JP2005532878A - カテーテル誘導制御および映像化を行うための装置 - Google Patents
カテーテル誘導制御および映像化を行うための装置 Download PDFInfo
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Abstract
Description
図1A、1Bおよび1Cは、誘導、制御および映像化(GCI)装置501を備えたシステム700を示している。このシステム700はさらに、オペレータインターフェース装置500および手術医療装置502を備えている。図1Aは、種々の機能装置を備えたGCI装置501の1実施形態を示している。図1Aはさらに、これらの機能装置とオペレータインターフェース500、手術室内に設けられた補助装置502および患者390との間の全体的な関係を示している。図1Bは、これらの機能装置とそれらのコンポーネントのいくつかとの間の相互関係をさらに詳細に示している。
磁界センサ113Xおよび温度センサ(TS)122Xは対350を形成する。磁界センサ114Xおよび温度センサ(TS)123Xは対351を形成する。磁界センサ115Xおよび温度センサ(TS)124Xは対352を形成する。磁界センサ116Xおよび温度センサ(TS)125Xは対353を形成する。磁界センサ117Xおよび温度センサ(TS)126Xは対354を形成する。磁界センサ118Xおよび温度センサ(TS)127Xは対355を形成する。磁界センサ119Xおよび温度センサ(TS)128Xは対356を形成する。磁界センサ120Xおよび温度センサ(TS)129Xは対357を形成する。磁界センサ113Yおよび温度センサ(TS)122Yは対358を形成する。磁界センサ114Yおよび温度センサ(TS)123Yは対359を形成する。磁界センサ115Yおよび温度センサ(TS)124Yは対360を形成する。磁界センサ116Yおよび温度センサ(TS)125Yは対361を形成する。磁界センサ117Yおよび温度センサ(TS)126Yは対362を形成する。磁界センサ118Yおよび温度センサ(TS)127Yは対363を形成する。磁界センサ119Yおよび温度センサ(TS)128Yは対364を形成する。磁界センサ120Yおよび温度センサ(TS)129Yは対365を形成する。磁界センサ113Zおよび温度センサ(TS)122Zは対366を形成する。磁界センサ114Zおよび温度センサ(TS)123Zは対367を形成する。磁界センサ115Zおよび温度センサ(TS)124Zは対368を形成する。磁界センサ116Zおよび温度センサ(TS)125Zは対369を形成する。磁界センサ117Zおよび温度センサ(TS)126Zは対370を形成する。磁界センサ118Zおよび温度センサ(TS)127Zは対371を形成する。磁界センサ119Zおよび温度センサ(TS)128Zは対372を形成する。磁界センサ120Zおよび温度センサ(TS)129Zは対373を形成する。
aN:北双極子(たとえば、図18の(b)を参照)によって示される実際のカテーテルチップ構体の磁気素子の最遠端部
aS:南双極子(たとえば、図18の(b)を参照)によって示される実際のカテーテルチップ構体377の磁気素子の最近端部
aD:地点aNと地点aSとの間の距離(図18の(b)参照)に等しい実際のカテーテルチップ磁石377の長さ
XD:X軸に沿った対向する同軸の磁極の間の距離、すなわち、電磁石132Xと138Xの磁極面の間の距離(図19では参照符号606により示されている)
-x1,-x2,-x3,-x4:それぞれMFSとTSの対354、355、356、357(図13および19の(b)参照)
d:連続した各MFS/TS対の間の距離、すなわち、MFS/TS対354とMFS/TS対355、MFS/TS対355とMFS/TS対356等の間の距離(図19の(b)参照)
x1,x2,x3,x4:それぞれMFSとTSの対350、351、352、353(図13および19A参照)
ROT:X-Y平面における回転角度θ(図21では参照符号625により示されている)
ELEV:X-Z平面におけるELの角度(図22では参照符号626により示されている)
aN:北方向
aS:南方向
aD:チップ磁石の長さ
XD:対向する磁極132Xと138Xの間の距離
-x1,-x2,-x3,-x4:それぞれMFSとTSの対354、355、356、357
d:磁界センサと温度センサの対354および355等の間の距離
x1,x2,x3,x4:それぞれMFSとTSの対350、351、352、353
ROT:θ軸
ELEV:EL軸
AN=(Xn,Yn,Zn)
ここで、Xn、YnおよびZnはX、YおよびZ軸上における直交ベクトルANの射影であり(図18の(c)参照)、また、
AS=(Xs,Ys,Zs)
ここで、Xs、YsおよびZsはそれぞれX、YおよびZ軸上における直交ベクトルASの射影である。
αはX軸に対する角度である;
βはY軸に対する角度である;
γはZ軸に対する角度である。
X-Y平面では、X軸およびY軸に関して投影されたベクトルθXY(図18の(d)参照)の角度は次のように表される:
1.システム制御装置(SC)302がX軸制御装置および増幅器(XCA)305、Y軸制御装置および増幅器(YCA)310、ならびにZ軸制御装置および増幅器(ZCA)315の変調装置出力を阻止する。
2.X軸制御装置および増幅器(XCA)305、Y軸制御装置および増幅器(YCA)310、ならびにZ軸制御装置および増幅器(ZCA)315が磁界センサアレイ307、308、312、313、317および318の出力を読取る。
3.X軸制御装置および増幅器(XCA)305、Y軸制御装置および増幅器(YCA)310、ならびにZ軸制御装置および増幅器(ZCA)315が温度センサ(TS)アレイ306、309、311、314、316および319の出力を読取る。
4.X軸制御装置および増幅器(XCA)305、Y軸制御装置および増幅器(YCA)310、ならびにZ軸制御装置および増幅器(ZCA)315が補正データ(典型的に不揮発性メモリ105X、105Yおよび105Z中に記憶されている)を参照することにより磁界センサアレイ307、308、312、313、317および318の出力に対してデジタル温度補償を適用する。
5.システム制御装置(SC)302がX軸制御装置および増幅器(XCA)305、Y軸制御装置および増幅器(YCA)310、ならびにZ軸制御装置および増幅器(ZCA)315から補正された磁界センサデータを入力し、実際のチップによって生成された磁界の3つの直交する成分(Bx,By,Bz)から5軸データセットを補間(interpolate)する。以下の2つの関係を使用してチップ位置が計算される:
(a)力ベクトルB600の大きさは次の式によって与えられ:
7.システム制御装置(SC)302は、心臓位置(CP)とHPデータセットとを組合せることによって実際の位置(AP)を計算する。
8.システム制御装置(SC)302は、仮想チップ/較正固定制御装置(VT/CFC)303から仮想チップ405位置データを入力する。
9.システム制御装置(SC)302は、心臓位置(CP)データセットを仮想チップ(VT)からのものと組合せることによりDPを計算する。
10.その後、システム制御装置(SC)302は、DPをAPと比較することにより位置エラー(PE)を決定する。
11.位置エラーPEがエラーしきい値より低い場合には、システム制御装置(SC)302はX軸制御装置および増幅器(XCA)305、Y軸制御装置および増幅器(YCA)310、ならびにZ軸制御装置および増幅器(ZCA)315が同じ変調および極性を引き続き使用することを可能にする。
12.位置エラーPEがエラーしきい値より高い場合には、システム制御装置(SC)302はXCA305、YCA310およびZCA315に対する変調入力のデューティサイクルおよび、または極性を変更する。
Claims (66)
- 身体の外部で磁界を発生する磁界ソースと、
前記磁界に応答する遠端部を有するツールと、
前記遠端部によって生成された磁界を感知する1以上の磁気センサと、
前記遠端部の位置を制御するための位置およびコマンド入力を提供するように前記磁界ソースを制御するシステム制御装置とを備えている患者の体内に挿入されるカテーテル状のツールの動きを制御するための装置。 - 前記システム制御装置は、閉ループフィードバックサーボシステムを備えている請求項1記載の装置。
- 前記遠端部は、1以上の磁界センサおよび1以上の温度センサを備えている請求項1記載の装置。
- 前記遠端部は、センサデータを前記システム制御装置に提供する1以上の磁界センサを備えている請求項1記載の装置。
- さらに、オペレータインターフェース装置を備えている請求項1記載の装置。
- 前記サーボシステムは、1つの器官の動的な位置を補償し、それによって前記遠端部が前記器官と実質的に一致して動くように前記磁界への前記遠端部の応答をオフセットする補正入力を備えている請求項1記載の装置。
- 前記補正入力は、前記器官の前記動的な位置に関する補正データを提供する補助装置によって生成され、前記補正データは、それが前記センサ装置から得られた測定データと組合せられたとき、前記遠端部が前記器官と実質的に一致して動くように前記サーボシステムの応答をオフセットする請求項6記載の装置。
- 前記補助装置は、X線装置、超音波装置およびレーダ装置の少なくとも1つである請求項1記載の装置。
- 前記システム制御装置は、ユーザ制御入力を可能にする仮想チップ制御装置を含んでいる請求項1記載の装置。
- さらに、仮想チップおよび較正固定制御装置と、
仮想チップ構体とを含んでいる請求項1記載の装置。 - さらに、X軸制御装置および増幅器と、
Y軸制御装置および増幅器と、
Z軸制御装置および増幅器とを備えている請求項1記載の装置。 - さらに、通信制御装置と、
較正固定装置と、
1以上の温度センサとを備えている請求項1記載の装置。 - 前記温度センサは、前記磁界センサと対にされている請求項12記載の装置。
- 前記システム制御装置は、X軸制御装置、Y軸制御装置およびZ軸制御装置の動作を仮想チップからの入力にしたがって調整する請求項1記載の装置。
- 前記仮想チップは、触覚フィードバックをオペレータに提供する請求項14記載の装置。
- 前記仮想チップは、前記遠端部の実際の位置と前記遠端部の所望の位置との間の位置エラーにしたがって触覚フィードバックをオペレータに提供する請求項14記載の装置。
- 前記システム制御装置は、前記遠端部を前記仮想チップの動きに追従させる請求項14記載の装置。
- さらに、エンコーダの位置、制限スイッチおよびオペレータスイッチデータを前記仮想チップから受信する仮想チップ/較正固定制御装置を含んでおり、
前記仮想チップ/較正固定制御装置は、触覚フィードバック応答制御を前記仮想チップに出力する請求項14記載の装置。 - 前記システム制御装置は、前記磁界センサからのデータを少なくとも部分的に使用して前記遠端部の位置エラーを計算し、前記磁界ソースを制御して前記位置エラーを補正するように構成されている請求項1記載の装置。
- 前記システム制御装置は、フィードバックデータをオペレータ制御に供給することにより触覚フィードバック応答を開始する請求項1記載の装置。
- 外部磁界を発生することにより遠端部に力を与え、
前記遠端部を所望の方向に移動させるように前記力を調整し、
前記遠端部の磁界を測定することにより前記遠端部の位置を決定するステップを含んでいる体内に挿入される前記遠端部を有するツールの動きを制御する方法。 - 前記遠端部が身体を通過するにしたがって前記遠端部の視覚表現を実質的に実時間で変更するステップをさらに含んでいる請求項21記載の方法。
- 前記外部磁界を生成するように1以上の電磁石を制御するステップをさらに含んでいる請求項21記載の方法。
- 前記遠端部の前記磁界を測定する1以上の磁界センサの温度を測定するステップをさらに含んでいる請求項21記載の方法。
- 前記遠端部の現在の位置を所望の位置と比較して決定するステップをさらに含んでいる請求項21記載の方法。
- 前記ツール遠端部の前記現在の位置を決定するステップは、
システム制御装置の変調装置の出力を阻止し、
通信制御装置によって動的な心臓位置を入力し、
前記現在の位置を前記心臓位置の関数として計算するステップを含んでいる請求項25記載の方法。 - 前記遠端部の位置エラーを計算するステップをさらに含んでいる請求項21記載の方法。
- 前記位置エラーが特定された最小値より大きいときに前記X軸制御装置、前記Y軸制御装置および前記Z軸制御装置の少なくとも1つの変調入力のデューティサイクルおよび極性の少なくとも一方を変更するステップをさらに含んでいる請求項27記載の方法。
- 前記位置エラーが1以上の軸に沿って予め定められた量を超えた場合に触覚フィードバックを生成するステップをさらに含んでいる請求項27記載の方法。
- 前記システム制御装置は、前記ツール遠端部の位置が仮想チップからの位置データに対応するように前記ツール遠端部を移動させる請求項21記載の方法。
- 閉磁気回路を形成すると共に磁界を発生するC形アーム上においてクラスタ状の配置に構成された磁気ソースと、
前記磁界に応答する遠端部を有するツールと、
前記遠端部の周囲に配置された1以上の圧電リングと、
ツール遠端部位置を制御するための位置およびコマンド入力を提供するように前記磁界を調整するシステム制御装置とを備えている体内に挿入される遠端部を有するツールの動きを制御する装置。 - さらに、前記磁力を調整するために前記位置およびコマンド入力を前記システム制御装置から受取る閉サーボループシステムを備えている請求項31記載の装置。
- 前記遠端部は1以上の磁界センサおよび1以上の温度センサを備えている請求項32記載の装置。
- 前記システム制御装置は、前記遠端部を所望の位置に動かすように前記磁界を構成するために前記磁気ソース中のトルクおよび関連した電流をそれぞれ計算するように構成されている請求項33記載の装置。
- 前記閉サーボループ回路は、前記ツールの方位を含む患者の器官の動的な位置を補償し、それによって前記遠端部が前記器官と実質的に一致して動くように前記磁界への前記遠端部の前記応答をオフセットする補正入力を備えている請求項34記載の装置。
- 前記補正入力は前記器官の前記動的な位置に関するデータを提供する補助装置によって生成され、前記データが前記センサ装置から得られた前記ステレオのフレーミングを形成する基準マーカのセットと組合せられたとき、前記センサ装置から得られた前記位置規定測定データは、前記遠端部が前記器官と一致して動くように前記サーボシステムの応答をオフセットするように機能する請求項35記載の装置。
- 前記補助装置は、心臓出力、心電図ならびに肺の拡張および収縮のような前記身体の器官と一致して動的に動く参照フレームに関する位置データを含む前記ステレオの参照フレームを形成するX線、超音波またはレーダ装置の1以上のものである請求項36記載の装置。
- 前記システム制御装置は仮想チップを含んでおり、前記仮想チップの少なくとも一部分の動きは、前記遠端部を対応的に動かすようにシステム制御装置に電磁石を制御させる請求項31記載の装置。
- 第1の磁極のクラスタと、前記第1の磁極のクラスタと極性が逆である第2の磁極のクラスタとを有している制御可能な磁界ソースと、
前記磁界に応答する遠端部を有するツールと、
前記遠端部によって生成された磁界を感知する1以上の磁気センサとを備えている患者の体内に挿入されるカテーテル状のツールの動きを制御する装置。 - 前記遠端部は1以上の磁界センサおよび1以上の温度センサを備えている請求項39記載の装置。
- 前記遠端部は、センサデータをシステム制御装置に提供する1以上の磁界センサを備えている請求項39記載の装置。
- さらに、オペレータインターフェース装置を備えている請求項39記載の装置。
- 前記第1の磁極のクラスタは、磁気材料により前記第2の磁極のクラスタに接続されている請求項39記載の装置。
- さらに、ユーザ制御入力を可能にする仮想チップ制御装置を備えている請求項39記載の装置。
- さらに、仮想チップおよび較正固定制御装置と、
仮想チップ構体とを含んでいる請求項39記載の装置。 - さらに、通信制御装置と、
較正固定装置と、
1以上の温度センサとを備えている請求項39記載の装置。 - 前記温度センサは、前記磁界センサと対にされている請求項39記載の装置。
- さらに、触覚フィードバックをオペレータに提供する仮想チップを含んでいる請求項39記載の装置。
- 前記仮想チップは、前記遠端部の実際の位置と前記遠端部の所望の位置との間の位置エラーにしたがって触覚フィードバックをオペレータに提供する請求項48記載の装置。
- さらに、前記遠端部を仮想チップの動きに追従させるために前記3次元磁界ソースによって生成された磁界を制御するシステム制御装置を備えている請求項39記載の装置。
- 磁気材料のかたまりに対して設けられている第1の電磁石磁極の第1のクラスタと、
前記第1の電磁石磁極に設けられ、実質に別々に制御可能である複数の第1の電磁石コイルと、
極性が第1の電磁石磁極の第1のクラスタと実質的に逆になるように前記磁気材料のかたまりに対して設けられ、前記磁気材料のかたまりが前記第1のクラスタから前記第2のクラスタまでの磁気回路を完成させている第2の電磁石磁極の第2のクラスタと、
前記第2の電磁石磁極に設けられ、実質的に別々に制御可能であり、その結果前記第1のクラスタと前記第2のクラスタとの間の領域内の磁界の方位が多数のディメンションで制御可能である複数の第2の電磁石コイルとを備えている磁界を発生する装置。 - 前記第1の電磁石磁極の前記第1のクラスタは、3個の電磁石磁極を備えている請求項51記載の装置。
- 前記第1の電磁石磁極の磁極面は実質的に球面上に位置している請求項51記載の装置。
- 前記第1の電磁石磁極の磁極面は実質的に球面上に位置しており、前記第2の電磁石磁極の磁極面は実質的に前記球面上に位置している請求項51記載の装置。
- さらに、前記複数の第1のコイルおよび前記複数の第2のコイル中の電流を制御して前記磁界の方位を制御するシステム制御装置を備えている請求項51記載の装置。
- さらに、前記磁界の前記方位に応答する遠端部を有するツールと、
前記遠端部によって生成された磁界を感知する1以上の磁気センサとを備えている請求項51記載の装置。 - 前記遠端部は1以上の磁界センサおよび1以上の温度センサを備えている請求項56記載の装置。
- さらに、ユーザ制御入力を可能にする仮想チップ制御装置を備えている請求項56記載の装置。
- さらに、触覚フィードバックをオペレータに提供する仮想チップを備えている請求項56記載の装置。
- 前記仮想チップは、前記遠端部の実際の位置と前記遠端部の所望の位置との間の位置エラーにしたがって触覚フィードバックをオペレータに提供する請求項59記載の装置。
- さらに、前記複数の第1のコイルおよび前記複数の第2のコイル中の電流を制御して前記磁界の前記方位を制御して前記遠端部に磁気力を供給するシステム制御装置を備えている請求項56記載の装置。
- 永久磁石と、
1以上の圧電リングとを備えているカテーテルチップ構体。 - 前記遠端部の所望の移動方向を計算し、
前記移動を生じさせるために必要とされる磁界を計算し、
前記磁界を生じさせるために複数の電流を制御し、
前記遠端部の磁界を測定することにより前記遠端部の位置を決定するステップを含んでいる体内に挿入される遠端部を有するツールの動きを制御する方法。 - 磁界を計算する前記ステップは、
1以上の磁石磁極に関する前記遠端部の現在の位置を決定し、
前記移動を生じさせるために必要とされる前記磁界を発見するためにルックアップテーブルを使用するステップを含んでいる請求項21記載の方法。 - 前記外部磁界を生成するために1以上の電磁石を制御するステップをさらに含んでいる請求項63記載の方法。
- 前記遠端部の前記磁界を測定する1以上の磁界センサの温度を測定するステップをさらに含んでいる請求項63記載の方法。
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- 2003-07-16 DE DE60328990T patent/DE60328990D1/de not_active Expired - Lifetime
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JP2007173580A (ja) * | 2005-12-22 | 2007-07-05 | National Cancer Center-Japan | 磁界発生装置およびその制御方法 |
JP4671287B2 (ja) * | 2005-12-22 | 2011-04-13 | 独立行政法人国立がん研究センター | 磁気発生装置 |
US8369943B2 (en) | 2006-06-06 | 2013-02-05 | Cardiac Pacemakers, Inc. | Method and apparatus for neural stimulation via the lymphatic system |
US8897878B2 (en) | 2006-06-06 | 2014-11-25 | Cardiac Pacemakers, Inc. | Method and apparatus for gastrointestinal stimulation via the lymphatic system |
US8905999B2 (en) | 2006-09-01 | 2014-12-09 | Cardiac Pacemakers, Inc. | Method and apparatus for endolymphatic drug delivery |
JP2008270463A (ja) * | 2007-04-19 | 2008-11-06 | Toshiba Corp | 超電導マグネット装置 |
JP2019526930A (ja) * | 2016-08-10 | 2019-09-19 | 漢陽大学校産学協力団Industry−University Cooperation Foundation Hanyang University | 磁場制御システム |
US11756716B2 (en) | 2016-08-10 | 2023-09-12 | Iucf-Hyu (Industry-University Cooperation | Magnetic field control system |
US20210307639A1 (en) * | 2018-02-14 | 2021-10-07 | St. Jude Medical International Holding S.á r.l. | Localized magnetic field transmitter |
US11839461B2 (en) * | 2018-02-14 | 2023-12-12 | St Jude Medical International Holding S.À R.L. | Localized magnetic field transmitter |
Also Published As
Publication number | Publication date |
---|---|
EP2105154A3 (en) | 2014-08-20 |
US20060114088A1 (en) | 2006-06-01 |
EP2105154A2 (en) | 2009-09-30 |
EP1521555A1 (en) | 2005-04-13 |
CN100438826C (zh) | 2008-12-03 |
JP4511351B2 (ja) | 2010-07-28 |
CN101444424B (zh) | 2012-04-04 |
JP2010179116A (ja) | 2010-08-19 |
WO2004006795A1 (en) | 2004-01-22 |
CA2493869A1 (en) | 2004-01-22 |
AU2003249273A1 (en) | 2004-02-02 |
US20060116633A1 (en) | 2006-06-01 |
CN101444424A (zh) | 2009-06-03 |
US7873401B2 (en) | 2011-01-18 |
CN1681448A (zh) | 2005-10-12 |
US20060116634A1 (en) | 2006-06-01 |
US20040019447A1 (en) | 2004-01-29 |
ATE440560T1 (de) | 2009-09-15 |
CA2493869C (en) | 2012-11-20 |
EP1521555B1 (en) | 2009-08-26 |
DE60328990D1 (de) | 2009-10-08 |
US7769427B2 (en) | 2010-08-03 |
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