JP2000514320A - 自己位置合せカテーテル - Google Patents
自己位置合せカテーテルInfo
- Publication number
- JP2000514320A JP2000514320A JP09541955A JP54195597A JP2000514320A JP 2000514320 A JP2000514320 A JP 2000514320A JP 09541955 A JP09541955 A JP 09541955A JP 54195597 A JP54195597 A JP 54195597A JP 2000514320 A JP2000514320 A JP 2000514320A
- Authority
- JP
- Japan
- Prior art keywords
- probe
- catheter
- sensor
- tissue
- tip
- 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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- 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
- A61B1/0056—Constructional details of insertion parts, e.g. vertebral elements the insertion parts being asymmetric, e.g. for unilateral bending mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
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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
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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
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
- A61B5/28—Bioelectric electrodes therefor specially adapted for particular uses for electrocardiography [ECG]
- A61B5/283—Invasive
- A61B5/287—Holders for multiple electrodes, e.g. electrode catheters for electrophysiological study [EPS]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6885—Monitoring or controlling sensor contact pressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/06—Measuring blood flow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0158—Tip steering devices with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
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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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B18/24—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor with a catheter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00106—Sensing or detecting at the treatment site ultrasonic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
- A61B2017/00247—Making holes in the wall of the heart, e.g. laser Myocardial revascularization
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00831—Material properties
- A61B2017/00867—Material properties shape memory effect
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B2017/22005—Effects, e.g. on tissue
- A61B2017/22007—Cavitation or pseudocavitation, i.e. creation of gas bubbles generating a secondary shock wave when collapsing
- A61B2017/22008—Cavitation or pseudocavitation, i.e. creation of gas bubbles generating a secondary shock wave when collapsing used or promoted
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00345—Vascular system
- A61B2018/00351—Heart
- A61B2018/00392—Transmyocardial revascularisation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B2018/2255—Optical elements at the distal end of probe tips
- A61B2018/2272—Optical elements at the distal end of probe tips with reflective or refractive surfaces for deflecting the beam
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
- A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
- A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
- A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal
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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
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/02—Details
- A61N1/04—Electrodes
- A61N1/05—Electrodes for implantation or insertion into the body, e.g. heart electrode
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Hematology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Anesthesiology (AREA)
- Pulmonology (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Physiology (AREA)
- Cardiology (AREA)
- Human Computer Interaction (AREA)
- Optics & Photonics (AREA)
- Media Introduction/Drainage Providing Device (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.生理学的組織内に挿入するための先端部を有する柔軟で細長いプローブに おいて、 前記プローブの近傍における組織の特性を指示する信号を発生するセンサーと 、 前記信号に応じてプローブの先端部を偏向する位置合せ機構とから成ることを 特徴とするプローブ。 2.前記プローブが生理学的内腔に挿入するためのカテーテルから構成されて おり、前記センサーが当該カテーテルの前方の内腔の特性を示す信号を発生する 請求項1に記載のプローブ。 3.前記信号が前記内腔における障害物を示す請求項2に記載のプローブ。 4.前記信号が前記内腔における障害物の無い通路の方向を示す請求項2また は請求項3に記載のプローブ。 5.前記信号が前記組織における流体の流れの特性を示す前記請求項のいずれ かに記載のプローブ。 6.前記信号が前記流れの勾配を示す請求項5に記載のプローブ。 7.前記信号が前記流れにおける乱流を示す請求項5または請求項6に記載の プローブ。 8.前記位置合せ機構が前記プローブを高い流速の領域に向けて駆動する請求 項5乃至請求項7のいずれかに記載のプローブ。 9.前記信号が前記組織における圧力を示す前記請求項のいずれかに記載のプ ローブ。 10.前記信号が前記圧力の勾配を示す請求項9に記載のプローブ。 11.前記位置合せ機構が前記プローブを前記組織における圧力波の先端部に 向けて駆動する請求項9または請求項10に記載のプローブ。 12.前記信号が前記組織における化学的活性を示す前記請求項のいずれかに 記載のプローブ。 13.前記センサーが少なくとも1個の超音波トランスデューサから構成され ている前記請求項のいずれかに記載のプローブ。 14.前記センサーが超音波を送受信する請求項13に記載のプローブ。 15.前記センサーにより受信された超音波におけるドップラーシフトを検出 する信号処理回路から成る請求項14に記載のプローブ。 16.前記センサーが複数の超音波トランスデューサから成り、当該トランス デューサが複数のそれぞれ所望の方向から超音波の反射を検出する請求項13乃 至請求項15のいずれかに記載のプローブ。 17.前記センサーが超音波トランスデューサのフェーズドアレイから成る請 求項13乃至請求項16のいずれかに記載のプローブ。 18.前記センサーが近接検出装置から成る前記請求項のいずれかに記載のプ ローブ。 19.前記センサーが赤外検出装置から成る前記請求項のいずれかに記載のプ ローブ。 20.前記センサーが光学検出装置から成る前記請求項のいずれかに記載のプ ローブ。 21.前記センサーが圧カセンサーから成る前記請求項のいずれかに記載のプ ローブ。 22.前記センサーが検出装置アレイから成る前記請求項のいずれかに記載の プローブ。 23.さらに、前記センサーを走査する機械的スキャナーから成る前記請求項 のいずれかに記載のプローブ。 24.前記センサーが位置センサーから成る前記請求項のいずれかに記載のプ ローブ。 25.前記位置合せ機構が複数の偏向要素から成り、当該偏向要素の各々が複 数のそれぞれの方向の一つにプローブを偏向する前記請求項のいずれかに記載の プローブ。 26.前記位置合せ機構がプローブの先端部を偏向する1個以上の偏向要素と 、プローブをその長手軸の回りに回転する回転要素とから成る請求項1乃至請求 項24のいずれかに記載のプローブ。 27.前記偏向要素の少なくとも1個が屈曲可能な要素から成る請求項25ま たは請求項26に記載のプローブ。 28.前記屈曲可能要素が超弾性材料から成る請求項27に記載のプローブ。 29.前記屈曲可能要素がバイメタル要素から成る請求項27または請求項2 8に記載のプローブ。 30.前記屈曲可能要素が電気的駆動信号に応じて屈曲状態または請求項直線 状態になる請求項27乃至請求項29のいずれかに記載のプローブ。 31.前記電気的駆動信号が前記屈曲可能要素の温度変化を生じる請求項30 に記載のプローブ。 32.さらに、前記屈曲可能要素に付属する加熱要素から成り、当該加熱要素 が前記電気的駆動信号を受け取る請求項31に記載のプローブ。 33.さらに、前記屈曲可能要素に付属するクーラーから成り、当該クーラー が前記電気的駆動信号を受け取る請求項31または請求項32に記載のプローブ 。 34.さらに、前記屈曲可能要素に連結する少なくとも1個の機械的引張りワ イヤから成る請求項27に記載のプローブ。 35.前記屈曲可能要素が前記引張りワイヤの張力に応じて屈曲する請求項3 4に記載のプローブ。 36.前記偏向要素の少なくとも1個が少なくとも1個の圧電変換スタックか ら成る請求項25または請求項26に記載のプローブ。 37.前記スタックが複数の屈曲可能ジョイントにより連結する複数の圧電変 換結晶から成る請求項36に記載のプローブ。 38.前記スタックがこれに供給される電気的信号に応じて屈曲する請求項3 6または請求項37に記載のプローブ。 39.さらに、プローブを組織内に漸進的に進行させるプローブ進行機構から 成る前記請求項のいずれかに記載のプローブ。 40.さらに、プローブの先端部を所望位置に維持する閉じループサーボシス テムから成る前記請求項のいずれかに記載のプローブ。 41.前記所望位置が組織における障害物の無い通路の中心軸に概ね位置合せ されている請求項40に記載のプローブ。 42.先端部にセンサーを有するプローブを生理学的組織に通過させる方法に おいて、 前記センサーにより組織の特性を感知する工程と、 前記特性に基づいてプローブの所望の移動方向を決定する工程と、 前記所望方向にプローブを偏向する工程とから成ることを特徴とする方法。 43.前記プローブを生理学的組織に通過させる工程がプローブを組織におけ る通路内に通過させる工程から成り、前記組織の特性を感知する工程が前記通路 内または請求項これに近接する物質の特性を感知する工程から成る請求項42に 記載の方法。 44.前記特性を感知する工程が前記通路内の障害物を感知する工程から成る 請求項43に記載の方法。 45.前記障害物を感知する工程が当該障害物から反射する超音波を受信する 工程から成る請求項44に記載の方法。 46.前記障害物を感知する工程が当該障害物の画像を形成する工程から成る 請求項44または請求項45に記載の方法。 47.前記障害物を感知する工程がプローブから当該障害物までの距離を決定 する工程から成る請求項44乃至請求項46のいずれかに記載の方法。 48.前記組織の特性を感知する工程が当該組織における流速を感知する工程 から成る請求項42乃至請求項47のいずれかに記載の方法。 49.前記流速を感知する工程がドップラーシフトした超音波を受信する工程 から成る請求項48に記載の方法。 50.前記流速を感知する工程が乱流領域を認識する工程から成る請求項48 または請求項49に記載の方法。 51.前記所望の移動方向を決定する工程が流速をほぼ最大にする通路の軸を 決定する工程から成る請求項48乃至請求項50のいずれかに記載の方法。 52.前記組織の特性を感知する工程が拍動圧を感知する工程から成る請求項 42乃至請求項51のいずれかに記載の方法。 53.前記所望の移動方向を決定する工程が組織内の圧力波の先端部にほぼ一 致する移動軸を決定する工程から成る請求項52に記載の方法。 54.先端部に位置センサーを有するプローブを生理学的組織に通過させる方 法において、 通路を含む生理学的構造の画像を形成することにより当該通路のマップを作成 する工程と、 前記位置センサーを用いて前記マップに対するプローブ先端部の位置を感知す る工程と、 前記マップに基づいてプローブの所望の移動方向を決定する工程と、 前記所望方向にプローブを偏向する工程とから成ることを特徴とする方法。 55.前記通路のマップを作成する工程が当該通路を探針処理してその形状を 記録する工程から成る請求項54に記載の方法。 56.前記プローブを偏向する工程がその中の要素に電流を供給する工程から 成る請求項42乃至請求項55のいずれかに記載の方法。 57.前記プローブを偏向する工程がその中の要素に機械的張力を供給する工 程から成る請求項42乃至請求項56のいずれかに記載の方法。 58.前記プローブを偏向する工程がプローブを回転する工程から成る請求項 42乃至請求項57のいずれかに記載の方法。 59.前記プローブを偏向する工程が前記通路における湾曲部に沿ってプロー ブを操縦する工程から成る請求項42乃至請求項58のいずれかに記載の方法。 60.さらに、プローブを機械的に駆動して前記通路に通過させる工程から成 る請求項42乃至請求項59のいずれかに記載の方法。
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US1763496P | 1996-05-17 | 1996-05-17 | |
US60/017,634 | 1996-05-17 | ||
US3470397P | 1997-01-03 | 1997-01-03 | |
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JP2000514320A true JP2000514320A (ja) | 2000-10-31 |
JP2000514320A5 JP2000514320A5 (ja) | 2005-01-13 |
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AU (1) | AU728802B2 (ja) |
CA (1) | CA2255807C (ja) |
DE (1) | DE69732566T2 (ja) |
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- 1997-05-15 EP EP97920930A patent/EP0904127B1/en not_active Expired - Lifetime
- 1997-05-15 CA CA002255807A patent/CA2255807C/en not_active Expired - Lifetime
- 1997-05-15 IL IL12701797A patent/IL127017A/xx not_active IP Right Cessation
- 1997-05-15 ES ES97920930T patent/ES2236805T3/es not_active Expired - Lifetime
- 1997-05-15 WO PCT/IL1997/000159 patent/WO1997044089A1/en active IP Right Grant
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Also Published As
Publication number | Publication date |
---|---|
US6083170A (en) | 2000-07-04 |
ES2236805T3 (es) | 2005-07-16 |
IL127017A (en) | 2003-07-06 |
JP4018147B2 (ja) | 2007-12-05 |
DE69732566D1 (de) | 2005-03-31 |
IL127017A0 (en) | 1999-09-22 |
CA2255807A1 (en) | 1997-11-27 |
EP0904127A1 (en) | 1999-03-31 |
EP0904127B1 (en) | 2005-02-23 |
EP0904127A4 (en) | 1999-09-08 |
AU2711597A (en) | 1997-12-09 |
WO1997044089A1 (en) | 1997-11-27 |
CA2255807C (en) | 2009-01-27 |
AU728802B2 (en) | 2001-01-18 |
DE69732566T2 (de) | 2006-01-12 |
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