JP2008531170A - 光ファイバ負荷検知能力を備えた医療装置システム - Google Patents
光ファイバ負荷検知能力を備えた医療装置システム Download PDFInfo
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- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
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Abstract
Description
ここで、r−基準(ゼロ)測定値がセットされる時間
t−基準時間に関連した時間
λir,i=1,4−ブラッグ回折格子の基準波長
λit,i=1,4−時間tにおけるブラッグ回折格子の波長
εit,i=1,3−時間tにおける全歪み値
ΔTt−時間tにおける温度変化
Cε−波長と歪みとの間の線形性係数
Cεt−ブラッグ回折格子の温度補償係数
CT−波長と温度の間の線形性係数
λr−ブラッグ回折格子基準波長の行列(ベクトル)
λt−時間tにおけるブラッグ回折格子波長の行列(ベクトル)
εt−全歪みと温度変化の行列(ベクトル)
C−歪み変換及び補償行列
ここで、εei,t,l=1,3−時間tにおける弾性歪み値
αT−カテーテル材料(PEEK)の熱膨張係数
εei,t−時間tにおける弾性歪みの行列(ベクトル)
αT−温度降下行列
(1.1a)∧(1.2a)⇒εei,t=αT・C・(λt−λr) (1.3)
ここで、x1及びy1、i=1,3−カテーテル断面の重心に関するブラッグ回折格子の座標
Eten−カテーテルの等価張力/圧縮ヤング率
Eflex−カテーテルの等価曲げヤング率
Ix−x軸に関する慣性モーメント
Iy−y軸に関する慣性モーメント
Nzt−時間tにおけるz軸方向の法線力
Mxt−時間tにおけるx軸に関する曲げモーメント
Myt−時間tにおけるy軸に関する曲げモーメント
G−形状寸法行列
δ−たわみ性行列
IF,t−時間tにおける内力の行列(ベクトル)
ここで、S=δ-1−剛性行列
(1.3)∧(2.1a)⇒lF,t=S・G-1・αT・C・(λt−λr) (2.3)
ここで、Fx,t−x軸方向の時間tにおける接触横外力(逆向きの)
Fy,t−y軸方向の時間tにおける接触横外力(逆向きの)
Fz,t−z軸方向の時間tにおける接触法線外力(逆向きで、圧縮は正)
d−横方向の力の接触点とセンサを備えた断面との距離(z軸に沿った)
Ft−時間tにおける接触外力の行列
d−変換行列
(2.3)∧(3.1a)⇒Ft=d・S・G1・αT・C・(λt−λr) (3.2)
Ft=Kλ・(λt−λr)=Kλ・λt−Fr (3.3)
ここで、
Kλ−力変換行列、Kλ=d・S・G-1・αT・C (3.4)
Fr−基準力行列(ベクトル)、Fr=Kλ・λr (3.5)
方程式(3.1)〜方程式(3.5)を解くと、変形体の外面に加えられる法線力及び横方向の力、すなわち、Fnorm,t=Fz,t及びFtrans,t=平方根(F2 x、t,t+F2 y,t)が得られる。横方向の力を加える角度Ytは、表1から計算することが可能である。
F(t)=K(λ(t)−λ0) (4.0)
ここで、
F(t)は、力のベクトル[Fx,t,Fy,t,Fz,t]であり、
λ(t)は、個々のセンサについて測定された波長のベクトル[λ1,t,λ2,t,λ3,t]であり、
λ(0)は、加えられる力がゼロの場合に、個々のセンサについて測定された波長のベクトル[λ0 1,λ0 2,λ0 3]であり、
Kは、変形体が一連の既知の力を受けるときに計算された行列である。
K=F(λ(t)−λ0)-1 (5.0)
または
Claims (38)
- 血管または器官の診断または治療用装置であって、
前記装置は、遠位端を備える変形体と、
前記遠位端内に固定された少なくとも2つの光ファイバ・センサと、
前記光ファイバ・センサの出力を受信して作動可能なように結合されるプロセシングロジックと、を有し、
前記プロセシングロジックは、前記遠位端と前記器官または血管の組織壁との接触力に対応する多次元力ベクトルを計算するようにプログラムされた、
装置。 - 前記2つの光ファイバ・センサが互いに固定される、請求項1に記載の装置。
- 第3の光ファイバ・センサがさらに含まれ、前記3つの光ファイバ・センサが、同一平面上にないように、前記変形体内に配置されている、請求項1に記載の装置。
- 前記プロセシングロジックが、前記光ファイバ・センサの出力に応答して3次元力ベクトルを計算するようにプログラムされる、請求項3に記載の装置。
- 前記光ファイバ・センサが、ファイバ・ブラッグ・グレーティング光ファイバ歪みセンサ、長周期グレーティング光ファイバ歪みセンサ、イントリンシック・ファブリ・ペロー干渉計光ファイバ歪みセンサ、エキストリンシック・ファブリ・ペロー干渉計光ファイバ歪みセンサ、マイケルソン干渉計光ファイバ歪みセンサ、ブリュアン散乱光ファイバ歪みセンサおよび、強度干渉計光ファイバ歪みセンサから構成されるグループから選択される、請求項1に記載の装置。
- 前記光ファイバ・センサの1つの光ファイバの遠位部分が、他の光ファイバ・センサを越えて遠位方向に延び、さらに、追加の光ファイバ・センサを含んでいる、請求項1に記載の装置。
- 前記光ファイバ・センサが、マイケルソンまたは強度干渉計光ファイバ歪みセンサから構成されるグループから選択され、追加の光ファイバが、前記光ファイバ・センサを越えて延び、温度を測定する追加の光ファイバ・センサを含む、請求項1に記載の装置。
- 前記変形体の管腔内にスライド可能に配置されて、前記変形体の温度を測定する別の光ファイバ・センサがさらに含まれる、請求項1に記載の装置。
- 前記遠位端に、さらに、前記器官または血管の組織の電位を測定する少なくとも1つの電極が含まれる、請求項1に記載の装置。
- 前記接触力が所定の範囲内にあるときに、前記電位を測定するようにプログラムされたプロセッサがさらに含まれる、請求項9に記載の装置。
- 前記遠位端に、さらに、高周波エネルギを蓄積することによって組織を切除する少なくとも1つの電極が含まれる、請求項1に記載の装置。
- 前記接触力が決められた範囲内にある場合に限って、電極を起動して、組織を切除できるようにプログラムされたプロセッサがさらに含まれる、請求項10に記載の装置。
- 前記遠位端に、さらに、洗浄チャネルが含まれる、請求項1に記載の装置。
- 前記遠位端に、さらに、3次元位置決めセンサが含まれる、請求項1に記載の装置。
- 前記光ファイバ・センサに結合されて、出力を発生するファイバ・ブラッグ・グレーティング復調器がさらに含まれる、請求項1に記載の装置。
- 前記遠位端を屈曲させる手段がさらに含まれ、前記遠位端の屈曲が前記出力に応答して決定される、請求項15に記載の装置。
- 前記出力に応答して、前記変形体を操作するロボット制御システムがさらに含まれる、請求項15に記載の装置。
- 前記変形体が対応する力・歪み変換行列を有する、請求項1に記載の装置。
- 前記力・歪み変換行列が、前記変形体に設けられたメモリ・チップ、バーコードまたは、RFIDタグに記憶される、請求項18に記載の装置。
- 前記力・歪み変換行列が、前記変形体の使用前に、前記プロセシングロジックに供給される、請求項18に記載の装置。
- 血管または器官の診断または治療用装置であって、
前記装置は、近位端と遠位端を備え、前記遠位端に変形材料が含まれる細長い本体と、
前記細長い本体を通って延び、同一平面上に存在しないように、前記遠位端内に固定された3つの光ファイバと、
前記遠位端内に配置され、前記3つの光ファイバそれぞれに結合された少なくとも1つの光歪みセンサと、
前記細長い本体に結合された記憶装置と、を含み、
前記記憶装置は、前記遠位端と前記器官または血管の組織壁との接触力に対応する3次元力ベクトルの計算を可能にする力・歪み変換行列を含んでいる、装置。 - レーザ・ダイオード、光検出器および、プロセシングロジックを備えたコンソールがさらに含まれ、前記プロセシングロジックが、前記光歪みセンサから出力を受信し、前記力・歪み変換行列を利用して、3次元力ベクトルを計算するようにプログラムされる、請求項21に記載の装置。
- 前記3つの光ファイバが互いに固定されて、サブアセンブリを形成する、請求項21に記載の装置。
- 前記光ファイバ歪みセンサが、ファイバ・ブラッグ・グレーティング光ファイバ歪みセンサ、長周期グレーティング光ファイバ歪みセンサ、イントリンシック・ファブリ・ペロー干渉計光ファイバ歪みセンサ、エキストリンシック・ファブリ・ペロー干渉計光ファイバ歪みセンサ、マイケルソン干渉計光ファイバ歪みセンサ、ブリュアン散乱光ファイバ歪みセンサおよび、強度干渉計光ファイバ歪みセンサから構成されるグループから選択される、請求項21に記載の装置。
- 前記光ファイバの1つの遠位部分が、前記他の光ファイバを越えて遠位方向に延び、さらに、温度の判定に用いられる追加の光ファイバ・センサを含む、請求項21に記載の装置。
- 前記3つの光ファイバに、マイケルソンまたは強度干渉計光ファイバ歪みセンサのアームが含まれ、追加の光ファイバが、前記細長い本体を通り、前記他の光ファイバを越えて遠位方向に延び、温度を測定する追加の光ファイバ・センサを含む、請求項21に記載の装置。
- 前記遠位端の温度を測定する、前記細長い本体の管腔内にスライド可能に配置された第4の光ファイバ歪みセンサをさらに含む、請求項21に記載の装置。
- 前記遠位端に、さらに、前記器官または血管の診断または治療を施すエンド・エフェクタが含まれる、請求項22に記載の装置。
- 前記エンド・エフェクタに、前記器官組織または血管組織の電位を測定する少なくとも1つの電極が含まれる、請求項28に記載の装置。
- 前記コンソールが、前記接触力が決められた範囲内にあるときに、前記電位を測定するようにプログラムされる、請求項29に記載の装置。
- 前記エンド・エフェクタに、高周波エネルギを蓄積することによって、組織を切除する少なくとも1つの電極が含まれる、請求項28に記載の装置。
- 前記コンソールが、前記接触力が決められた範囲内にある場合に限って、前記電極を起動して、組織を切除できるようにプログラムされる、請求項31に記載の装置。
- 前記遠位端に、さらに、洗浄チャネルが含まれる、請求項31に記載の装置。
- 前記遠位端に、さらに、3次元位置決めセンサが含まれる、請求項21に記載の装置。
- 前記遠位端を屈曲させる手段がさらに含まれ、前記屈曲手段が、前記プロセシングロジックの出力に応答する、請求項22に記載の装置。
- 前記出力に応答して、前記細長い本体を操作するロボット制御システムがさらに含まれる、請求項22に記載の装置。
- 前記記憶装置に、前記変形体に関連したメモリ・チップ、バーコード、または、RFIDタグが含まれる、請求項21に記載の装置。
- 前記力・歪み変換行列が、前記変形体の使用前に、前記プロセシングロジックに入力される、請求項22に記載の装置。
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Also Published As
Publication number | Publication date |
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CN101132730A (zh) | 2008-02-27 |
CN101132730B (zh) | 2010-06-23 |
CN101874729A (zh) | 2010-11-03 |
EP1858401A1 (en) | 2007-11-28 |
JP5270174B2 (ja) | 2013-08-21 |
WO2006092707A1 (en) | 2006-09-08 |
US20060200049A1 (en) | 2006-09-07 |
CN101874729B (zh) | 2012-01-25 |
US8182433B2 (en) | 2012-05-22 |
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