选择的实施例中，处理器40也处理从位置传感器58接收的信号，以确定中心轴34和臂32的位置坐标。处理器40可以使用收集的测量结果来计算轴34的纵向轴50和一个臂32的纵向轴62之间的角度66。可以针对一个或多个位置传感器56执行这种计算。在另一个实施例中，处理器40基于从位置传感器56和58接收的信号来估计给定臂或多个臂的曲率。还可以将估计出的曲率用作接触压力或物理接触的指示。在示例实施例中，处理器40通过检测臂曲率的变化来感测给定臂与组织的物理接触。
在另外可供选择的实施例中，处理器40可以使用收集的测量结果来计算一对弧68之间的角度67，其中各弧68横过位置传感器58和一个位置传感器56。作为另外一种选择或除此之外，处理器40可以计算位置传感器58和给定位置传感器56之间的相应距离69。再者，可以针对一个或多个位置传感器56执行这种计算。
为了确定所施加的压力，处理器40可以使用系数(通常在校正过程中被预先计算出)基于计算出的距离和/或角度估计臂32正施加在所探测的体内组织上的压力。
在一些实施例中，显示器44可以呈现标测图46作为新用户界面的组件。例如，基于估计的接触压力，处理器40可以修改臂32中的电极54在显示器44上显示的方式。例如，如果接触压力在被视为可接受的预定角度内，则可以使用某种颜色、图标或其它图形特征来显示电极。如果接触压力在所需范围之外，则将使用不同的图形特征来显示电极。在实施例中，处理器40可以避免在接触压力超出范围时显示电极。
在一些实施例中，处理器40能够仅在有足够的接触压力抵着心脏26的壁时才通过电极54感测电信号(使得潜在的测量结果有可能是有效的)。
在一些实施例中，处理器40可以整体上估计远端31施加的接触压力。在可供选择的实施例中，处理器40可以估计并且输出由各个臂32施加的各个接触压力。例如，基于各个臂施加的特定压力，处理器可以决定如何在显示器44上显示给定臂32或者是否能够通过相应电极54进行感测。
图3为示意性示出根据本发明实施例的测量探针22施加在体内表面上的压力的方法的流程图。在操作者28将探针22定位(步骤70)在心脏26中之后，处理器40处理位置传感器56和58产生的信号(步骤72)并且基于这些信号估计臂32施加在心脏26的心内膜组织上的压力(步骤74)。如在前所讨论的，处理器40可以基于诸如距离64和69或角度60、66和67之类的参数来推导压力。处理器40可以使用单个参数或这些或其它参数的组合。压力低意味着电极54与心内膜组织之间的接触有可能不充分。压力高可能意味着电极顶着心内膜组织的压力过大。
处理器40检验以上步骤74中测量的压力是否在预定可接受的范围内(步骤76)。如果接触质量不在指定范围内，则控制台24可能向显示器44输出对所测量压力的指示，并且可以在压力过低或过高时发出报警，从而提示操作者28重新定位探针22(步骤78)。然后，该方法返回到步骤70。作为另外一种选择或除此之外，如上所述，可以在自动机构的闭环控制中利用压力指示操控探针22，以确保该机构使臂32在适当位置内接合心内膜，并且在组织上施加适当的压力。
如果接触压力在指定范围内(步骤76)，则处理器40操作电极54，例如，收集标测点(步骤80)并且更新标测图46。最后，如果操作者28期望收集额外标测数据(步骤82)，则该方法返回到步骤70，直到完成标测图。
虽然以上位置传感器56和58的操作是在使用导管采集电生理标测数据的环境下进行描述的，但本发明的原理类似地可应用于使用侵入式探针的其他治疗和诊断应用中，不论是在心脏26内还是在其它身体器官中进行。例如，加以必要的变通，可以将系统20中实施的装置和技术应用于对其他生理参数(例如温度或化学活性)的门控标测中，所述标测既可在心脏又可在其他器官中实现。或者，在接触压力在例如实施消融的范围内时，系统20可以操作各种其它种类的电极。
下面权利要求书中的相应结构、材料、动作和所有手段或步骤加上功能单元的等价形式旨在包括用于与具体要求权利保护的其他受权利要求保护的单元相结合执行功能的任何结构、材料或动作。已提供了对本发明的描述以用于举例说明和描述性目的，但无意于穷举或将本发明限制为所公开的形式。在不脱离本发明的范围和精神的情况下，许多修改形式和变型形式对于本领域的普通技术人员而言将是显而易见的。选择并描述了以上实施例以便最好地解释本发明的原理和实际应用，以及使得本领域的其他技术人员能够理解本发明的各实施例具有适于所考虑的具体用途的各种修改形式。
所附权利要求书旨在涵盖落在本发明精神和范围内的本发明的所有这种特征和优点。因为本领域技术人员将容易进行许多修改和改变，所以无意于将本发明限制于本文所述的有限数目的实施例。因此，应当理解，落入本发明精神和范围内的所有合适的变型形式、修改形式和等价形式都可以使用。

Claims (14)

1.一种医疗设备，包括：
医疗探针，其具有远端，所述远端包括从中心轴向外对角延伸并且连接了相应的位置传感器的一个或多个臂，所述臂被构造成顶着体内表面以在所述表面上施加压力并且响应于所述压力相对于所述中心轴弯曲；以及
处理器，其被构造成测量与所述臂连接的相应的位置传感器的位置并且响应于测得的位置来估计所述臂施加的所述压力。
2.根据权利要求1所述的设备，其中所述医疗探针包括导管。
3.根据权利要求1所述的设备，其中所述处理器被构造成验证所述臂和所述表面之间的物理接触。
4.根据权利要求1所述的设备，其中所述处理器被构造成通过使用所述测得的位置检测给定臂的曲率变化来识别所述给定臂与所述表面的物理接触。
5.根据权利要求1所述的设备，其中所述处理器被构造成使一个或多个磁场发生器在所述探针附近施加一个或多个磁场、从所述位置传感器接收相应的信号并且基于接收到的信号计算所述位置传感器的相应位置，所述相应的信号由所述位置传感器响应于所述磁场产生并且指示所述位置传感器的相应位置。
6.根据权利要求1所述的设备，其中所述处理器被构造成计算至少一个相应对的位置传感器之间的至少一个距离并且响应于所述距离估计所述压力。
7.根据权利要求1所述的设备，其中所述处理器被构造成计算至少一个相应对的臂之间的至少一个角度并且响应于所述角度估计所述压力。
8.根据权利要求1所述的设备，其中所述处理器被构造成分别计算所述中心轴和至少一个臂之间的至少一个角度并且响应于所述角度估计所述压力。
9.根据权利要求1所述的设备，其中所述处理器被构造成通过对所述测得的位置应用所述压力和所述位置之间的预校正关系来估计所述压力。
10.根据权利要求1所述的设备，还包括与所述中心轴连接的附加位置传感器，其中所述处理器被构造成测量所述附加位置传感器的位置并且响应于所测得的所述附加位置传感器的位置估计所述压力。
11.根据权利要求10所述的设备，其中所述处理器被构造成计算所述附加位置传感器和相应的至少一个位置传感器之间的至少一个距离并且响应于所述距离估计所述压力。
12.根据权利要求10所述的设备，其中所述处理器被构造成计算所述中心轴和相应的至少一个臂之间的至少一个角度并且响应于所述角度估计所述压力。
13.根据权利要求1所述的设备，其中所述处理器被连接以向操作者显示所述臂和所述表面的图像并且响应于所估计的压力来选择图形特征，通过使用所述图形特征在所述图像中呈现所述臂。
14.根据权利要求1所述的设备，其中所述探针包括与至少一个臂连接的一个或多个电极，并且其中所述处理器被构造成响应于所估计的压力通过所述电极选择性地启动信号感测。
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