CN106420056B - Instrument, positioning and guiding device of instrument and method thereof - Google Patents
Instrument, positioning and guiding device of instrument and method thereof Download PDFInfo
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- CN106420056B CN106420056B CN201610955263.7A CN201610955263A CN106420056B CN 106420056 B CN106420056 B CN 106420056B CN 201610955263 A CN201610955263 A CN 201610955263A CN 106420056 B CN106420056 B CN 106420056B
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- 238000000034 method Methods 0.000 title description 17
- 210000000056 organ Anatomy 0.000 claims abstract description 40
- 230000003902 lesion Effects 0.000 claims abstract description 23
- 238000002059 diagnostic imaging Methods 0.000 claims abstract description 8
- 230000035699 permeability Effects 0.000 claims description 35
- 230000001939 inductive effect Effects 0.000 claims description 12
- 230000006698 induction Effects 0.000 description 5
- 241001465754 Metazoa Species 0.000 description 2
- 238000002679 ablation Methods 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Abstract
A positioning and guiding device for an instrument, comprising: a coordinate coil set, a plurality of object coils, and an instrument coil; the coordinate coil group forms a magnetic field coordinate system; the position of each object coil relative to the target tissue, organ or lesion on the object can be determined by medical imaging; the position of each object coil in the magnetic field coordinate system may be determined by each coordinate coil separately sensing the strength of the magnetic field emitted by the object coil or by the object coil separately sensing the strength of the magnetic field emitted by each coordinate coil; the instrument coil is formed on an instrument; the position of the instrument coil in the magnetic field coordinate system may be determined by each coordinate coil separately sensing the magnetic field emitted by the instrument coil or by the instrument coil separately sensing the magnetic field emitted by each coordinate coil; thereby positioning and guiding the instrument.
Description
Technical Field
The present application relates to medical devices and to the positioning and guiding of devices.
Background
The positioning and guiding of the existing apparatus are performed through medical images, for example, CT, and further apparatus is performed during surgery, so that CT imaging is required again to determine whether the apparatus reaches a predetermined position, the operation is very complicated, and the radiation dose of CT is large and is not suitable for multiple measurements. Because of these invariants, it is difficult to continuously know the position of the instrument in the object or the relative position of the instrument and the target position in real time during the intervention of the instrument in the object.
Disclosure of Invention
In view of the foregoing, the present application first proposes an instrument and method that is capable of measuring the permeability of its surrounding tissue in real time, thereby determining whether the instrument has reached a predetermined destination location.
The application also proposes a device and a method for positioning and guiding an instrument, which are devices capable of determining the position of the instrument continuously in real time during the intervention of the instrument.
The instrument of the application comprises: an instrument coil, a magnetic permeability coil; the instrument coil is used for generating a magnetic field; the magnetic permeability coil is used for inducing the magnetic field intensity after the magnetic field passes through tissues, organs or focuses around the instrument; the magnetic field strength is used to calculate the permeability of the surrounding tissue, organ or lesion.
The positioning and guiding device of the instrument of the application comprises: a coordinate coil set, a plurality of object coils, and an instrument coil; the coordinate coil group comprises at least three coordinate coils, thereby forming a magnetic field coordinate system with at least three dimensions; at least three of the plurality of object coils for being attached to an object; the position of each object coil relative to the target tissue, organ or lesion on the object can be determined by medical imaging; the position of each object coil in the magnetic field coordinate system may be determined by each coordinate coil separately sensing the strength of the magnetic field emitted by the object coil or by the object coil separately sensing the strength of the magnetic field emitted by each coordinate coil; the instrument coil is formed on an instrument; the position of the instrument coil in the magnetic field coordinate system may be determined by each coordinate coil separately sensing the magnetic field emitted by the instrument coil or by the instrument coil separately sensing the magnetic field emitted by each coordinate coil; the relative position of the instrument coil and the target tissue, organ or lesion may be determined by the position of the instrument coil in the magnetic field coordinate system, the position of the object coil relative to the target tissue, organ or lesion, thereby positioning and guiding the instrument.
The method for measuring the magnetic permeability of a target tissue, organ or focus of an object of the present application comprises: delivering the set instrument coil and the magnetic permeability coil instrument to a target position; emitting a magnetic field outwardly by energizing the instrument coil; the magnetic permeability of the target tissue, organ or lesion is determined by inducing the strength of the magnetic field through the target tissue, organ or lesion and then to the magnetic permeability coil.
The method for positioning and guiding the instrument by the positioning and guiding device of the application comprises the following steps: attaching a plurality of object coils to an object; determining the position of a target organ or tissue or focus relative to the object coil by a medical imaging method; determining the position of each object coil in the magnetic field coordinate system by each coordinate coil respectively inducing the intensity of the magnetic field emitted by the object coil or by each coordinate coil respectively inducing the intensity of the magnetic field emitted by each coordinate coil; determining the position of the instrument coil in the magnetic field coordinate system by each coordinate coil respectively inducing a magnetic field emitted by the instrument coil or by the instrument coil respectively inducing a magnetic field emitted by each coordinate coil; the position relation of the target organ or tissue relative to the instrument coil is determined through the position of the target organ or tissue or focus relative to the guest coil, the position of the guest coil in the magnetic field coordinate system and the position of the instrument coil in the magnetic field coordinate system, so that the instrument is positioned or guided.
Preferably, the magnetic field coordinate system is an orthogonal coordinate system.
Preferably, a magnetic permeability coil is further included on the instrument; emitting a magnetic field outwardly by energizing the instrument coil; the magnetic permeability of the target tissue, organ or lesion is determined by inducing the strength of the magnetic field through the target tissue, organ or lesion and then to the magnetic permeability coil.
Preferably, the plurality of object coils are formed as a wearable device to be attached to an object.
Preferably, the medical imaging method is CT or magnetic resonance.
The device or the device for positioning and guiding the device can continuously and real-timely determine the position of the device inserted into the object, and provide convenience for operation, postoperative review and the like.
Drawings
FIG. 1 is a schematic view of the structure of the instrument of the present application;
FIG. 2 is a schematic mechanical view of one embodiment of the positioning and guiding device of the instrument of the present application;
FIG. 3 is a schematic view of the mechanism of another embodiment of the positioning and guiding device of the instrument of the present application;
FIG. 4 is a schematic view of the instrument used in FIGS. 2 and 3;
fig. 5 is a schematic diagram of the relative positions of the instrument coil, object coil, and target tissue, organ, or lesion in a magnetic field coordinate system.
Detailed Description
The present application will be described in detail with reference to fig. 1 to 4.
The instrument of the present application is shown in fig. 1, which may be, for example, a catheter, an endoscope, an ablation device, etc. to be inserted into a human or animal body. The instrument 10 includes an instrument coil 11 and a magnetic permeability coil 12. The instrument coil is adapted to generate a magnetic field and is connected to the transmitting means, which is supplied with power by the transmitting means, thereby generating a magnetic field in the coil. The magnetic permeability coil 12 is used for inducing the magnetic field intensity after the magnetic field passes through tissues, organs or focuses around the instrument, the magnetic permeability coil 12 is connected with a receiving device, and the induction current in the magnetic permeability coil 12 is detected; the permeability of the tissue, organ or lesion of the surrounding tissue is calculated from the detected magnetic field strength. The specific calculation of the magnetic permeability is the prior art, and the inventor only applies the magnetic permeability to the medical instrument, and determines which specific organ or tissue is around the instrument through calculating the magnetic permeability, so as to achieve the purpose of positioning or guiding the surgical instrument.
In specific use, the instrument provided with the instrument coil 11 and the magnetic permeability coil 12 is sent to a target position; the instrument coil 11 is caused to emit a magnetic field outwards by energizing it; the magnetic permeability of the target tissue, organ or lesion is determined by inducing the strength of the magnetic field through the magnetic permeability coil 12 to the magnetic permeability coil 12 after passing through the target tissue, organ or lesion.
Figures 2 and 3 show two embodiments of the positioning and guiding device of the instrument according to the application.
The positioning and guiding device of the instrument of the present application comprises a coordinate coil set 30, a plurality of object coils 21, 22, 23, 24, and an instrument coil 11.
The coordinate coil assembly 30 includes at least three coordinate coils, thereby forming an at least three-dimensional magnetic field coordinate system. Each coordinate coil can form a magnetic field when energized, the magnetic field direction of each coordinate coil is different from the magnetic field directions of other coordinate coils, and each coordinate coil corresponds to one axis in a magnetic field coordinate system.
A plurality of object coils 21, 22, 23, 24 are for being attached to an object 50. The plurality of object coils 21, 22, 23, 24 may be formed as a wearable device, such as a vest, a hat, a strap, etc., so as to be attached to the object, or may be directly attached to the object. The object 50 may be a human or animal. The position of each object coil 21, 22, 23, 24 relative to the target tissue, organ or lesion 60 on the object 50 may be determined by medical imaging. For example by CT, magnetic resonance. The position of each object coil 21, 22, 23, 24 in the magnetic field coordinate system may be determined by each coordinate coil sensing the strength of the magnetic field emitted by the object coil 21, 22, 23, 24, respectively (fig. 2), or by the object coil 21, 22, 23, 24 sensing the strength of the magnetic field emitted by each coordinate coil, respectively (fig. 3).
As shown in fig. 2, each object coil is connected to a transmitting device, which is supplied with power by the transmitting device, generating a magnetic field. Specifically, the object coils 21, 22, 23, 24 are sequentially caused to operate in a certain order by control of the control processing means; for example, first, the object coil 21 is operated, and at this time, the control processing device controls the three coordinate coils to induce the magnetic fields of the object coil 21, respectively. Three coordinate coils are connected to the receiving device to induce an external magnetic field. The three coordinate coils may be operated sequentially or simultaneously, and are determined by the number of ports of the receiving device. When the receiving device has only one port, three coils time-division multiplex the ports, and when the receiving device has three ports, parallel reception is possible.
As shown in fig. 3, each object coil is connected to a receiving device to induce an external magnetic field. Three coordinate coils are connected to the transmitting device to generate a magnetic field. Specifically, under the control of the control processing device, an object coil 21 is selected, three coordinate coils are sequentially energized, and the induction value of each coordinate coil in the object coil is recorded, thereby determining the position of the object coil 21 in the magnetic field coordinate system. The next object coil 22 is then gated and the above steps are repeated. And the like, the positioning work of each object coil is completed.
An instrument coil 11 is formed on the instrument 10. The position of the instrument coil 11 in the magnetic field coordinate system may be determined by each coordinate coil separately sensing the magnetic field emitted by the instrument coil 11 or by the instrument coil 11 separately sensing the magnetic field emitted by each coordinate coil.
As shown in fig. 2, the apparatus coil 11 is supplied with power by the transmitting means so as to transmit a magnetic field to the outside, and at the same time, the receiving means is controlled by the control processing means to measure the induced currents from the three coordinate coils, thereby determining the position of the apparatus coil 11.
Fig. 3 is similar to fig. 2 except that the position is determined by the instrument coil 11 sensing the magnetic fields respectively emanating from the three coordinate coils.
The relative position of the instrument coil 11 and the target tissue, organ or lesion 60 can be determined by the position of the instrument coil 11 in the magnetic field coordinate system, the position of the object coils 21, 22, 23, 24 relative to the target tissue, organ or lesion 60, thereby positioning and guiding the instrument.
The distance l between the object coils 21, 22, 23, 24 and the target tissue, organ or focus can be measured by medical imaging 1 、l 2 、l 3 、l 4 The method comprises the steps of carrying out a first treatment on the surface of the The coordinates of each object coil in the magnetic field coordinate system are (x 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 )、(x 3 ,y 3 ,z 3 )、(x 4 ,y 4 ,z 4 ) The method comprises the steps of carrying out a first treatment on the surface of the Assume that the coordinates of the target tissue, organ or lesion 60 are (x t ,y t ,z t ) The method comprises the steps of carrying out a first treatment on the surface of the Solving a least squares solution of the following system of equations, the (x) of the target tissue, organ or lesion 60 can be solved t ,y t ,z t )；
(x t -x 1 ) 2 +(y t -y 1 ) 2 +(z t -z 1 ) 2 ＝l 1 2 ；
(x t -x 2 ) 2 +(y t -y 2 ) 2 +(z t -z 2 ) 2 ＝l 2 2 ；
(x t -x 3 ) 2 +(y t -y 3 ) 2 +(z t -z 3 ) 2 ＝l 1 2 ；
(x t -x 4 ) 2 +(y t -y 4 ) 2 +(z t -z 4 ) 2 ＝l 1 2 ；
Of course, other methods may be used to solve for (x t ,y t ,z t ) The application is illustrated by way of example only, and not limitation, as a least squares method.
The instrument coil 11 has coordinates (x, y, z) measured in the magnetic field coordinate system.
Due to (x) t ,y t ,z t ) It has been found that its relative position to a specific coordinate (x, y, z) is easy to calculate.
The control processing device controls the work of the transmitting device and the work of the receiving device; the control processing device can also calculate the coordinate position in the magnetic field coordinate system according to the current intensity received by the receiving device; the control processing means may further be connected to a display or imaging means, on which the position of the object coil, the position of the instrument coil, and the position of the target tissue, organ or lesion are displayed for more convenient position guidance.
The instrument coil, the magnetic permeability coil and the object coil in the application are preferably magnetic dipole coils, i.e. the size of the coils in the longitudinal direction is far larger than the size of the diameter of the coils.
If the instrument shown in fig. 1 is applied to fig. 2 or 3, the position of the instrument can be further verified by magnetic permeability.
When the positioning and guiding device of the instrument is used for positioning and guiding the instrument, a plurality of object coils (at least 3, 4 in fig. 2 and 3) are attached to an object; determination of the position (i.e. distance) l of a target organ or tissue or lesion relative to the object coil by means of medical imaging 1 、l 2 、l 3 、l 4 The method comprises the steps of carrying out a first treatment on the surface of the The position (x) of each object coil in the magnetic field coordinate system is determined by each coordinate coil respectively inducing the intensity of the magnetic field emitted by the object coil (reacted by the current) or by the object coil respectively inducing the intensity of the magnetic field emitted by each coordinate coil (reacted by the current) 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 )、(x 3 ,y 3 ,z 3 )、(x 4 ,y 4 ,z 4 ). In specific operation, the control processing device controls the transmitting device to transmit the magnetic field outwards by gating one object coil at a time, and meanwhile, the control processing device controls the receiving device to receive the induction magnetic field from the 3 coordinate coils and calculates the coordinates corresponding to the intensity of the received magnetic field. Each object coil is sequentially operated, and the position (x 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 )、(x 3 ,y 3 ,z 3 )、(x 4 ,y 4 ,z 4 ). Or the control processing device controls the transmitting device to gate the first coordinate coil to transmit the magnetic field outwards, and correspondingly controls the receiving device to receive the induction magnetic field from the object coil and calculates the coordinate component corresponding to the intensity of the received magnetic field; then gating a second coordinate coil, performing corresponding operation to obtain a second coordinate component, and then gating a third coordinate coil to obtain a third coordinate component; thereby determining coordinates of the object coil. Each object coil is sequentially operated, and the position (x 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 )、(x 3 ,y 3 ,z 3 )、(x 4 ,y 4 ,z 4 ). The control processing device controls the transmitting device to drive the instrument coils to transmit magnetic fields outwards, and meanwhile, the control processing device controls the receiving device to respectively receive the intensity of the induction magnetic fields from each coordinate coil, so that coordinates (x, y, z) of the instrument coils are calculated; or the control processing device controls the transmitting device to strobe the first coordinate coil to transmit the magnetic field outwards, and simultaneously controls the receiving device to receive the intensity of the induced magnetic field from the instrument coil, so as to calculate and obtain a first coordinate component x; then the control processing device gates the second coil to emit a magnetic field outwards through the emitting device, and meanwhile the control processing device controls the receiving device to receive the intensity of the induced magnetic field from the instrument coil, so that a second coordinate component y is obtained through calculation; the processing device is controlled to gate the third coil to emit magnetic field outwards through the emitting device, and the processing device is controlled to controlThe receiving means receives the strength of the induced magnetic field from the instrument coil, thereby calculating a third coordinate component z, thereby determining the position (x, y, z) of the instrument coil in the magnetic field coordinate system; the position relation of the target organ or tissue relative to the instrument coil is determined through the position of the target organ or tissue or focus relative to the guest coil, the position of the guest coil in the magnetic field coordinate system and the position of the instrument coil in the magnetic field coordinate system, so that the instrument is positioned or guided.
The determination of the position of the coil (magnetic dipole) in the magnetic field belongs to the prior art, so that the specific calculation of the instrument coil and the object coil in the magnetic field coordinate system is not repeated in the application.
By the device or the method, the relative position relation between the instrument with the instrument coil and the target tissue, organ or focus can be continuously calculated in real time only by arranging the object with the object coil in the magnetic field coordinate system, and even if the object is in a moving state, the relative position of the instrument coil and the object coil in the magnetic field coordinate is not changed because the instrument coil and the object coil synchronously move, so that the detection result is not influenced, and the positioning of the instrument can be continuously performed in real time in the moving process of the object, for example, in the transferring process of a patient.
Claims (4)
1. An instrument for measuring the permeability of tissue surrounding the instrument to determine whether the instrument has reached a predetermined destination location, comprising: an instrument coil and a magnetic permeability coil arranged on the instrument;
the instrument coil is used for generating a magnetic field; the magnetic permeability coil is used for inducing the magnetic field intensity after the magnetic field passes through tissues, organs or focuses around the instrument; the magnetic field intensity is used for calculating the magnetic permeability of the surrounding tissues, organs or focuses, and determining which organ or tissue is around the instrument through the magnetic permeability so as to achieve the purpose of positioning or guiding the surgical instrument.
2. A positioning and guiding device for an instrument, comprising: a coordinate coil set, a plurality of object coils, and an instrument coil;
the coordinate coil group comprises at least three coordinate coils, thereby forming a magnetic field coordinate system with at least three dimensions;
at least three of the plurality of object coils for being attached to an object; the plurality of object coils are formed as a wearable device to be attached to an object or to be adhered to an object; the position of each object coil relative to the target tissue, organ or lesion on the object can be determined by medical imaging; the position of each object coil in the magnetic field coordinate system may be determined by each coordinate coil separately sensing the strength of the magnetic field emitted by the object coil or by the object coil separately sensing the strength of the magnetic field emitted by each coordinate coil;
the instrument coil is formed on an instrument; the position of the instrument coil in the magnetic field coordinate system may be determined by each coordinate coil separately sensing the magnetic field emitted by the instrument coil or by the instrument coil separately sensing the magnetic field emitted by each coordinate coil; further comprising a magnetic permeability coil on the instrument; the magnetic permeability coil is used for measuring the intensity of a magnetic field emitted by the instrument coil reaching the magnetic permeability coil after passing through the target tissue, organ or focus, thereby determining the magnetic permeability of the target tissue, organ or focus, and determining which organ or tissue is specific around the instrument through the magnetic permeability so as to determine whether the instrument reaches a preset target position;
the relative position of the instrument coil and the target tissue, organ or lesion may be determined by the position of the instrument coil in the magnetic field coordinate system, the position of the object coil relative to the target tissue, organ or lesion, thereby positioning and guiding the instrument.
3. The device for positioning and guiding an instrument according to claim 2, wherein: the magnetic field coordinate system is an orthogonal coordinate system.
4. The device for positioning and guiding an instrument according to claim 2, wherein: the medical image is CT or magnetic resonance.
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| CN201610955263.7A CN106420056B (en) | 2016-11-03 | 2016-11-03 | Instrument, positioning and guiding device of instrument and method thereof |
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| CN107049490A (en) * | 2017-04-21 | 2017-08-18 | 昆明医科大学第附属医院 | A kind of microwave-navigation alignment system of accessory heart Percutaneous Coronary Intervention |
| CN113350698A (en) * | 2021-05-31 | 2021-09-07 | 四川大学华西医院 | Electromagnetic navigation system and method for TMS coil |
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