CN1919139A - 皮肤阻抗的检测 - Google Patents
皮肤阻抗的检测 Download PDFInfo
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Abstract
本发明提供了用于接近实时确定位于活体内的探头的位置的设备和方法。在一个或多个在探头上的电极和位于体表的电极之间驱动电流。测量探头和每个体表电极之间的阻抗,并基于阻抗测量值确定探头的三维位置坐标。为体表和其与电极接触面的阻抗变化提供动态补偿,这种阻抗变化由电极脱落和温度和湿度变化引起。所述补偿提高了尤其是诸如绘制心脏或执行切除以治疗心律不齐的医疗过程的准确性。
Description
技术领域
本发明涉及检测位于活体内的对象的位置。本发明尤其涉及对在使用阻抗测量在活体中对探头进行位置检测期间所产生的假像的检测和补偿。
背景技术
许多医疗手术包括在体内布置诸如传感器、管子、导管、给药设备和移植物的对象。通常使用实时成像方法帮助医生在这些手术期间观看对象和其周围环境。然而在多数情况中,实时三维成像不可能实现或不令人满意。作为替换,通常利用用于获得感兴趣对象的实时空间坐标的系统。
在现有技术中已经研发或预见了许多这样的位置检测系统。这些系统包括将传感器以换能器或天线形式贴附于体内对象,该传感器可以检测体外产生的磁场、电场或超声场。例如,授予Witttkampf的US专利No.5,697,377和No.5,983,126描述了一种系统,其中穿过患者施加三个基本垂直的交替信号的导管装备有至少一个测量电极,在导管尖端和参考电极之间检测电压。电压信号具有对应三个垂直施加的电流信号的成分,通过该成分进行计算以确定导管尖端在体内的三维定位。这两篇文献的公开内容在此引用作为参考。
授予Pfeiffer的US专利No.5,899,860;授予Panescu的US专利No.6,095,150;授予Swanson的US专利No.6,456,864;和授予Nardella的US专利No.6,050,267和No.5,944,022公开了用于检测电极之间电压差的同样的方法,这些专利的公开内容在此引用作为参考。
发明内容
本发明的实施例提供了有效的用于接近实时地确定位于活体内的探头位置的设备和方法。在这些实施例中,在一个或多个在探头上的电极和位于体表上的电极之间驱动电流。在这种方式中,测量探头和每个体表电极之间的阻抗,并基于阻抗测量值确定探头的三维位置坐标。使用新电极设计并驱动电流执行对体表及其与电极的接触面的局部阻抗变化的补偿。这种阻抗变化可以由于例如电极脱落而突然发生,或由于皮肤湿度或皮肤温度的变化逐渐发生。所述补偿提高了尤其是诸如绘制心脏或执行切除以治疗心律不齐的医疗过程的准确性。
本发明提供了一种在活体中进行位置检测的方法,该方法通过在多个表面位置的至少一个上定位第一电极和第二电极来实现,其中第二电极与第一电极电绝缘,通过将第一电流从第一电极经由在一个表面位置的身体的表面流到第二电极来确定局部第一阻抗,将包括至少一个探头电极的探头插入所述身体,在探头电极和第一电极与第二电极的至少一个之间使多个第二电流流经在所述表面位置的每一个的身体的表面,以及确定对所述第二电流的第二阻抗。该方法还实现响应于第二阻抗通过补偿第一阻抗来确定第二电流的体内阻抗,以及响应于体内阻抗确定探头的位置坐标。
在该方法的一个方面中,定位包括将含有第一电极和第二电极的导电表面垫粘贴到一个表面位置。
在该方法的另一方面中,通过确定由在所述一个表面位置的所述垫和所述表面导致的所述第二阻抗之一的成分并从所述一个第二阻抗中减去所述成分来实现所述补偿。
根据该方法的有一方面,第一电流和第二电流是交流电。
根据该方法的还一方面,确定第一阻抗包括将所述第一电极与所述第二电极布置在串联电路中,确定所述第二阻抗包括将所述第一电极与所述第二电极布置在并联电路中。
该方法的又一方面包括使在预定时间间隔确定局部第一阻抗重复进行。
根据该方法的另一方面,插入探头包括使用探头在身体上执行医学治疗。
根据该方法的一个方面,探头包括导管,执行医学治疗包括绘制身体的心脏。
本发明提供一种用于位置检测的设备,包括具有至少一个探头电极的探头,该探头适合插入活体患者的身体。多个导电体表小片在各自表面位置被固定到体表。体表小片的每个均包括第一电极和第二电极,第二电极与第一电极电绝缘。该设备包括用于在校准操作模式中,将第一电极和第二电极布置在串联电路中,并且用于在检测操作模式中,将第一电极和第二电极布置在并联电路中的电路,以及控制器,其用于控制所述电路,并且该控制器适合被连接到探头和体表小片以使第一电信号在校准操作模式中通过其第一电极和第二电极,并将各自的第二电信号通过在探头电极和体表小片之间的身体。该控制器可在校准操作模式中运转以确定体表和其与体表小片的每一个的接触面的局部电阻抗,并通过测量第二电信号的各自的阻抗特性在检测操作模式中确定探头的位置坐标。第二电信号的阻抗特性由控制器根据局部电阻抗的各自的实例来调节。
根据该设备的另一方面,控制器适合在每个表面位置和探头电极之间保持恒定电压,并适合通过测量在恒定电压下的电流来测量各自的阻抗特性。
根据该设备的又一方面,控制器适合在每个表面位置和探头电极之间保持恒定电流,并适合通过测量在恒定电流下的电压来测量各自的阻抗特性。
根据该设备的还一方面,探头适合在患者上执行医学治疗。
根据该设备的又一方面,体表小片包括接触体表的粘性层。
在该设备的另一方面中,控制器响应于由间隔时间定时器测量的时间间隔来交替校准操作模式和检测操作模式。
附图说明
为更好的理解本发明,结合下面的附图,阅读本发明的示例性的具体描述,其中相同的元件用相同附图标记指示,其中
图1是根据本发明的公开实施例被构造和运转的位置检测系统的示例;
图2是根据本发明的公开实施例被构造和运转的在图1所示的系统中使用的导管的示意图;
图3是显示根据本发明的公开实施例,图1所示的系统的电路和控制的框图;
图4是显示根据本发明的公开实施例的导电体表小片和有关在检测操作模式中构造的电路的示意图;
图5是显示根据本发明的公开实施例的导电体表小片和以校准操作模式构造的图4的电路的示意图;
图6是示例根据本发明的公开实施例检测活体患者的体表阻抗的方法的流程图。
具体实施方式
在下面的描述中,阐述了许多具体的细节以便使读者完全理解本发明。然而,本领域普通技术人员应当清楚,本发明可以脱离这些具体细节实现。在其它的例子中,为了不会使本发明不必要地难以理解,没有具体显示用于传统算法和处理的公知的电路、控制逻辑和计算机程序指令细节。
系统概述
现在请看附图,最初参考附图1,其是根据本发明公开的实施例构造和运转的位置检测系统20的示意图。系统20用于确定诸如导管22的探头的位置,该探头被插入诸如患者26的心脏24的腔室的内部体腔中。典型地,导管用于诊断或治疗医疗过程,例如绘制心脏中的电势或执行心脏组织的切除。导管或其它体内设备可以为其它目的独立地或与其它医疗设备结合来替换使用。
导管22的远端包括一个或多个如下所述的电极。这些电极由穿过导管22的插管的电线连接以驱动如下所述的控制单元28中的电路。控制单元由穿过电缆30的电线连接到体表电极,该体表电极典型结合到粘性导电体表小片32、34、36中。小片32、34、36可以位于探头附近的体表上的任何常规位置。例如,对于心脏应用,小片32、34、36典型位于患者26的胸部周围。
典型地,小片32、34、36位于体外表面上,但是在一些应用中,它们中的一些或全部可以位于内表面上。关于小片相对彼此或身体坐标的方向没有特殊要求,尽管如果小片被隔开而不是聚集在一个位置可以实现更高的精确度。不需要将小片沿着固定的轴布置。因此,小片的布置可以被确定以使对正进行的医疗过程的妨碍尽可能小。控制单元28基于在导管22和小片32、34、36之间测量的被调整的阻抗确定导管22在心脏24内的位置坐标。调整的细节在下面给出。导管22可用于产生心脏的映像42,例如电映像,其中导管上的电极可选地用于位置检测和测量在心脏组织中产生的电势。可以将导管的位置叠加在该映像或心脏的另一图像上。
现在参考图2,其是根据本发明公开的实施例被构造和运转的导管22(图1)的具体示意图。该图显示了在设置在导管22和小片32、34、36上的电极44、46、48之间的相互作用。电极44、46、48可以具有任何合适的形状和尺寸,并且也可用于其它目的,例如用于电生理检测和切除。在所示的实施例中,电极44、46、48中的每个与所有小片32、34、36(图1)连通。控制单元28(图1)在每个导管电极和所有体表电极之间驱动电流,并使用电流测量导管电极和小片32、34、36之间的阻抗。基于所测量的阻抗,控制单元28确定导管相对体表电极的位置。可选地,可使用更多或更少的电极。例如,控制单元28可被设定为在一个导管电极和多个体表电极之间多路传输电流。在另一例子中,可使用三个以上体表电极以提高准确性。
现在参考图3,其是显示根据本发明的公开实施例的系统20(图1)的元件的框图。如上所述,控制单元28包括用于驱动电流和测量阻抗的电路。三个电路50、52、54中的每个驱动一电流通过由导管电极和小片32、34、36的体表组成的闭合环路。更具体地说,电路50驱动一电流通过位于电极44和小片32、34、36之间的体组织58;电路52驱动一电流通过位于电极46和小片32、34、36之间的体组织60;电路54驱动一电流通过位于电极48和小片32、34、36之间的体组织62。可以通过将电路50、52、54设置成在不同频率工作来区分由驱动电路产生的每个电流。
每个电路50、52、54测量在其各自穿过身体组织58、60、62的环路中的电阻抗。这些阻抗读数被送到控制器或处理单元56,该控制器或处理单元用该读数计算导管相对体表电极的位置坐标。如上所述,基于这些位置坐标,处理单元56随后产生在显示器40上显示的实时信息。
在本发明的一个实施例中,电路50、52、54产生恒定电压信号。电路50、52、54测量流过各自环路的电流以确定阻抗,该阻抗然后被用于计算位置坐标。
在本发明的第二实施例中,电路50、52、54产生恒定电流信号。因此能够由处理单元56测量在电流驱动器上的电压的测量值以确定阻抗,该阻抗用于计算位置坐标。
在上述两个实施例的任何一个中,所测量的阻抗与电极和小片之间的距离成比例。这些距离随后可用于使用公知的方法对导管22的尖端的位置做三角测量(triangulate),在例如授予BenHaim等人的US专利No.5,443,489和PCT专利公开WO96/05768中描述了这些方法,上述文献的公开内容在此引用作为参考。通过对位于已知解剖位置(即,心脏内的标记)的导管进行初始参考测量,或通过使用在已知位置的单独的、参考导管校准阻抗范围,可以进一步提高测量准度。
系统20(图1)将本发明的一个实施例表现为它可用于对诸如心律不齐的心脏情况的诊断或治疗的基于导管的过程。系统20也可用于血管内疾病的诊断和治疗,所述疾病包括血管成形术或atherectomy。加以必要的变更,系统20的原理也可用在用于诊断或治疗其它身体结构的位置检测系统中,所述身体结构例如脑、脊骨、骨关节、膀胱、胃肠道、衰竭和子宫。
体表小片
现在参考图4,其是显示导电体表小片70和其相关的被构成为检测操作模式的电路的示意图。体表小片70被用作一个或多个小片32、34、36(图1)。典型地,所有小片32、34、36被认为是体表小片70的例子。为了准确执行上述的阻抗测量,需要体表阻抗,例如皮肤阻抗稳定基准。使用根据本发明的体表小片70减小了体表阻抗变化对导管22(图1)的位置测量的影响。
体表小片70是粘性电极垫,其包括两个电绝缘的体表电极72、74,这两个体表电极通过粘性层78粘贴到体表76。电极72、74由绝缘体80隔开。如上所述,导管22(图2)使电流穿过患者身体流到电极72、74。双电线82、84将来自各自电极72、74的电流传送到处理单元56和驱动器86。在电路50、52、54(图3)的每个中驱动器86可以是AC电压或电流源。可选地,驱动器86可以是不同的源。当正检测导管22的位置时,电线82、84由开关88电连接,从而如图4所示,电极72、74与驱动器86平行布置。可从Valleylab,5920LongbowDrive,Boulder,Colorado 80301-3299购买的REM PolyHesiveTM IIPatient Return Electroes适用作体表小片70。
由驱动器86获得的总阻抗是体表和体表与体表小片的接触面的局部电阻抗Zlocal以及导管22和体表76之间的体内阻抗Zb的总和。局部电阻抗Zlocal的成分是电极72和体表76的阻抗Zs1与电极74和体表76的阻抗Zs2的并联:
从而,可以由如下等式估计出由处理单元56计算的总阻抗Z:
在这种操作模式中,体表小片70起常规、单片体表电极的作用。
现在参考图5,其是体表小片和与其有关的为校准操作模式构造的电路的示意图。图5类似于图4。然而,导管22现在通过开关90与驱动器86断开。开关88现在将在串联电路中的电极72、74与驱动器86连接。因此驱动器86获得其中阻抗Zs1和Zs2为串联的校准阻抗Zcal。处理单元56以如下方式计算Zcal:
Zcal=Zs1+Zs2
假设Zs1≈Zs2,那么Zcal≈2Zs1,并且Zs1≈Zcal/2。当开关90、88回到图4所示的检测配置时,处理单元56使用上述关系能够计算如下补偿体表阻抗的身体阻抗ZB:
和
处理单元56包括合适的用于将开关90、88在图4和图5的形式之间变换的间隔时间定时电路或软件。
可选地,如果当在连续时间间隔确定时,在校准阻抗Zcal中的变化超过了一个阀值,可以启动报警。这种偏移可以指示电极脱落或脱开,以及能减小各自身体阻抗测量的可靠性的任何情况,即使在补偿后。
操作
现在参考图6,其示例了根据本发明的公开实施例,在使用阻抗测量将探头在活体患者中定位的同时检测体表阻抗的方法。为了清楚表达,以特别的次序在图6中显示了处理步骤。然而,显然它们中的多数可以并行、异步或以不同顺序执行。
在初始步骤92,如上参考图4和图5描述的双电极体表垫被安置在患者体表的常规位置,通常靠近待插入或绘制(mapped)的探头的位置。
接下来,在步骤94选择体表垫之一。
然后,在步骤96,电流体表垫的电极被接入如图5所示的串联电路中。检测电流从电极中的一个穿过患者皮肤或其它体表流到另一电极。测量和存储基准阻抗。
现在,控制进行到决定步骤98,在该步骤中确定是否继续评估多个垫,如果在决定步骤98的确定是肯定的,那么控制返回步骤94。
如果在决定步骤98的确定是否定的,那么控制进行到步骤100。探头被构造并插入到身体的手术区域,例如患者心脏的左心室。
然后,在步骤102设定时间间隔定时器。定时器的目的是建立时间间隔,该时间间隔在其通过时重复触发在步骤94、步骤96和决定步骤98的阻抗测量。时间间隔的长度不是临界值。然而,如果时间间隔太长,在一个或多个体表阻抗中的介入变化可以导致在定位探头中的错误。如果间隔时间太短,检测体表垫导致的系统开销可以限制可以获得探头的位置的测量的频率。大约1秒的时间间隔已被发现是可行的。
下面,在步骤104,通过构造如图4所示的体表垫,测量探头和体表垫之间的阻抗并执行如上所述的三角测量绘制探头在体内的位置。在确定用于三角测量计算的阻抗中,从总阻抗中减去每个体表垫的局部阻抗的所存储的值,以便确定在探头和体表之间的真实体内阻抗。从而,消除了在体表阻抗中的局部变化的影响。这提高了确定探头位置的准确性。
控制现在进行到决定步骤106,其中确定是否在步骤102设定的定时器已经到期。如果在决定步骤106的确定是否定的,那么控制返回步骤104以更新探头位置的确定。
如果在决定步骤106的确定是肯定的,那么将获得新的体表阻抗测量值。控制进行到由步骤108、步骤110和决定步骤112组成的步骤序列。这些步骤分别与步骤94、步骤96和决定步骤98相同,为了简明不重复它们的细节。当在决定步骤112的确定指示序列完成时,控制返回步骤102,其中间隔时间定时器被重置。如上所述,现在可以通过为更新的体表阻抗补偿来确定探头的位置坐标。
本领域普通技术人员应当理解,本发明不限于在上文中已经被特别显示和描述的内容。而是,本发明的范围包括上述各种特征的结合和局部结合,以及本领域普通技术人员在阅读前述描述的基础上显而易见的,现有技术中未出现的其变化和修改。
Claims (14)
1.一种在活体内进行位置检测的方法,所述活体具有表面和在其上的多个表面位置,该方法包括如下步骤:
将第一电极和第二电极定位在所述表面位置之一上,所述第二电极与所述第一电极电绝缘;
通过将第一电流从所述第一电极经由在所述一个表面位置的所述身体的所述表面流到所述第二电极而确定局部第一阻抗;
将包括至少一个探头电极的探头插入所述身体;
在所述探头电极和所述第一电极与所述第二电极的至少一个之间使多个第二电流流经在相应每个所述表面位置的所述身体的所述表面;
确定对所述第二电流的第二阻抗;
响应于所述第二阻抗通过补偿所述第一阻抗来确定所述第二电流的体内阻抗;以及
响应于所述体内阻抗来确定所述探头的位置坐标。
2.根据权利要求1的方法,其中通过将含有所述第一电极和所述第二电极的导电表面垫粘贴到所述一个表面位置而实现所述定位的步骤。
3.根据权利要求2的方法,其中通过确定由在所述一个表面位置的所述垫和所述表面导致的所述第二阻抗之一的成分并从所述一个第二阻抗中减去所述成分而实现所述补偿步骤。
4.根据权利要求1的方法,其中所述第一电流和所述第二电流是交流电。
5.根据权利要求1的方法,其中确定所述第一阻抗包括将所述第一电极与所述第二电极布置在串联电路中,并且确定所述第二阻抗包括将所述第一电极与所述第二电极布置在并联电路中。
6.根据权利要求1的方法,还包括使在预定时间间隔确定局部第一阻抗的所述步骤重复执行。
7.根据权利要求1的方法,其中插入所述探头包括在所述身体上使用所述探头执行医学治疗。
8.根据权利要求7的方法,其中所述探头包括导管,并且其中执行所述医学治疗包括绘制所述身体的心脏。
9.一种用于位置检测的设备,包括:
探头,其包括至少一个探头电极,该电极适合被插入到活体患者身体中,所述身体具有体表面;
多个导电体表小片,该小片适合被固定在各自的表面位置的所述体表,其中所述体表小片的每个均包括第一电极和第二电极,所述第二电极与所述第一电极电绝缘;
电路,用于在校准操作模式中,将所述第一电极和所述第二电极布置在串联电路中,并且用于在检测操作模式中,将所述第一电极和所述第二电极布置在并联电路中;以及
控制器,其用于控制所述电路,并且该控制器适合被耦合到所述探头和所述体表小片,以使第一电信号在所述校准操作模式中通过其所述的第一电极和所述第二电极,并将各自的第二电信号通过在所述探头电极和所述体表小片之间的身体,其中所述控制器可在所述校准操作模式中运转以确定所述体表和其与所述体表小片的每一个的接触面的局部电阻抗,并通过测量所述第二电信号的各自的阻抗特性在所述检测操作模式中确定所述探头的位置坐标,其中所述第二电信号的阻抗特性由所述控制器根据所述局部电阻抗的各自的实例来调节。
10.根据权利要求9的设备,其中所述控制器适合在每个表面位置和所述探头电极之间保持恒定电压,并适合通过测量在所述恒定电压下的电流来测量各自的所述阻抗特性。
11.根据权利要求9的设备,其中所述控制器适合在每个表面位置和所述探头电极之间保持恒定电流,并适合通过测量在所述恒定电流下的电压来测量各自的所述阻抗特性。
12.根据权利要求9的设备,其中所述探头适合在所述患者上执行医学治疗。
13.根据权利要求9的设备,其中所述体表小片包括接触所述体表的粘性层。
14.根据权利要求9的设备,还包括定时器,其中所述控制器用于响应由所述定时器测量的时间间隔来交替所述的校准操作模式和所述的检测操作模式。
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CA2557245C (en) | 2012-03-20 |
JP5005296B2 (ja) | 2012-08-22 |
BRPI0603522A (pt) | 2007-06-12 |
IL177453A0 (en) | 2006-12-10 |
US20070060832A1 (en) | 2007-03-15 |
MXPA06009706A (es) | 2007-02-26 |
CN1919139B (zh) | 2010-11-03 |
US7756576B2 (en) | 2010-07-13 |
EP1757227A2 (en) | 2007-02-28 |
CA2557245A1 (en) | 2007-02-26 |
IL177453A (en) | 2011-08-31 |
AU2006203683A1 (en) | 2007-03-15 |
ATE550986T1 (de) | 2012-04-15 |
AU2006203683B2 (en) | 2011-11-03 |
KR20070024420A (ko) | 2007-03-02 |
JP2007061612A (ja) | 2007-03-15 |
EP1757227A3 (en) | 2008-11-19 |
EP1757227B1 (en) | 2012-03-28 |
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