JP2004154556A - 位置および配向の磁気測定 - Google Patents
位置および配向の磁気測定 Download PDFInfo
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Abstract
【解決手段】磁気による位置および配向測定系は、検出空間の対向する側部に配置されたヘルムホルツコイル34、36、38からの均一な場と、同じコイルが発生するグラジェント場からなるのが望ましい磁場を使用する。これらの磁場の印加の際にプローブ50において検出される場成分を監視することにより、場におけるプローブ50の位置および配向を推測することができる。プローブ50の表示108を被検体の別に取得された画像に重畳して、被検体に対してプローブ50の位置および配向を示すことができる。
【選択図】 図1
Description
る。
本発明の一の観点によれば、プローブの位置と配向を測定する装置および方法が提供されている。本発明の一の観点に係る装置は、複数の異なる磁場を発生するように選択的に動作する磁石手段を有しており、各磁場は「擬線形」即ち検出空間(sensing volume)における基準方向の距離に対して一定、線形または略線形をなす大きさ(magnitude)をもつ少なくとも1つの非ゼロ成分を有する。
、X軸コイルセットのコイル34が順即ち直列援用配位にあるときには、双方のコイルを通る電流がX軸の正の端部から見てX軸を中心に反時計廻り方向に流れるように直列に接続される。対をなす2つのコイルが逆配位にあるときには、コイルは電流が直列をなす双方のコイルを通るが、対をなす2つのコイルにおいて軸線を中心に反対方向に流れるように、直列対向で接続される。電流は、一方のコイル34においてはX軸を中心に時計廻り方向に流れるが、他方のコイル34においてはX軸を中心に反時計廻り方向に流れる。
V062=K(B・X’)+VI62
である。
V064=K(B・Y’)+VI64
を同様に発生する。
V066=K(B・Z’)+VI66
を発生する。
場がシーケンスにおいて切り換えられると、コンピュータ46は、各場を示す信号が各切換サイクルの所定の取得時間に取得されるように、センサ60および80からのデータの取得を制御する。かくして、各コイル対が特定のモードでオンに切り換えられると、このコイル対が発生する場の大きさは、式
Mj=Mc(1−e(−t/tau))
に従って一定値まで指数関数的に上昇する。上記式において、tは時間、Mjは時間tにおける瞬時の場の大きさ、Mcは定数即ち定常状態の大きさ、tauはコイルセットのインダクタンスに比例しかつ直列抵抗に逆比例する時定数である。取得時間は全ての切換えサイクルについて同じであるので、取得時間における瞬時の場の大きさMi は常に、定常状態の場の大きさMcの一定の割合である。例えば、切換えサイクルの開始と取得時間との間の遅れは、時定数tauの1倍に等しく、即ち、実質上定常状態に達するのに必要とされる遅れ時間の約20パーセントである。この構成においては、各サイクルにおける獲得時間における瞬時の場の大きさは、定常状態の値の約63パーセントである。各切換えサイクルは終了させることができ、しかも新しい切換えサイクルは獲得時間の直後に開始されるので、かかる構成は、各コイル対がデータの取得前に定常状態に入ることができる別の構成の場合と比べて、単位時間当たりの測定を一層多くすることができる。このスキームの変形例においては、取得時間はコイルセットを流れる瞬時電流を監視することにより制御することができる。このシステムは、作動状態にある特定のコイルセットの瞬時電流が平衡電流よりも低いのが好ましい所定のトリガ値まで上昇すると、各サイクルにおいてセンサ60および80かデータを取得するように構成されている。かかる構成の場合にも、センサのデータサンプルは、サイクル間で一貫した場の大きさで得られる。コイルは繰り返し作動されるが、信号はセンサ60および80から得られ、増幅され、デジタル化されて、コンピュータ46に供給される。この信号は、X、YおよびZ座標系の検出空間32内において、センサおよび取着プローブの配向および位置を確認するのに使用される。各サイクルの各段階において、コンピュータはセンサ60のX’、Y’およびZ’方向の場の成分を示すデータを取得するので、各コイルの作動の際にこのような各局部方向の場の別のデータエントリがある。各データエントリは、同じサイクルにおけるコイルがオフの状態即ち空場状態の対応するデータエントリを差し引くことにとり補正される。例えば、X’方向の場を与える素子62の読みは全て、空場状態にあるときに取得されるX’方向の場成分の値を差し引くことにより補正される。これにより、コイルにより印加される場以外の場の影響が取り除かれる。センサの読みの「空補正」(”null−corrected”)値についての以下の説明は、このようにして補正される値について云うものである。均質場の発生の際に取得されるセンサの読みの空補正値は、「Hm,n」とされ、mはどの検出素子が値を取得したかを示し、nは値の取得の際にどのコイル対が均質場を発生させたかを示す。表示を下記の表Iに示す。
均質な場に関する検出素子の読み
X Y Z
検出素子 コイル対 コイル対 コイル対
X’−62 Hx’,x Hx’,y Hx’,z
Y’−64 Hy’,x Hy’,y Hy’,z
Z’−66 Hz’,x Hz’,y Hz’,z
Hy=sqrt[(Hx’,y)−2+(Hy’,y)−2+(Hz’,y)−2]
Hz=sqrt[(Hx’,z)−2+(Hy’,z)−2+(Hz’,z)−2]
H’y’,x=Hy’,x/HxH’y’,y=Hy’,y/HyH’y’,z=Hy’,z/HzH’z’,x=Hz’,x/HxH’z’,y=Hz’,y/HyH’z’,z=Hz’,z/Hz
ピッチ=arccos(H’z’,z)
として算出される。ヨーは、X−Y面におけるセンサのZ’軸の投影とY基準方向との間の角度94である。これは、
ヨー=arctan(H’z’,x/H’z’,y)
として算出される。この表示において、ヨーは零ピッチ状態に関しては不確定である。ロールは、センサの局部方向X’と系の基準Z方向との間の角度95として定義される。これは、
ロール=arctan(H’y’,z/H’x’,z)
として算出することができる。任意の他の内部的に一致した角度の組を使用して、配向を特定することができる。更に、センサの配向は、X、YおよびZ基準座標系に基づいてセンサの局部座標系のいずれか2つのベクトルを特定することにより十分に特定することができる。単なる一例として、
X’=i(Hx’,x)+j(H’x’,y)+k(H’x’,z)
があり、該式において、X’はX’方向の単位ベクトルであり、i、jおよびkは、X、YおよびZ基準方向の単位ベクトルである。
X Y Z
検出素子 コイル対 コイル対 コイル対
X’−62 Rx’,x Rx’,y Rx’,z
Y’−64 Ry’,x Ry’,y Ry’,z
Z’−66 Rz’,x Rz’,y Rz’,z
|Bx|=sqrt[(Rx’,x)−2+(Ry’,x)−2+(Rz’,x)−2]
|By|=sqrt[(Rx’,y)−2+(Ry’,y)−2+(Rz’,y)−2]
|Bz|=sqrt[(Rx’,z)−2+(Ry’,z)−2+(Rz’,z)−2]
|dx|=sqrt[(Rx’,x−H’x’,x)−2+(Ry’,x−H’y’,x)−2+(Rz’,x−H’z’,x)−2]
となる。
Tx =arccos[(1+|Bx|−2−|dx|−2)/(2*|Bx|)]
として算出することができる。
Rx=(|Bx|)cos(Tx)
となる。これは、逆場モードにおけるX軸コイルセット34の作動の際のセンサ60におけるX方向の束の成分を表わす。上記したように、X方向コイルセットのこの動作の際の束の成分は、X方向の位置に実質上比例する(図3)。かくして、
X位置(mm)=(Mx)(Rx)
となる。
|dy|=sqrt[(Rx’,y−H’x’,y)−2+(Ry’,y−H’y’,y)−2+(Rz’,y−H’z’,y)−2]
および
|dz|=sqrt[(Rx’,z−H’x’,z)−2+(Ry’,z−H’y’,z)−2+(Rz’,z−H’z’,z)−2]
として算出される。
Ty=arccos[(1+|By|−2−|dy|−2)/(2*|By|)]
および
Tz=arccos[(1+|Bz|−2−|dz|−2)/(2*|Bz|)]
として算出される。Y方向およびZ方向の位置は、X方向の位置と全く同じ態様で、これらの成分および角度から算出される。かくして、
Ry=(|By|)cos Ty
Rz=(|Bz|)cos Tz
Y位置=(My)(Ry)
Z位置=(Mz)(Rz)
かくして、コイルが空、均質およびグラジェント状態を循環するたびに、コンピュータ46は、センサ60の位置と配向を再計算する。センサ60がプローブ本体52の先端チップ(tip)56に取着されているので、これらの計算により、プローブ本体の先端チップの位置および配向がわかる。
温度感応素子258は、pH、イオン濃度などのような他の生理学的可変因子に対して感応する1つ以上の素子で置き換えあるいはこれらの素子で補充することができる。更に、温度その他の生理学的可変因子に感応する素子を、磁気センサとは別に形成することもできる。
H’y’,z=(H’z’,x*H’x’,y−H’z’,y*H’x’,x)
H’z’,z=(H’x’,x*H’y’,y−H’x’,y*H’y’,x)
かくして、成分H’m’,nはいずれも、XおよびYコイルセットだけを均一場モードで動作させることにより取得することができる。
Rx’,z=Rx’,y
Ry’,z=Ry’,y
Rz’,z=Rz’,y
を設定し、あるいは上記と同じ態様で計算を行なう。しかしながら、Y方向の場はX軸に沿った主要成分と、Z軸に沿ったラジアル成分だけとを有するので、原点からZ方向へ所定の距離の部分のZ軸成分の大きさRzは、Y方向の等距離の場所のY方向成分の大きさRyの約−0.36倍となる。かくして、Z方向グラジェントdRz/dZはY方向グラジェントdRy/dYの約−0.36倍であり、Z軸束成分をZ軸距離に変換するのに使用される変換因子Mzはこれに応じて調整される。上記した較正工程が使用される場合には、Z軸変換因子は、Y軸コイルセットの作動の際に測定される。
a0q0+a1q1+a2q2+a3q3・・・・anqn
の形態の多項関数により記載することができる場合には、かかる方向の距離に対して「擬線形」(”quasilinear”)となる。上記式において、qは位置であり、定数(ゼロ乗)項、1乗項またはこれらの項の和は他の項よりも優位を占める。即ち、検出空間内の距離qについて述べると、和(a0q0+a1q1)は、和(a2q2+a3q3・・・・anqn)の少なくと2倍にすべきである。好ましくは、(a0q0+a1q1)は、和(a2q2+a3q3・・・・anqn)の少なくとも5倍、より好ましくは少なくとも10倍である。上記した最も好ましい構成においては、均一な場ではa0q0が優位を占め、他の項は零に限りなく近づき、一方、グラジェント場では、a1q1が優位を占め、他の項はいずれも零に限りなく近づく。特定の場が位置または配向を定める場合に測定されない成分を含む場合には、他の成分は擬線形である必要はない。
Claims (50)
- (a)検出空間(32)において複数の異なる磁場を発生する磁石手段(34、36、38)を備え、前記各場は前記検出空間内の基準方向の距離に対して擬線形の大きさを有する少なくとも1つの成分を有し、前記大きさは前記検出空間(32)内の少なくとも幾つかの位置において非ゼロであり、更に、
(b)前記場を所定のシーケンスで発生するように前記磁石手段(34、36、38)を作動させる制御手段(42)と、
(c)対象に接続されかつ前記検出空間(32)内で可動のセンサ(60)とを備え、該センサはセンサ(60)に対して少なくとも2つの異なる局部方向の磁場成分を検出するようになっており、更に
(d)前記場の発生の際に検出される前記磁場成分から前記センサ(60)の位置を定める計算手段(46)を備えることを特徴とする対象の位置を測定する装置。 - 前記磁石手段(34、36、38)は、前記検出空間(32)内で第1の基準方向の第1の略均一な磁場と、前記検出空間内で前記第1の方向とは異なる第2の方向の第2の略均一な磁場と、前記検出空間(32)内で第1および第2のグラジェント場とを発生する手段を備え、前記各グラジェント場は前記検出空間(32)内で所定の変化パターンを有し、前記制御手段は前記磁石手段(34、36、38)を作動させて前記均一な場と連続する前記グラジェント場を発生させるように構成され、前記計算手段(46)は前記グラジェント場と前記均一な場の発生の際に検出される前記磁場成分から前記検出空間内の前記第1および第2の基準方向の前記センサ(60)の位置を決定するように構成されていることを特徴とする請求項1に記載の装置。
- 前記磁石手段は前記検出空間(32)内で前記第1および第2の基準方向とは異なる第3の基準方向の第3の略均一な場を発生するとともに前記検出空間(32)内で所定の変化パターンを有する第3のグラジェント場を発生する手段を有し、前記制御手段(42)は前記第3の磁石手段を作動させて前記第1および第2の均一な場およびグラジェント場と連続する前記第3の均一な場およびグラジェント場を発生するように構成され、前記センサ(60)手段は前記プローブに対する3つの異なる局部方向の磁場成分を検出するように構成され、前記計算手段(46)は前記3つの基準方向の前記検出空間(32)内の前記プローブ(60)の位置を決定するように構成されていることを特徴とする請求項2に記載の装置。
- 前記センサ(60)は最大寸法が約5mm未満であることを特徴とする請求項1乃至3のいずれかに記載の装置。
- 前記最大寸法は約1mm未満であることを特徴とする請求項4に記載の装置。
- 前記センサ(60)は人間の患者の身体内に配置されるようになっていることを特徴とする請求項4に記載の装置。
- 前記検出空間(32)は最小寸法が少なくとも約30cmであることを特徴とする請求項6に記載の装置。
- 前記センサ(60)は異なる方向に配向された複数の面と、該面に配置された磁気感応層とを有する検出本体(52)を備えることを特徴とする請求項4に記載の装置。
- 前記磁石手段(34、36、38)は前記各グラジェント場が前記検出空間内の一の前記基準方向の略線形の単調なグラジェントに従って変わる大きさを有する成分を有するように前記グラジェント場を発生するようになっていることを特徴とする請求項2または3に記載の装置。
- 前記磁石手段(34、36、38)は複数の対をなすコイルを備え、各対をなすコイルは前記検出空間(32)の対向側部に配置されていることを特徴とする請求項1または2に記載の装置。
- 前記各対の前記コイル(34、36、38)は前記各対の軸線が一の前記基準方向に延びるように互いに略共軸をなして配置されたヘルムホルツコイルであることを特徴とする請求項10に記載の装置。
- 前記制御手段(42)は前記磁石手段(34、36、38)をオフ状態にするように動作し、前記磁石手段(34、36、38)は前記検出空間において場を提供せず、前記計算手段(46)は前記磁石手段(34、36、38)が前記オフ状態にあるときに前記センサが測定する前記局部方向の磁場成分のベースライン値を登録するとともに、前記磁石手段(34、36、38)が別の状態にあるときに測定される成分を前記ベースライン値に従って補正する手段からなることを特徴とする請求項1乃至3のいずれかに記載の装置。
- 前記計算手段(42)は前記センサ(60)により検出された磁場成分に基づき前記検出空間(32)内の前記センサ(60)の配向を決定する手段を有することを特徴とする請求項1乃至3のいずれかに記載の装置。
- (a)少なくとも2対のヘルムホルツコイルを有する磁気構造体(34、36、38)を備え、前記各対をなすコイルは互いに共軸をなすとともに対軸線を画成し、しかも検出空間(32)の対向側部に配置され、前記対の軸線は互いに略直交しており、更に
(b)前記各対をなすヘルムホルツコイルの双方に同方向に電流が流れる均質な場状態で該対をなすコイルを選択的に作動させることにより前記検出空間内に略均一の強度の対軸線と平行な方向の磁場を発生させる制御手段(42)を備え、該制御手段(42)はまた前記各対をなすヘルムホルツコイルに逆方向に電流が流れるグラジェント場状態で前記各対をなすコイルを作動させることにより対の軸線と平行する方向成分を有する磁場を発生するように動作を行ない、かかる成分は前記検出空間に略線形グラジェントの大きさを有し、前記制御手段は一対のコイルだけが常に一方の状態にだけ作動されるように前記磁石構造体を作動させるように動作し、更に
(c)前記検出空間内で動くことができるプローブを備え、該プローブ(50)にはプローブに対する少なくとも2つの異なる局部方向の磁場成分を測定するセンサ手段(60)が取着されて、コイル対が前記均質な場状態にあるときに前記センサ手段(60)が前記局部方向の均質場成分を測定するとともに、前記コイル対が前記グラジェント場状態にあるときに前記局部方向のグラジェント場成分を測定し、更に
(d)前記均質場成分から前記対軸線に対する前記プローブ(50)の配向を決定するとともに、前記均質場成分および前記グラジェント場成分から前記検出空間(32)における前記プローブ(50)の位置を定める計算手段(46)を備えることを特徴とする配向および位置測定方法。 - 前記磁石構造体は3対の前記ヘルムホルツコイル(34、36、38)を含み、前記センサ手段(60)は互いに直交する3つの前記局部方向の磁場成分を測定する手段を有することを特徴とする請求項14に記載の装置。
- 前記プローブ(50)は人間の患者の身体内に配置されるようになっていることを特徴とする請求項14に記載の装置。
- 前記プローブ(50)は基端部と先端部(56)とを有する細長い柔軟な素子であり、前記センサ手段(60)は前記先端部(56)に隣接して配置されることを特徴とする請求項16に記載の装置。
- 前記対をなすヘルムホルツコイル(34、36、38)は少なくとも約30cmの距離をもって互いに離隔配置されていることを特徴とする請求項16に記載の装置。
- 検出空間(32)内の対象の位置を測定する方法であって、
(a)検出空間(32)内の基準方向の距離に対して擬線形の大きさを有する少なくとも1つの成分をそれぞれが有する複数の異なる磁場を前記検出空間(32)において発生させる工程と、
(b)前記場の発生の際にセンサ(60)に対する少なくとも2つの異なる局部方向の磁場成分を測定する工程と、
(c)前記測定された場成分から前記検出空間(32)内の前記センサ(60)の位置を決定する工程とを備えることを特徴とする位置測定方法。 - 前記磁場発生工程は前記検出空間(32)内で第1および第2の基準方向の第1および第2の略均一な磁場を発生させるとともに、前記検出空間(32)内で第1および第2のグラジェント場を発生させる工程からなり、前記各グラジェント場は前記検出空間(32)内で一の前記基準方向の所定の変化パターンを有しており、前記磁場成分測定工程は前記均一な場の印加の際に均質場成分を測定するとともに前記グラジェント場の発生の際に前記局部方向のグラジェント場成分を測定する工程からなり、前記決定工程は前記測定された均質場およびグラジェント場成分から前記検出空間(32)内における前記前記基準方向の前記センサ(60)の位置を計算する工程からなることを特徴とする請求項19に記載の方法。
- 前記第1および第2の基準方向とは異なる第3の基準方向の第3の略均一な場を前記検出空間(32)内で発生させるとともに、前記第3の基準方向の所定の変化パターンを有する第3のグラジェント場を前記検出空間(32)内で発生させる工程を更に備え、前記均質場成分を測定する前記工程は前記第1、第2および第3の均一な場の発生の際に前記プローブ(50)に対する3つの異なる局部方向の均質場成分を測定する工程からなり、前記グラジェント場成分を測定する前記工程は前記第1、第2および第3のグラジェント場の発生の際に前記3つの局部方向のグラジェント成分を測定する工程からなることを特徴とする請求項20に記載の方法。
- 生存する対象内のプローブ(50)の位置を表示する方法であって、
(a)少なくとも1つの基準マーカ(76)を対象に対して固定された位置に配設する工程と、
(b)前記少なくとも1つの基準マーカ(76)の表示(102)を含む対象の画像を取得する工程と、
(c)前記プローブ(50)および前記基準マーカ(76)に送られあるいは前記プローブ(50)および前記基準マーカ(76)から送られた磁場を測定することにより共通の基準フレームにおける前記少なくとも1つの基準マーカと前記プローブの位置を決定して、前記少なくとも1つの基準マーカ(76)に対する前記プローブ(50)の位置を知得する工程と、
(d)前記共通の基準フレームにおける前記少なくとも1つの基準マーカ(76)に対する前記プローブ(50)の位置に対応する前記少なくとも1つの基準マーカ(76)の前記表示(102)に対する位置において前記プローブ(50)の表示(108)を前記対象の前記画像に重畳する工程とを備えることを特徴とする位置表示方法。 - 前記共通の基準フレームにおける前記プローブ(50)と前記少なくとも1つの基準マーカ(76)の配向を決定する工程を更に備え、前記対象の前記画像に前記監視プローブ(50)の表示(108)を重畳する工程は、前記少なくとも1つの基準マーカ(76)の表示(102)に対する前記監視プローブの表示(108)の配向が前記共通の基準フレームにおける前記少なくとも1つの基準マーカ(76)に対する前記監視プローブ(50)の配向に対応するように行なわれることを特徴とする請求項22に記載の方法。
- 前記重畳工程は、前記監視プローブ表示(108)の位置が前記共通の基準フレームにおける前記監視プローブ(50)の位置に対応するように前記監視プローブ(50)の前記表示(108)を表示基準フレームにおいて表示するとともに、前記表示基準フレームにおける各基準マーカ(76)の前記表示(102)の位置が前記共通の基準フレームにおける前記基準マーカ(76)の位置に対応するように前記表示基準フレームにおいて前記対象の前記画像を表示する工程を含むことを特徴とする請求項22に記載の方法。
- 身体部分(173)を表示する方法であって、
(a)センサ(176a)を身体部分(174)に対して固定位置に配設するとともに、固定された基準フレームにおける前記センサ(176a)の配向を決定する工程と、
(b)初期配向状態にある身体部分(174)の画像を取得する工程と、
(c)前記基準センサ(176a)に送られまたは前記基準センサ(176a)から送られる磁場を監視して前記初期配向からの身体部分(174)の動きの後の前記身体部分(174)の被動後の配向を決定することにより前記センサ(176a)の前記基準フレームにおける配向を監視する工程と、
(d)前記初期配向状態にある前記身体部分(174)の前記画像を前記被動後の配向状態にある前記身体部分の画像に変換する工程と、
(e)変換された画像を表示する工程とを備えることを特徴とする表示方法。 - 前記監視、変換および表示工程は、身体部分(174)が被動後の配向状態にあるときに前記被動後の配向状態にある前記各画像に対応する被変換画像が実質上リアルタイムで表示されるように、前記身体部分(174)が所定の範囲の被動後の配向を介して動かされるときに繰り返されることを特徴とする請求項25に記載の方法。
- 前記監視、変換および表示工程は医療治療処置の際に行なわれ、前記表示工程はかかる処置を行なっている医師が表示された画像を視認することができるように行なわれ、更に、医師は処置の任意の時点で身体部分(174)の現在の実際の配向に対応する変換された画像を目視することができることを特徴とする請求項25に記載の方法。
- センサ(176)を配設する前記工程は複数の身体部分(174、175)のそれぞれに別体をなすセンサを固定配設する工程からなり、画像を取得しかつセンサ(176)の配向を定める前記工程は前記身体部分(174、175)の全ての画像を取得するとともに前記身体部分(174、175)がそれぞれ当初の位置にあるときに前記センサ(176)の全ての配向を定める工程からなり、前記センサ(176)の配向を監視しかつ身体部分(174、175)の被動後の配向を定める前記工程は前記センサ(176)の全ての配向を監視するとともに前記各身体部分(174、175)のそれぞれの被動後の配向を定める工程からなり、前記変換工程は前記各身体部分(174、175)の画像を被動後の配向状態にある身体部分(174、175)の画像に変換する工程からなり、前記表示工程は前記変換された画像の互いに対する配向が前記身体部分の互いに対する配向に対応するように前記変換された画像の全てをともに表示する工程からなることを特徴とする請求項26または27に記載の方法。
- 前記身体部分(174、175)が前記初期の配向状態にあるときに前記固定された基準フレーム内の前記センサ(176)の位置を定めるとともに、前記身体部分(174、175)が前記被動後の配向状態にあるときに前記基準フレーム内の前記センサ(176)の位置を定める工程を更に備え、前記画像を変換しかつ表示する前記工程は前記表示された画像が前記身体部分(174、175)の互いに対する位置を正しく示すように前記身体部分(174、175)の前記表示され変換された画像の互いに対する位置を調整して前記身体部分(174、175)の互いに対する動きを補償する工程からなることを特徴とする請求項28に記載の方法。
- 前記身体部分は共通の関節(177)において互いに接続された骨(182、183)であることを特徴とする請求項28に記載の方法。
- 器具プローブを医療器具に配設する工程と、前記器具プローブに送られまたは器具プローブから送られる磁場を監視することにより前記処置の際に前記器具の配向を監視する工程と、前記身体部分(174)の前記表示画像に対する前記器具の表示の配向が前記身体部分(174)に対する前記器具の配向に対応するように前記身体部分(174)の前記画像に関連して前記器具の表示を行なう工程とを更に備えることを特徴とする請求項28に記載の方法。
- 前記身体部分(174)と前記器具が前記初期の配向状態にあるときに前記固定基準フレームにおける前記センサ(176)と前記器具プローブの位置を定める工程と、前記身体部分(174)と前記器具が前記被動後の配向状態にあるときに前記基準フレームにおける前記センサ(176)と前記器具プローブの位置を定める工程とを備え、前記画像と前記器具の前記表示を行なう工程は前記表示された画像および表示が前記身体部分(174)に対する前記器具の位置を正しく示すように前記身体部分(174)の前記表示され変換された画像に対する前記器具の前記表示の位置を調整する工程からなることを特徴とする請求項31に記載の方法。
- 生存している対象の生理学的因子をマップ処理する方法であって、
(a)対象の所定の位置範囲を介してプローブ(50)を動かすとともに前記プローブ(50)に送られまたはプローブから送られる磁場を監視することにより各位置における身体内の前記プローブ(50)の場所を定める工程と、
(b)前記移動工程の際に、前記プローブの変換器により前記生理学的因子を測定することにより前記位置の少なくとも1つにおける測定値を取得する工程と、
(c)前記因子の前記各測定値を該測定値が測定されたときの身体内の前記プローブ(50)の位置と相関させる工程とを備えることを特徴とするマップ処理方法。 - 前記生理学的因子を測定する前記工程は、前記プローブ(50)の複数の前記位置において行なわれることにより複数の測定値を提供することを特徴とする請求項33に記載の方法。
- 絵表示器(90)内の各値の位置が対象内の位置に対応するように前記測定値を絵表示器において表示する工程を更に備えることを特徴とする請求項34に記載の方法。
- 前記因子の変化を示す一連の前記視認表示を実質上リアルタイムで提供するように前記工程を循環して繰り返す工程を更に備えることを特徴とする請求項35に記載の方法。
- 前記生理学的因子は温度であることを特徴とする請求項33に記載の方法。
- (a)前記場の少なくとも1つの因子が場基準フレーム内の所定の位置から別の所定の位置までの距離に対して擬線形であるように前記場基準フレーム内に磁場を発生させる手段と、
(b)患者身体内に配置されるようになっているプローブ(50)と、
(c)前記プローブ(50)が患者の身体に配置されているときに前記プローブ(50)において作用する磁場成分を監視するとともに、該成分を表わす1つ以上のセンサの信号を前記プローブ(50)に取着されたセンサ(60)と、
(d)前記プローブ(50)が患者の身体に配置されているときに前記センサの信号から前記基準フレームにおける前記プローブ(50)の位置を決定するとともに、前記センサの信号に基づいて前記場基準フレーム内の前記プローブの位置を示すプローブ位置データを提供する計算手段(46)とを備えることを特徴とする内視鏡装置。 - 前記プローブ(50)を示す画像(108)が前記決定手段により提供される前記プローブ位置データに基づいて前記身体の画像上の位置において重畳されるように、患者身体の画像を該画像に重畳される前記プローブ(50)を示す画像(108)とともに表示する重畳手段を更に備えることを特徴とする請求項38に記載の装置。
- 前記プローブ(50)は基端部と先端部(56)とを有する細長い構造体(52)を備え、前記センサ(60)は前記先端部(56)に取着されていることを特徴とする請求項39に記載の装置。
- 前記プローブ(50)は前記先端部(56)を包囲する身体部分の画像を取得するように前記構造体の前記先端部に隣接して取着された局部画像処理手段(53)を更に備えることを特徴とする請求項39に記載の装置。
- 前記重畳手段(46)は前記場基準フレームとは異なる身体画像基準フレーム内の前記身体の画像を表わす身体画像データを受ける手段と、前記身体画像基準フレームと前記場基準フレームとの間の関係を表わす関係データを受ける手段(92、94)と、前記プローブ位置データと前記身体画像データを共通の基準フレームにおいて提供するように前記プローブ位置データと前記身体画像データの少なくとも一方を変換する手段とを備えることを特徴とする請求項39に記載の装置。
- 前記決定手段(46)は前記場基準フレーム内の前記プローブの配向を決定する手段を更に備えることを特徴とする請求項42に記載の装置。
- 磁場を発生する前記手段(34、36、38)は前記少なくとも1つの因子が所定のパターンシーケンスにおける異なる時点での複数の異なるパターンに従って変化するように前記場を発生する手段を備えることを特徴とする請求項39に記載の装置。
- 磁場を発生する前記手段(34、36、38)は所定の検出領域を通じて実質上方向と強度を有する少なくとも1つの均質な場を発生するとともに、前記検出領域内の距離とともに実質上線形をなして変化する少なくとも1つの因子をそれぞれが有する1つ以上のグラジェント場を発生するように動作することを特徴とする請求項44に記載の装置。
- 生存している患者の内部でプローブを操作する方法であって、
(a)前記場の少なくとも1つの因子が場基準フレーム内の所定の位置から別の所定の位置にかけての距離に対して擬線形をなすように前記場基準フレームにおいて磁場を発生させる工程と、
(b)前記磁場がプローブ(50)に当たるように患者の身体内に前記プローブを配置する工程と、
(c)前記プローブ(50)が患者の身体に配置されているときに前記プローブ(50)において作用する磁場を検出するとともに前記プローブ(50)の磁場の少なくとも1つの因子を示すセンサの信号を送る工程と、
(d)前記プローブ(50)が患者の身体に配置されているときに前記センサの信号から前記場基準フレーム内の前記プローブ(50)の位置を決定するとともに、前記場基準フレームにおける前記プローブ(50)の位置を表わすプローブ位置データを提供する工程とを備えることを特徴とするプローブ操作方法。 - 前記プローブ(50)の画像(108)が前記プローブ位置データに基づいて前記身体画像上の位置において重畳されるように、患者身体の画像を該画像に重畳される前記プローブ(50)を示す画像(108)とともに表示し、しかも患者の身体内のプローブ(50)の位置を監視するように前記重畳された表示を観察する工程を更に備えることを特徴とする請求項45に記載の方法。
- 前記プローブを介して患者の身体内の状態を監視しまたは該状態に影響を及ぼす工程を更に備えることを特徴とする請求項47に記載の方法。
- プローブ(50)を挿入する前記工程は前記プローブが患者の脳内に配置されるように患者の身体に前記プローブ(50)を挿入する工程を備え、状態を監視しまたは影響を及ぼす前記工程は脳内で外科手術を行なう工程を備えることを特徴とする請求項48に記載の方法。
- 前記決定工程は前記場基準フレーム内の前記プローブ(50)の配向を前記センサの信号から決定する工程を備え、前記表示工程は前記プローブの前記表示の前記身体の画像に対する配向が前記表示データに依存する前記プローブ(50)の前記表示(108)を患者の身体を示す前記画像に重畳する工程からなることを特徴とする請求項47に記載の方法。
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US08/132,479 US5558091A (en) | 1993-10-06 | 1993-10-06 | Magnetic determination of position and orientation |
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1994
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- 1994-10-06 PT PT94930045T patent/PT722290E/pt unknown
- 1994-10-06 EP EP10177196.2A patent/EP2264475B1/en not_active Expired - Lifetime
- 1994-10-06 CA CA002172619A patent/CA2172619C/en not_active Expired - Lifetime
- 1994-10-06 WO PCT/US1994/011298 patent/WO1995009562A1/en active IP Right Grant
- 1994-10-06 AT AT05075076T patent/ATE459009T1/de not_active IP Right Cessation
- 1994-10-06 AU AU79289/94A patent/AU685859B2/en not_active Expired
- 1994-10-06 DE DE69434240T patent/DE69434240T2/de not_active Expired - Lifetime
- 1994-10-06 EP EP06076975A patent/EP1757949A3/en not_active Withdrawn
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- 1994-10-06 JP JP7511002A patent/JPH09503410A/ja active Pending
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- 1994-10-06 EP EP94930045A patent/EP0722290B1/en not_active Expired - Lifetime
- 1994-10-06 CN CNB941936627A patent/CN1149052C/zh not_active Expired - Lifetime
- 1994-10-06 EP EP10177173.1A patent/EP2264474A3/en not_active Withdrawn
- 1994-10-06 AT AT94930045T patent/ATE287239T1/de not_active IP Right Cessation
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007508533A (ja) * | 2003-10-08 | 2007-04-05 | サントル ナシオナル デチュード スパシアル | 磁場測定プローブ |
JP4871725B2 (ja) * | 2003-10-08 | 2012-02-08 | サントル ナシオナル デチュード スパシアル | 磁場測定プローブ |
JP2007147593A (ja) * | 2005-10-06 | 2007-06-14 | Biosense Webster Inc | 磁気センサーアセンブリ |
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