JP2013033054A - 超音波放射に基づく位置検出 - Google Patents
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- 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
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00411—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like actuated by application of energy from an energy source outside the body
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
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- A—HUMAN NECESSITIES
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- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3908—Soft tissue, e.g. breast tissue
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- A—HUMAN NECESSITIES
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- 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
- A61B2090/3925—Markers, e.g. radio-opaque or breast lesions markers ultrasonic
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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
Abstract
【解決手段】 座標系に対する対象の配置を決定するための装置は該対象の周辺の電磁場を発生する少なくとも1つの電磁場発生器と該対象に固定される少なくとも1つの変換器とを含んでいる。該少なくとも1つの変換器は予め決められた振動周波数で振動しそれと該電磁場との相互作用に応じて、エネルギーを放射する。該変換器により放射される該エネルギーを検出しそれに応答して信号を発生するために該対象の周辺で1つ以上の検出器も使用される。
【選択図】 図1
Description
al.)への特許文献2は挿入医療器具の位置(location and orientation)と配向を決定するための側位システム(locating syste
m)を説明しておりそこでは外部から印加された無線周波(RF)電磁場が該挿入医療器具内に配置された3つのコイル内に電流を誘起する。この誘起された信号を該カテーテルから体外空間の信号プロセサーへ運ぶためにはワイヤ又は何等かの他の形の物理的リード線を要する。該プロセサーは該挿入医療器具の位置と、配向を計算するために該信号を解析する。
al.)の特許文献3及びバーデットへ(Burdette)の特許文献4は癌治療用の温熱療法機械で使用するための超音波装置を説明している。この装置を作動するために、該治療サイト周辺に円筒形に超音波変換器が配置され、そして無線周波数電力で賦活される。合成超音波が該治療サイト内の組織を加熱し、それにより望ましい治療効果が発生する。従ってこの装置の出力は熱であり、そして個別の超音波変換器の位置や配向の表現はない。
cation system)を提供することである。
ommon iliac vein)への損傷を防止するように該遠位の端部の位置が決定される。もう1つの好ましい実施例では、頸動脈(carotid artery)又は胸膜腔(pleural cavity)の破裂損傷の可能性を減らすために内部頸静脈(internal jugular)に挿入されつつあるスワンガンツカテーテル(Swan−Ganz catheter)の遠位の端部の位置は連続的にモニターされる。
振周波数で機械的に振動する。該超音波の音場が始動された時の前か又は実質的に同じ時に該センサの周辺では実質的により高い周波数の無線周波{アールエフ(RF)}の場が初めに発生される。該無線周波(RF)の放射の1部は該ダイアフラムの機械的振動に応じて変調される。該変調された無線周波(RF)信号は無線周波(RF)検波器で検波され該対象の位置決定に使用される。
該ユニットを共振させる電磁場を発生する少なくとも1つの無線周波(RF)放射器40と、そして
該検出器の各々が配置される固定点で該超音波の時刻、大きさ、周波数及び/又は位相情報を検出しそして変換することが出来る少なくとも3つの重なり合わず、同一直線上にない検出器34、36、及び38とを必要とする。
させる、信号を発生する。代わりに、1つ以上の該無線周波(RF)放射器は全ての適当な周波数成分を含む信号を送信する。
外部から印加される超音波音場及び無線周波(RF)電磁場と該検出された無線周波(RF)信号とに対応する入力を有する、信号プロセサー30は、該測定された“飛翔時間(time of flight)”と組織内での音の速度とに基づいて該超音波発生器から該ダイアフラムまでの距離を計算する。空間内の既知の点に配置された2つの追加的超音波発生器13と15を、順に、使用してのこの過程を繰り返しは、該ダイアフラムから3つの既知の点までの距離を産み出し、そして該信号プロセサーが、座標系に対する該変換器の位置を計算することを可能にする。
該対象に固定されておりそしてそれとの該電磁場の相互作用に応じて、予め決められた振動周波数で振動しそしてエネルギーを放射する少なくとも1つの変換器と、
該変換器により放射される該エネルギーを検出しそれに応答して信号を発生する該対象周辺の1つ以上の検出器と、そして
該対象の座標を決定するために該検出器信号を受信し処理する信号プロセサーとを具備することを特徴とする座標系に対する対象の配置を決定するための装置。
する装置。
該対象の周辺で電磁場を発生する少なくとも1つの電磁場発生器と、
該対象に固定されており、該電磁場に応じて音響エネルギーを放射する変換器と、
該変換器により放射された該音響エネルギーを検出し、それに応答して信号を発生する、該対象の周辺の既知の位置にある1つ以上の検出器と、
該対象の座標を決定するために該検出器信号を受信し処理する信号プロセサーとを具備することを特徴とする装置。
その振動周波数で振動する変換器を該対象に固定する過程と、
該対象の周辺に電磁場を発生する過程と、
該電磁場の、該座標系内の1つ以上の場所にある該変換器との、相互作用に応じて該変換器により放射される、エネルギーを検出しそしてそれに応じた信号を発生する過程とを具備しており、該エネルギーは該変換器の該振動周波数に依存する周波数を有しており、該方法は又
該対象の座標を決定するために該信号を処理する過程を具備していることを特徴とする座標系に対する対象の配置を決定するための方法。
無線周波(RF)電磁場を発生する過程が該2つ以上変換器のそれぞれの共振周波数に対応する周波数成分を含む電磁場を発生する過程を備えており、そして該方法に於いて
該信号を処理する過程が該対象の角度的配向を決定するために該異なる周波数で検出された該音響的放射に応じて発生された信号を比較する過程を備えることを特徴とする方法。
11、13、15 超音波発生器
12 測位変換器
14 カテーテル本体
17 無線周波(RF)検出器
18 血管
20 カテーテル位置追跡システム
22 カテーテル
24 患者の体表面
26 無線周波(RF)放射器ドライバ
28 デイスプレーモニター
30 信号プロセサー
32 制御ユニット
34、36、38 超音波検出器
40、42、44 無線周波(RF)放射器
51、52 圧電結晶
53 軸線
54、56、58
55、57、59 直交する軸線
60 デーエイ変換器
62、64 圧電結晶又はデーエイ変換器
63、65 主要な軸線
66、68、70 信号増幅器
78、80、82 増幅器
84 測位変換器位置計算用回路
92、93 箔部材
94、96 第1の箔部材
98、100、101、102、103 箔部材
112、114、116、118、120、122 結晶/箔ユニット
140、160、170、190、200、210 タグ
142 枠
144、164、174、194、204、214 ダイアフラム
162、172、192、202、212 枠
166、176、196、206、216 軸線
Claims (3)
- 座標系に対する対象の配置を決定するための装置であって、
対象の周辺に電磁場を発生する少なくとも1つの電磁場発生器、
該対象に固定されておりそしてそれとの該電磁場の相互作用に応じて、予め決められた振動周波数で振動しそしてエネルギーを放射する3つ以上のダイアフラムを含む少なくとも1つの変換器、
ここで、ダイアフラムが相互に直交する軸線を有し、一の軸線は変換器の長手方向軸線と平行して配置されている
該変換器により放射される該エネルギーを検出しそれに応答して信号を発生する該対象周辺の3つ以上の検出器、
該対象の座標を決定するために該検出器信号を受信し処理する信号プロセサー、ここで、信号プロセサーは少なくとも1つの変換器の位置及び方向を、3つの位置ベクトル成分と3つの角度的配向ベクトル成分の決定によって計算する、
及び
少なくとも1つの変換器の位置及び/又は方向を表示するデイスプレーモニター
を具備することを特徴とする装置。 - 座標系に対する対象の配置を決定するための装置において、
該対象の周辺で電磁場を発生する少なくとも1つの電磁場発生器、
該対象に固定されており、該電磁場に応じて音響エネルギーを放射する、3つ以上のダイアフラムを含む少なくとも1つの変換器、
ここで、3つの上記ダイアフラムが相互に直交する軸線を有し、一の軸線は変換器の長手方向軸線と平行して配置されている、
該変換器により放射された該音響エネルギーを検出し、それに応答して信号を発生する、該対象の周辺の既知の位置にある3つ以上の検出器、
該対象の座標を決定するために該検出器信号を受信し処理する信号プロセサー、ここで、信号プロセサーは少なくとも1つの変換器の位置及び方向を、3つの位置ベクトル成分と3つの角度的配向ベクトル成分の決定によって計算する、
及び
少なくとも1つの変換器の位置及び/又は方向を表示するデイスプレーモニター
を具備することを特徴とする装置。 - 座標系に対する対象の配置を決定するための方法において、
その振動周波数で振動する、3つ以上のダイアフラムを含む変換器を該対象に固定する過程、
ここで、3つの上記ダイアフラムが相互に直交する軸線を有し、一の軸線は変換器の長手方向軸線と平行して配置されている、
該対象の周辺に電磁場を発生する過程、
該電磁場の、該座標系内の1つ以上の場所にある該変換器との相互作用に応じて該変換器により放射されるエネルギーを検出し、そして、それに応じた信号を発生する過程、ここで、該エネルギーは該変換器の該振動周波数に依存する周波数を有する、
該対象の座標を決定するために3つの位置ベクトル成分と3つの角度的配向ベクトル成分に基づいて該信号を処理する過程、
及び
変換器の位置及び/又は方向を表示する過程
を具備していることを特徴とする座標系に対する対象の配置を決定するための方法。
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US09/265715 | 1999-03-11 | ||
US09/265,715 US7575550B1 (en) | 1999-03-11 | 1999-03-11 | Position sensing based on ultrasound emission |
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AU (1) | AU771891B2 (ja) |
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JPH09135832A (ja) * | 1995-11-15 | 1997-05-27 | Olympus Optical Co Ltd | 超音波診断医用カプセル |
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JP5121062B2 (ja) | 2013-01-16 |
ES2228409T3 (es) | 2005-04-16 |
AU771891B2 (en) | 2004-04-08 |
DE60014214D1 (de) | 2004-11-04 |
JP2000288094A (ja) | 2000-10-17 |
US7575550B1 (en) | 2009-08-18 |
JP2008229382A (ja) | 2008-10-02 |
CA2300332C (en) | 2006-01-03 |
IL134684A0 (en) | 2001-04-30 |
AU2083000A (en) | 2000-09-14 |
DE60014214T2 (de) | 2005-11-24 |
CA2300332A1 (en) | 2000-09-11 |
IL134684A (en) | 2004-07-25 |
EP1034738A1 (en) | 2000-09-13 |
JP5441133B2 (ja) | 2014-03-12 |
EP1034738B1 (en) | 2004-09-29 |
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