JP2013517032A - リアルタイム位置追跡のための医療スコープ用可撓性インサート - Google Patents
リアルタイム位置追跡のための医療スコープ用可撓性インサート Download PDFInfo
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Abstract
Description
a)「含む、有する(comprising)」という語は、所与の請求項に列挙される以外の構成要素又は工程の存在を除外しない;
b)構成要素に先行する「a」又は「an」という語は、このような構成要素の複数の存在を除外しない;
c)請求項における如何なる参照符号も、本発明の範囲を制限しない;
d)幾つかの「手段」は、同じハードウェア又はソフトウェア実現構造のアイテムによって表現されることができる;
e)特に示されない限り、工程の特定のシーケンスが要求されることを意図しない。
Claims (19)
- 位置を決定する装置であって、
医療スコープの器具チャネル内にフィットするように構成されたシースと、
前記シース内に配される少なくとも1つの光ファイバと、
前記少なくとも1つの光ファイバと光学的に通信し、前記光ファイバの歪み及び曲がりを測定する複数のセンサと、
第1の状態で前記器具チャネル内にフィットするようにサイズ設計され、第2の状態で前記器具チャネル内に前記シースを固定する固定機構であって、前記固定機構は、前記第2の状態で、前記シース及び前記少なくとも1つの光ファイバを停留させ、それにより、前記光ファイバの前記歪み及び前記曲がりが、前記器具チャネルの位置を決定するために用いられる、固定機構と、
を有する装置。 - 前記複数のセンサは、ひずみを測定するために、前記少なくとも1つの光ファイバの長さにわたって分散されるファイバブラッググレーティングを含む、請求項1に記載の装置。
- 前記少なくとも1つの光ファイバは三つ組のファイバを含む、請求項1に記載の装置。
- 前記固定機構は、バルーン及び膨張管を有し、前記バルーンが膨張されると、前記シースが前記器具チャネル内に停留される、請求項1に記載の装置。
- 前記バルーンは円環体形状をもち、前記シースが、前記円環体形状内にフィットし、前記円環体形状の外側が、前記器具チャネルの内側と接触する、請求項4に記載の装置。
- 前記固定機構は、前記器具チャネルの先端部に位置付けられ、身体内における前記器具チャネルの前記先端部の位置を特定するために、前記少なくとも1つの光ファイバにひずみを生成する、請求項1に記載の装置。
- 医療装置の一部を追跡するシステムであって、
光ファイバに組み込まれ、可撓性インサート内に配される、空間的に分散されたファイバブラッググレーティングであって、前記可撓性インサートは、前記医療装置の器具チャネル内に位置付け可能である、ファイバブラッググレーティングと、
前記光ファイバの歪みが測定されるように、光を前記ファイバブラッググレーティングに供給し、前記ファイバブラッググレーティングから光を受け取るように構成される光学系と、
前記光ファイバの前記歪みに関連するパラメータを計算し、前記可撓性インサートのコンフィギュレーションを決定するための形状決定プログラムと、事前の走査から取得されたマップボリュームと、を含むコンピュータシステムであって、前記可撓性インサートの前記コンフィギュレーションと前記マップボリュームとの間の比較に基づいて、前記医療装置の位置が決定される、コンピュータシステムと、
を有するシステム。 - 前記光ファイバは、三つ組のファイバを含む、請求項7に記載のシステム。
- 第1の状態で前記可撓性インサート内にフィットするようにサイズ設計され、第2の状態で、前記器具チャネル内に前記可撓性インサートを固定し、それにより前記可撓性インサート及び前記光ファイバを停留させる固定機構を更に有する、請求項7に記載のシステム。
- 前記固定機構は、バルーン及び膨張管を含み、前記バルーンが膨張されると、前記可撓性インサートが、前記器具チャネル内に停留される、請求項9に記載のシステム。
- 前記バルーンは円環体形状をもち、前記可撓性インサートが、前記円環体形状内にフィットし、前記円環体形状の外側が、前記器具チャネルの内側と接触する、請求項10に記載のシステム。
- 前記固定機構は、前記器具チャネルの先端部に位置付けられ、身体内における前記器具チャネルの前記先端部の位置を特定するために、前記光ファイバにひずみを生成する、請求項9に記載のシステム。
- 医療装置の一部を追跡する方法であって、
光ファイバ及び前記光ファイバに組み込まれた複数の分散されたセンサを含むシースを、器具チャネルに挿入するステップと、
前記器具チャネルに前記シースを停留させるステップと、
患者の事前に取得されたボリュームを使用して、前記患者内の基準位置を決定するステップと、
前記センサを使用して前記光ファイバの形状を決定し、前記事前に取得されたボリュームと前記形状を相関付けることにより、前記医療装置の一部のロケーションを提供するステップと、
を含む方法。 - 画像を再構成するためにビデオデータを取得するステップと、
カメラ位置、前記センサから導き出される形状情報、及びカメラ空間の画像ピクセルを光学形状検知基準座標系にマップする較正マトリックスを使用することによって、前記画像を実空間にマップするステップと、
を更に含む、請求項13に記載の方法。 - 位置合わせの品質及びナビゲーションの精度を一層改善するために、事前に取得されたボリュメトリックイメージングを使用して、前記再構成された画像を動的に位置合わせするステップを更に含む、請求項14に記載の方法。
- 前記センサが、前記光ファイバの長さにわたって分散される複数のファイバブラッググレーティングを含み、前記方法が、前記ファイバブラッググレーティングを使用して歪みを測定するステップを更に含む、請求項13に記載の方法。
- 前記停留させるステップが、バルーン及び膨張管を提供することを含み、前記バルーンが膨張されると、前記シースが前記器具チャネル内に停留される、請求項13に記載の方法。
- 前記バルーンは円環体形状をもち、前記シースが、前記円環体形状内にフィットし、前記円環体形状の外側が、前記器具チャネルの内側と接触する、請求項17に記載の方法。
- 前記停留させるステップが、身体内における前記器具チャネルの先端部の位置を特定するために、前記器具チャネルの前記先端部で前記光ファイバに圧力を印加し、該光ファイバにひずみを生成することを含む、請求項13に記載の方法。
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US29484910P | 2010-01-14 | 2010-01-14 | |
US61/294,849 | 2010-01-14 | ||
PCT/IB2010/055607 WO2011086432A2 (en) | 2010-01-14 | 2010-12-06 | Flexible instrument channel insert for scope with real-time position tracking |
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JP5770207B2 JP5770207B2 (ja) | 2015-08-26 |
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EP (1) | EP2523593B1 (ja) |
JP (1) | JP5770207B2 (ja) |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2018507040A (ja) * | 2015-02-20 | 2018-03-15 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 形状検知のための医療システム、装置及び方法 |
JP2019524241A (ja) * | 2016-07-15 | 2019-09-05 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 形状感知光ファイバを含むバルーンカテーテル |
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EP2523593A2 (en) | 2012-11-21 |
WO2011086432A3 (en) | 2011-09-29 |
CN102711587A (zh) | 2012-10-03 |
US20130109957A1 (en) | 2013-05-02 |
WO2011086432A2 (en) | 2011-07-21 |
CN102711587B (zh) | 2016-04-27 |
US11206999B2 (en) | 2021-12-28 |
EP2523593B1 (en) | 2015-03-25 |
JP5770207B2 (ja) | 2015-08-26 |
US20180303376A1 (en) | 2018-10-25 |
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