JP2018143817A - 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法 - Google Patents
介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法 Download PDFInfo
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Abstract
Description
一実施形態では、医療用追跡システムは、基準マーク式装置を有しており、この基準マーク式装置は、センサー装置の嵌合部と嵌合するように構成されたセンサードッキング機構を含む。センサードッキング機構は、嵌合部を既知の構成で保持する。基準マーク式装置は、少なくとも1つの画像形成可能な基準マーカーと、患者の解剖学的構造に取り付けるように構成された表面とを含む。
本開示の追加の態様、特徴、及び利点は、以下の詳細な説明から明らかになるであろう。
例えば、カテーテルの先端チップ姿勢の履歴が、ナビゲーション表示を再読み込みする期間又は交互に行う動作(例えば、吸入及び呼気)の期間よりも短い時間間隔に亘って保存される場合に、この姿勢履歴を使用して、その時間間隔に亘ってこの装置の形状を再構築することができる。別の例として、過去の姿勢、位置、又は向きデータは、呼吸等の交互に行われる動作のサイクルに従った器具の既知の点として保存することができる。この保存データを使用して、カテーテルに関する形状情報を開発することができる。あるいはまた、カテーテルに沿って配置されたEMセンサー等の一連の位置センサーを、形状検出のために使用することができる。あるいはまた、手術中に器具上のEMセンサー等の位置センサーからの履歴データを使用して、特に解剖学的通路が略静止している場合には、器具の形状を表すことができる。あるいはまた、外部磁場により制御される位置又は向きを有する無線装置を、形状検出のために使用することができる。その位置の履歴を使用して、ナビゲートする通路の形状を判定することができる。
光ファイバ形状センサー253は、介入器具252内に延びる。追跡システム250は、センサー装置258も含む。センサー装置258は、基準マーク式(fiduciary)装置260及び基準本体262を含む。基準マーク式装置260は、接着剤或いは他の化学的又は機械的な固定機構を使用して患者Pに取外し可能に取り付けられるような表面264を含む。いくつかの実施形態では、基準マーク式装置260は、患者の解剖学的構造の外面に取り付けられるが、代替実施形態では、基準マーク式装置は、例えば、経鼻、経直腸、経膣、経食道等により患者の内部解剖学的構造に取り付けてもよい。更に他の代替形態では、基準マーク式装置260を、ステント等の仮インプラントに取り付けてもよい。
Claims (6)
- 医療システムであって、当該医療システムは:
患者に取り付けられる基準マーク式装置と;
該基準マーク式装置に対して事前に規定された構成で光ファイバ形状センサーの第1の部分を保持する結合部と;を有する、
医療システム。 - 前記基準マーク式装置は、医用撮像システムによって表示される基準マーカー及び基準特徴部のうちの少なくとも1つを含む、
請求項1に記載の医療システム。 - 前記結合部は、前記光ファイバ形状センサーの第1の部分を前記事前に規定された構成に維持するとともに、前記基準マーク式装置と着脱可能に嵌合するように構成された基準本体を含む、
請求項1に記載の医療システム。 - 前記結合部は、前記光ファイバ形状センサーを前記事前に規定された構成に維持するための、前記基準マーク式装置の1つ又は複数の特徴部を含む、
請求項1に記載の医療システム。 - 前記患者の解剖学的構造と相互作用する器具をさらに含んでおり、
光ファイバ形状センサーの第2の部分が、前記器具に結合される、
請求項1の医療システム。 - 前記基準マーク式装置に位置合せされた前記解剖学的構造のモデルを受信し、前記基準マーク式装置に位置合せされた前記光ファイバ形状センサーの第2の部分から形状センサーデータを受信し、且つ前記モデル及び前記形状センサーデータに基づいて、前記解剖学的構造に対する器具を位置合せするように構成されたプロセッサをさらに含む、
請求項5に記載の医療システム。
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