JP2019503774A - 神経性疾患を検出するためのシステム及び方法 - Google Patents
神経性疾患を検出するためのシステム及び方法 Download PDFInfo
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Abstract
【選択図】図11
Description
本開示は、2016年1月5日に出願された「神経性疾患を検出するためのシステム及び方法(SYSTEMS AND METHODS FOR DETECTING NEUROLOGICAL CONDITIONS)」という名称の米国仮特許出願第62/275192号に対する優先権及びその利益を主張するものであり、この文献はその全体が引用により本明細書に組み入れられる。本開示は、2016年5月18日に出願された「リモートセンタ・オブ・コンプライアンス・プローブ装置(REMOTE CENTER OF COMPLIANCE PROBE DEVICE)」という名称の米国仮特許出願第62/338065号に対する優先権及びその利益を主張するものであり、この文献はその全体が引用により本明細書に組み入れられる。本開示は、2016年6月8日に出願された「可変剛性を有するプローブ支持構造(PROBE SUPPORT STRUCTURE WITH VARIABLE STIFFNESS)」という名称の米国仮特許出願第62/347527号に対する優先権及びその利益を主張するものであり、この文献はその全体が引用により本明細書に組み入れられる。本開示は、2017年1月5日に出願された「神経性疾患を検出するためのシステム及び方法(SYSTEMS AND METHODS FOR DETECTING NEUROLOGICAL CONDITIONS)」という名称の米国特許出願第15/399735号に対する優先権及びその利益を主張するものであり、この文献はその全体が引用により本明細書に組み入れられる。
図1A〜図1Cに、様々な実施形態による経頭蓋ドップラー(TCD)装置を示す。図2には、様々な実施形態によるTCDヘッドセット50を示す。図3A〜図3Bには、様々な実施形態によるTCDヘッドセット100を示す。図4A〜図4Bには、様々な実施形態によるTCD装置100を示す。図5〜図7には、様々な実施形態によるTCDヘッドセット163を示す。
図8〜図11に、自動トランスデューサ配置が可能な様々なTCDシステム及び装置を示す。
X=fwd_kin(Q)
ここでのfwd_kinは、典型的にはDenavit−Hartenbergパラメータによって分析される、機構設計に基づく一連の方程式を表す関数である。
Q=inv_kin(X)
或いは以下のヤコビアン逆解法
dQcmd(n)=J-1(Xerr(n))
などの数値微分を用いて指定され、ここでのJは、モータの差動運動をトランスデューサの差動運動に関連付けるヤコビアンであり、Xerr(n)は、時点nにおけるトランスデューサの位置及び配向誤差であり、dQcmd(n)は、時点nにおける差動モータ命令である。
X={x,y,z,pan,tilt}
X=fwd_kin(Q)
dQcmd(n)=J-1(Xerr(n))
自動窓発見を実行するいくつかの実施形態は、複数の深さ及び角度で超音波照射を行う4、5、6又は7以上の自由度を有する機構を用いて窓発見を行う。これらのさらなる自由度、並びに複数の深さ及び角度での超音波照射は、頭蓋骨上の適切な窓位置を特定して脳内血管をマッピングするプロセスを速める。
Energy(mmode,env,spec,depth)=α・mmode_eng(mmode)+β・env_eng(env)+γ・spec_eng(spec)+δ・depth_eng(depth)
(式1)
Energy(mmode,env,spec,depth)=α・mmode_eng(mmode)×β・env_eng(env)×γ・spec_eng(spec)×δ・depth_eng(depth)
(式2)
Renv(l)=\sum env(t)×env(t−l)
(式3)
いくつかの実施形態では、システムが皮膚上にトランスデューサを配置(自動トランスデューサ配置を参照)して候補窓を識別(自動窓発見を参照)すると、上述したように最適信号が識別される。既存の手動システムでは、技術者がトランスデューサの角度、音、深さ、波形適合、スペクトルを「最適化」することによってこの最適化が行われることもある。
X=fwd_kin(Q)
Q=inv_kin(X)
DET=a11(a33a22−a32a23)−a21(a33a12−a32a13)+a31(a23a12−a22a13)
(式11)
である。
のz軸から、ヨー角γを0に設定し、係数c1,c2,c3を式13の第3列と等しく設定することによって導出することができる。
1vz=1z1c1+1z2c2+1z3c3
2vz=2z1c1+2z2c2+2z3c3
3vz=3z1c1+3z2c2+3z3c3
・・・
nvz=nz1c1+nz2c2+nz3c3
(式14)
血管マッピングは、ウィリス輪内の複数の地点において最適化すべき信号をたどることができる。従って、マッピング機能は、自動トランスデューサ配置、自動TCD窓発見及び信号最適化の機能に関連して実行することができる。
見落とされがちな構成要素の1つは、被験者の皮膚に対するトランスデューサの十分な圧力を維持するために必要な力である。トランスデューサが極端な角度にあると、不十分な圧力によってトランスデューサが滑り、信号損失が生じる。
様々な実施形態によれば、側頭窓品質の評価を完全に自動化して完全な信号消失後であっても側頭窓を再発見できる5作動自由度(DOF)運動学的機構が使用される。当業者にとっては、一方の能動自由度又は作動自由度と、他方の受動自由度との間に区別が存在する。能動自由度又は作動自由度は、例えばモータなどのアクチュエータを含む。受動自由度は、このようなアクチュエータを必要としない。本明細書において、受動的として限定することなく「自由度」という用語を用いている場合、この自由度は能動自由度又は作動自由度を意味する。いくつかの実施形態では、コンピュータが、この機構に対し、候補信号が見つかるまでプローブを頭部の表面に沿って並進させて再配向するように命令及び指示を行う。候補信号が見つかると、信号強度を高めるようにプローブを再配向する。いくつかの実施形態では、機構及びプローブを頬骨弓などの既知の解剖学的特徴に位置合わせすることにより、自動システムの探索時間の短縮及び側頭窓の発見が行われる。いくつかの実施形態では、ユーザが耳と眼の間の頬骨弓に沿った初期開始点にプローブを配置できるようにする視覚的窓ガイドを用いて位置合わせが行われる。
式中、Kは剛性行列であり、
式21に示すヤコビアンは、関節運動とプローブ運動との間の微分関係を表現する、x−y平面におけるプリズムロボットのデカルト運動(例えば、y軸4016及びx軸4018に沿った並進)のヤコビアンである。他の実施形態では、このヤコビアンに追加項を含めて、プローブ4020の動きとロボットの他の動きと(例えば、チルト軸4027及びパン軸4029の周囲のプローブ4020の回転と、z軸4013に沿った並進と)の間の微分関係を表現することもできる。
図46は、様々な実施形態によるリモートセンタ・オブ・コンプライアンス(RCC)プローブ装置5100の正面斜視図である。図47は、様々な実施形態によるRCCプローブ装置5100の後面図である。図46及び図47を参照すると、いくつかの実施形態では、RCCプローブ装置5100が、プローブ5102と、RCCアセンブリ5150と、ロードセル5104とを含む。
Lは長手方向長さであり、
Eは弾性率であり、
Aは断面積であり、
Asxはx方向の剪断面積であり、
Asyはy方向の剪断面積であり、
Ixはx方向の面積慣性モーメントであり、
Iyはy方向の面積慣性モーメントであり、
vはポアソン比であり、
GはE/2(1+v)等しい剪断弾性率であり、
Jは極慣性モーメントであり、
Oは長手方向における梁の原点であり、
Rは、中心軸から柔軟梁の中点までの距離である。
226 人間工学的ヘッドバンド
227 TCDトランスデューサ電子機器
228 出力画面
229 発見プラットフォーム
Claims (27)
- 被験者の頭蓋骨に隣接する複数の位置にトランスデューサを自律的に位置付け、所定の閾値を上回るエネルギーレベルを有する信号を前記トランスデューサに戻すことができる動脈が内部に存在し得る前記被験者の頭蓋上の窓を自律的に特定するようにロボットシステムを制御するよう構成されたプロセッサを備える、
ことを特徴とする装置。 - 前記プロセッサは、前記ロボットシステムに、所定の閾値を上回るエネルギーレベルを有する、動脈内の血流を表す超音波信号を、前記窓内で自律的に特定させるようにさらに構成される、
請求項1に記載の装置。 - 前記プロセッサは、前記ロボットシステムが前記トランスデューサを自律的に位置付ける際に、前記トランスデューサの複数の位置をデータベースに記録するようにさらに構成される、
請求項1に記載の装置。 - 前記プロセッサは、前記ロボットシステムが前記トランスデューサを自律的に位置付ける際に、複数のエネルギーレベルの信号をデータベースに記録するようにさらに構成される、
請求項3に記載の装置。 - 前記プロセッサは、前記ロボットシステムが前記トランスデューサを自律的に位置付ける際に、前記トランスデューサの複数の位置をデータベースに記録するようにさらに構成される、
請求項1に記載の装置。 - 前記プロセッサは、前記ロボットシステムが前記トランスデューサを自律的に位置付ける際に、複数のエネルギーレベルの信号をデータベースに記録するようにさらに構成される、
請求項5に記載の装置。 - 前記プロセッサは、非一時的コンピュータ可読媒体に記憶された探索アルゴリズムを実行するようにさらに構成される、
請求項1に記載の装置。 - 前記装置は、前記トランスデューサを複数の軸において動かすように構成されたロボット機構をさらに備え、前記探索アルゴリズムは、前記ロボット機構のパン、チルト及びZ軸位置を制御するようにさらに構成される、
請求項5に記載の装置。 - 前記装置は、前記プロセッサがアクセスできる非一時的コンピュータ可読媒体に記憶されたシード点データベースをさらに備え、該シード点データベースは前記プロセッサによって使用される、
請求項1に記載の装置。 - 前記プロセッサがアクセスできる非一時的コンピュータ可読媒体に記憶された以前の測定位置のデータベースをさらに備え、該以前の測定位置のデータベースは前記プロセッサによって使用される、
請求項1に記載の装置。 - 前記プロセッサは、複数の探索位置において動的滞留時間を使用するように構成された探索アルゴリズムを実行するように構成される、
請求項1に記載の装置。 - 前記ロボットシステムは、5自由度ロボット機構をさらに含む、
請求項1に記載の装置。 - 前記ロボットシステムは、前記トランスデューサを複数の軸において同時に動かすように構成された5自由度ロボット機構をさらに含む、
請求項1に記載の装置。 - 前記トランスデューサが内部に取り付けられたロボットヘッドセットをさらに備える、
請求項1に記載の装置。 - 前記プロセッサは、前記ロボットシステムに、前記被験者の頭蓋骨内の脳血管マップを構築させるようにさらに構成される、
請求項1に記載の装置。 - 前記トランスデューサは、超音波プローブを含む、
請求項1に記載の装置。 - ロボット撮像装置であって、
トランスデューサと、
前記トランスデューサと通信するプロセッサと、
前記プロセッサによって制御されるロボット機構と、
を備え、前記プロセッサは前記トランスデューサからデータを受け取って処理するように構成され、前記ロボット機構は、前記トランスデューサを動かし被験者の頭蓋骨内の窓を走査して特定するように構成され、
前記プロセッサは、前記被験者の前記頭蓋骨の窓内で所定の閾値を上回るエネルギーレベルを有するTCD信号を探索して特定するように前記ロボット機構を自律的に制御するよう構成される、
ことを特徴とするロボット撮像装置。 - 前記プロセッサは、非一時的コンピュータ可読媒体に記憶された探索アルゴリズムを実行するようにさらに構成される、
請求項17に記載のロボット撮像装置。 - 前記プロセッサは、非一時的コンピュータ可読媒体に記憶された、複数の探索位置において動的滞留時間を使用する探索アルゴリズムを実行するようにさらに構成される、
請求項17に記載のロボット撮像装置。 - 前記ロボット機構は、初期位置合わせに使用される視覚的窓ガイドを使用するようにさらに構成される、
請求項17に記載のロボット撮像装置。 - 前記ロボット機構は、同時に少なくとも2つの軸において動くようにさらに構成される、
請求項17に記載のロボット撮像装置。 - 前記ロボットシステムは、前記トランスデューサを複数の軸において同時に動かすように構成された5自由度ロボット機構を含むようにさらに構成される、
請求項17に記載のロボット撮像装置。 - 前記ロボットシステムは、6自由度ロボット機構を含むようにさらに構成される、
請求項17に記載のロボット撮像装置。 - 前記ロボットシステムは、少なくとも4自由度ロボット機構を含むようにさらに構成される、
請求項17に記載のロボット撮像装置。 - 被験者の動きに起因して位置を調整するために使用されるフィードバック機構をさらに含む、
請求項17に記載のロボット撮像装置。 - 被験者の脳内の動脈を特定する方法であって、被験者の頭蓋骨の窓を自律的に特定し、所定の閾値を上回るエネルギーレベルを有する、動脈内の血流を表す第1の超音波信号を、前記被験者の頭蓋骨の窓内で自律的に特定するようにプロセッサを制御するステップを含む、
ことを特徴とする方法。 - 所定の閾値を上回るエネルギーレベルを有する、動脈内の血流を表す第2の信号を移動して自律的に特定するステップをさらに含む、
請求項26に記載の方法。
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US10709417B2 (en) | 2020-07-14 |
US20170188992A1 (en) | 2017-07-06 |
EP3399919A1 (en) | 2018-11-14 |
EP3399919A4 (en) | 2019-08-21 |
US20180220991A1 (en) | 2018-08-09 |
US11589836B2 (en) | 2023-02-28 |
US20180214124A1 (en) | 2018-08-02 |
WO2017118964A1 (en) | 2017-07-13 |
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