JP2000506264A - 場の動作シーケンスを用いる位置決めシステム - Google Patents
場の動作シーケンスを用いる位置決めシステムInfo
- Publication number
- JP2000506264A JP2000506264A JP9530988A JP53098897A JP2000506264A JP 2000506264 A JP2000506264 A JP 2000506264A JP 9530988 A JP9530988 A JP 9530988A JP 53098897 A JP53098897 A JP 53098897A JP 2000506264 A JP2000506264 A JP 2000506264A
- Authority
- JP
- Japan
- Prior art keywords
- sensing
- field
- during
- transmitter
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/10—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
- G01V3/104—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils using several coupled or uncoupled coils
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.少なくとも1個のトランスミッターと複数の感知装置を備える位置決めシ ステムを動作する方法において、当該方法が前記トランスミッターを周期的に駆 動して、各トランスミッターが各動作周期において所定の動作シーケンスで動作 する工程と、前記感知装置を駆動して、各感知装置が前記動作シーケンス中に当 該感知装置に伝達する場の特性を検出する工程を備えており、前記トランスミッ ターの少なくとも1個が前記動作周期の少なくとも一部において複数値動作シー ケンスの態様で動作して、複数の感知工程から成るシーケンスにおいて異なる場 の強度を有し、かつ、当該感知工程の間の中間遷移工程において段階的に変化す る強度を有する場を供給し、前記段階的に変化する強度が各中間遷移工程中にお いて常にゼロよりも大きい方法。 2.前記段階的に変化する強度が前記各中間遷移工程中において概ね単調に変 化する請求項1に記載の方法。 3.前記各複数値動作シーケンスの感知工程中に供給される場の強度が段階的 に順序付けられている請求項2に記載の方法。 4.前記各複数値動作シーケンスの感知工程中に供給される場の強度が一定の 最小強度から一定の最大強度まで段階的に順序付けられている請求項3に記載の 方法。 5.前記各複数値動作シーケンスの感知工程中に供給される場の強度が一定の 最大強度から一定の最小強度まで段階的に順序付けられている請求項3に記載の 方法。 6.前記動作周期の少なくとも一部において、前記トランスミッターの少なく とも1個が単一値動作周期において動作して単一の感知工程中で単一感知用の場 の強度を供給する請求項1に記載の方法。 7.さらに、各動作周期における少なくとも1個の無効期間中に前記各トラン スミッターを安定状態の場の強度に維持し、かつ、前記各無効期間中の前記各感 知装置からの無効信号を検出する工程から成る請求項1または請求項4または請 求項6に記載の方法。 8.前記各トランスミッターの安定状態の場の強度がゼロである請求項7に記 載の方法。 9.さらに、一定の動作周期における動作シーケンスの間に少なくとも1個の 付加的な無効期間を自動的に設定して、当該動作周期の全存続時間が一定の閾値 存続時間を超える時はいつでも、前記感知装置から付加的な無効信号を得る工程 から成る請求項7に記載の方法。 10.前記1個以上のトランスミッターを周期的に駆動する工程が各動作周期 における設定シーケンス中に所定の場の強度により当該各トランスミッターを駆 動する工程を含み、さらに、前記各設定シーケンス中に各感知装置により検出さ れる場の1個以上の特性を検出して、その動作周期の設定シーケンス中に前記感 知装置により検出される場の特性に基づいて各動作周期における動作シーケンス 中に前記各トランスミッターにより供給される場の強度を調節する工程から成る 請求項1に記載の方法。 11.前の動作周期中に前記感知装置により検出された場の特性に応じて後の 動作周期中に前記トランスミッターにより供給される場の強度を調節する工程か ら成る請求項1に記載の方法。 12.さらに、複数の感知工程中にトランスミッターにより供給される場の強 度が互いに異なり、その差が、所定の場の強度差の閾値よりも小さい時はいつで も、特定のトランスミッターに対応する動作シーケンスにおいて異なるセンサー に付随する感知工程を自動的に組み合わせる工程から成る請求項10または請求 項11に記載の方法。 13.前記各トランスミッターが電磁石を含み、前記各感知装置が1個以上の 磁気感知素子を含む請求項1または請求項4または請求項6に記載の方法。 14.前記各電磁石により供給される場の強度が当該電磁石を流れる電流の大 きさの変化により各動作周期中に変化する請求項13に記載の方法。 15.前記感知装置を動作する工程が各感知装置を動作して前記各動作周期に おける一定の感知工程中に場の特性を検出する工程を含む請求項13に記載の方 法。 16.前記各感知装置が複数の磁気成分センサーを含む多要素センサーであり 、各感知工程が1個以上の多要素センサーに付随する請求項15に記載の方法。 17.前記各感知装置が複数の磁気成分センサーを含む多要素センサーであり 、各感知工程が1個以上の個々の成分センサーに付随する請求項15に記載の方 法。 18.前記感知装置を動作する工程が異なる感知装置を動作して各複数値動作 シーケンスの異なる感知工程中に場の特性を検出する請求項1に記載の方法。 19.(a)場を送信するための少なくとも1個のトランスミッターと、 (b)伝達する場の特性を検出するための複数の感知装置と、 (c)前記トランスミッターを周期的に駆動するアクチュエータとから構成さ れ、各動作周期において、前記各トランスミッターが所定動作シーケンス内で動 作し、かつ、少なくとも1個のトランスミッターが複数値動作シーケンスにおけ る少なくとも一部の動作周期において動作することにより、複数の感知工程にお ける一定シーケンス中に異なる感知用の場の強度で、かつ、各感知工程間の中間 遷移工程中に段階的に変化する強度で、所定方向に磁場を供給し、前記段階的に 変化する強度が前記各中間遷移工程中において常にゼロよりも大きいことを特徴 とする位置決め装置。 20.前記アクチュエータが前記各中間遷移工程中に場の強度を概ね単調に変 化するように動作する請求項19に記載の装置。 21.前記アクチュエータが前記トランスミッターを駆動して、前記各複数値 動作シーケンスの感知工程中に供給される場の強度が段階的に順序付けられるよ うに動作する請求項20に記載の装置。 22.前記アクチュエータが前記トランスミッターを駆動して、前記各複数値 動作シーケンスの感知工程中に供給される場の強度が最小強度から最大強度まで 順序付けられるように動作する請求項21に記載の装置。 23.前記アクチュエータが前記トランスミッターを駆動して、当該各トラン スミッターが各動作周期における少なくとも1個の無効期間中に安定状態の場の 強度において維持される請求項19または請求項22に記載の装置。 24.さらに制御コンピュータから成り、前記アクチュエータが当該制御コン ピュータに接続して当該コンピュータから制御信号を受け取り、前記アクチュエ ータが当該制御コンピュータに応じて当該制御コンピュータの命令通りに前記各 トランスミッターを駆動する請求項19または請求項22に記載の装置。 25.前記制御コンピュータが前記感知装置に連結されており、当該制御コン ピュータが前記感知装置を駆動して、各感知装置が前記各動作シーケンスの感知 工程中に場の特性を検出する請求項24に記載の装置。 26.前記制御コンピュータが1個以上の前の動作周期中に感知装置により検 出された場の特性に従って各動作周期中に前記各トランスミッターにより供給さ れる場の強度を変更するように動作する請求項25に記載の装置。 27.前記制御コンピュータが異なる感知装置を駆動して各複数値動作シーケ ンスの異なる感知工程中に場の特性を検出するように構成されている請求項25 に記載の装置。 28.前記各トランスミッターが電磁石を含む請求項19に記載の装置。 29.前記少なくとも1個のトランスミッターが複数のトランスミッターを含 み、さらに、当該複数のトランスミッターを感知空間に近接する複数の場所に取 り付けるための手段から構成される請求項19に記載の装置。 30.前記少なくとも1個のセンサーが互いに近接配置される複数の前記感知 素子を有する多要素センサーを含み、当該多要素センサーにおける各感知素子が 当該センサーに対して異なる局所的方向における場の成分強度を検出するように 動作する請求項29に記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US1232696P | 1996-02-27 | 1996-02-27 | |
US60/012,326 | 1996-02-27 | ||
PCT/US1997/002499 WO1997032179A1 (en) | 1996-02-27 | 1997-02-24 | Location system with field actuation sequences |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2000506264A true JP2000506264A (ja) | 2000-05-23 |
JP2000506264A5 JP2000506264A5 (ja) | 2004-11-25 |
JP4141500B2 JP4141500B2 (ja) | 2008-08-27 |
Family
ID=21754438
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP53098897A Expired - Lifetime JP4141500B2 (ja) | 1996-02-27 | 1997-02-24 | 位置決め装置およびその動作方法 |
Country Status (9)
Country | Link |
---|---|
US (1) | US6211666B1 (ja) |
EP (1) | EP0886757B1 (ja) |
JP (1) | JP4141500B2 (ja) |
AU (1) | AU704129B2 (ja) |
CA (1) | CA2247441C (ja) |
DE (1) | DE69733341T2 (ja) |
ES (1) | ES2242213T3 (ja) |
IL (1) | IL125909A0 (ja) |
WO (1) | WO1997032179A1 (ja) |
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- 1997-02-24 IL IL12590997A patent/IL125909A0/xx not_active IP Right Cessation
- 1997-02-24 EP EP97908667A patent/EP0886757B1/en not_active Expired - Lifetime
- 1997-02-24 WO PCT/US1997/002499 patent/WO1997032179A1/en active IP Right Grant
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Also Published As
Publication number | Publication date |
---|---|
WO1997032179A1 (en) | 1997-09-04 |
DE69733341T2 (de) | 2006-02-02 |
CA2247441C (en) | 2004-07-06 |
US6211666B1 (en) | 2001-04-03 |
AU2051997A (en) | 1997-09-16 |
EP0886757B1 (en) | 2005-05-25 |
DE69733341D1 (de) | 2005-06-30 |
EP0886757A4 (en) | 2000-08-09 |
EP0886757A1 (en) | 1998-12-30 |
JP4141500B2 (ja) | 2008-08-27 |
CA2247441A1 (en) | 1997-09-04 |
ES2242213T3 (es) | 2005-11-01 |
IL125909A0 (en) | 1999-04-11 |
AU704129B2 (en) | 1999-04-15 |
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