JP2019508101A - 遅延補正を備えたoctイメージングカテーテル - Google Patents
遅延補正を備えたoctイメージングカテーテル Download PDFInfo
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Abstract
Description
本出願は、米国仮特許出願第62/286918号(2016年1月25日出願、名称「OCT IMAGING CATHETER WITH LAG CORRECTION」)に対して優先権の利益を主張するものであり、その内容は参照により全体としてここに組み込まれる。
本明細書で言及されるすべての刊行物および特許出願は、各個々の刊行物または特許出願が参照により組み込まれるために具体的かつ個別的に示されたのと同じ程度に、参照によりその全体としてここに組み込まれる。
ここでは、イメージングカテーテルに接続可能な画像補正システムが記載される。詳細には、イメージングカテーテルが受ける回転歪みを補正する画像補正システムおよび関連した方法が記載される。
カテーテルの駆動シャフトにトルクが存在しない場合、イメージングカテーテルについての基準電流値を取得するステップと、
処置の際、駆動シャフトを回転するために駆動モータに供給される電流量を測定するステップと、
測定した電流量が、所定の量だけ基準電流値より高いことを判断することによって、駆動シャフトの回転遅延が存在したかを判断するステップと、
所定の量に基づいて、回転遅延について表示される画像を補正するステップと、を含む。
画像内の回転歪み量と、イメージングカテーテルの駆動モータによって引き込まれる電流量との間の相関関係を取得するステップと、
駆動モータを用いてイメージングカテーテルの駆動シャフトを回転するために、駆動モータに供給される電流量を測定するステップと、
測定した電流量が予め定めた値より高い場合、該相関関係を使用して、回転調整値を決定するステップと、
回転調整値に基づいて、画像の方位を調整するステップと、を含む。
図3は、特定モデルのカテーテル、例えば、カテーテル100を較正し、モータによって引き込まれる追加のモータ電流と捩り負荷との間の相関関係を決定するための例示のステップを詳述するフローチャートである。異なるモデルであると考えられるカテーテルは、例えば、駆動シャフトが異なる特性(例えば、寸法、弾性(spring)など)を有するものものでもよく、そのため捩りと電流引き込みとの間の得られる関係は異なるようになる。ステップ121において、基準電流値(オフセット値と称される)が決定される。オフセット値は、カテーテルが本体空洞の外部にあり、カッタが閉じている緩和したアイドル状態にある場合に得られる電流測定値である。ステップ123において、撮像センサを用いて画像が得られるとともに、カテーテルは緩和したアイドル状態にある。このアイドル画像は、特定の設定された方位または回転位置(例えば、画像内のマーカーに基づいて決定できる)を有することができる。
R=C(M−O)G (式1)
ここで、Rは半径(radial)調整値(単位は度)(即ち、得られた画像を正しい回転方位に戻すのに要する調整量)、Cは定数(単位は度/A(アンペア))、Oはオフセット値(単位はA)、Mは測定した電流(単位はA)、Gは利得値である。即ち、このステップにおいて、該カテーテルモデルについての適切な利得値は、画像を回転してその元のアイドル位置に戻すように決定できる。(表1)(オフセット、利得およびRの実験的に収集した値を示す)に示すように、利得値は、Rの値に関わらず、特定のカテーテルモデルについて同じにすべきである。このステップは、例えば、実験的に実施できる。
図4は、較正されたカテーテルを用いて回転遅延を動的に補正するためのステップを示すフローチャートである。ステップ131において、オペレータは、特定のカテーテルを選択する。ステップ133において、オペレータは、回転遅延を動的に瞬間的に補正するプログラムを開始する。プログラムは、図3のステップ129から該カテーテルモデルについて決定した補正に基づくことができる。こうして適切な補正が、ステップ135において選択できる(例えば、特定のカテーテルモデル識別番号をコントローラに入力することによって)。ステップ137において、ユーザは、カテーテルを操作できる(例えば、アテローム切除処置の一部として)とともに、プログラムは、オフセット電流値に対して駆動モータに供給される電流を監視する。ステップ139において、もし測定した電流がオフセット値を超えた場合、値Rが得られる(式1および測定した電流に基づいて)。値Rに基づいて、調整または回転の量が画像に適用でき、画像が正しい方位を維持することを確保できる。いったん調整されると、画像は捕獲されて、ユーザのために表示される(ステップ140)。
T=(R×60)/(RPM×360) (式2)
ここで、Tは時間(単位は秒)、Rは半径調整値、RPMは駆動モータの速度(単位は回転/分)である。従って、インデックスパルスは、遅延でき、画像の方位(即ち、上死点位置)を維持するように遅延したパルスで駆動アセンブリからディスプレイへ送信できる。幾つかの実施形態において、画像は、駆動アセンブリ内のコントローラを用いて駆動シャフトの回転当り1回(即ち、入力パルス当り1回)調整できる。
Claims (22)
- 駆動シャフトを有するカテーテル本体と、
駆動シャフトの遠位端に対して固定され、それとともに回転するように構成された撮像センサと、
駆動シャフトを回転するように構成された駆動モータと、
駆動シャフトが回転すると、駆動モータによって引き込まれる電流量を測定するように構成されたセンサと、
撮像センサが回転すると、撮像センサによって得られる1つ以上の画像を表示するように構成されたディスプレイと、
測定した電流に基づいて、ディスプレイによって表示される1つ以上の画像の回転方位を調整するように構成されたコントローラと、を備えるカテーテルシステム。 - 撮像センサは、光コヒーレンストモグラフィー(OCT)撮像センサである請求項1記載のカテーテルシステム。
- カテーテル本体はさらに、駆動シャフトとともに回転するように構成されたカッタを含む請求項1記載のカテーテルシステム。
- 撮像センサは、カッタに装着される請求項3記載のカテーテルシステム。
- カテーテル本体の遠位端に装着され、これに対して旋回するように構成されたノーズコーンをさらに備える請求項1記載のカテーテルシステム。
- センサは、電流検知抵抗である請求項1記載のカテーテルシステム。
- 1つ以上の画像は、ディスプレイにセクター図として表示される請求項1記載のカテーテルシステム。
- コントローラは、測定した電流に基づいて、ディスプレイ上の1つ以上の画像の投影を遅延させることによって、1つ以上の画像の回転方位を調整するように構成される請求項1記載のカテーテルシステム。
- コントローラはさらに、予め定めた基準電流値および利得値に基づいて、1つ以上の画像の回転方位を調整するように構成される請求項1記載のカテーテルシステム。
- コントローラ、駆動モータおよびセンサは、カテーテルを駆動するように構成された駆動アセンブリの一部である請求項1記載のカテーテルシステム。
- 第1インデックスパルスで、カテーテルの駆動シャフトおよび撮像センサを回転するように構成された駆動モータと、
駆動シャフトが第1インデックスパルスで回転すると、駆動モータによって引き込まれる電流量を測定するように構成されたセンサと、
測定した電流および第1インデックスパルスに基づいて、第2インデックスパルスを決定し、第2インデックスパルスは、第1インデックスパルスに対して遅延しており、そして、第2インデックスパルスをディスプレイに送信し、回転遅延について調整された撮像センサによって収集された画像の表示を可能にするコントローラと、を備えるカテーテル駆動アセンブリ。 - センサは、電流検知抵抗である請求項11記載のカテーテル駆動アセンブリ。
- コントローラは、予め定めた基準電流値および利得値にさらに基づいて、第2インデックスパルスを決定するように構成される請求項11記載のカテーテル駆動アセンブリ。
- 撮像センサは、光コヒーレンストモグラフィー(OCT)撮像センサである請求項11記載のカテーテル駆動アセンブリ。
- 回転遅延を補正する方法であって、
カテーテルの駆動シャフトにトルクが存在しない場合、イメージングカテーテルについての基準電流値を取得するステップと、
処置の際、駆動シャフトを回転するために駆動モータに供給される電流量を測定するステップと、
測定した電流量が、所定の量だけ基準電流値より高いことを判断することによって、駆動シャフトの回転遅延が存在したかを判断するステップと、
所定の量に基づいて、回転遅延について表示される画像を補正するステップと、を含む方法。 - 測定ステップ、判断ステップ、および補正ステップは、アテローム切除処置においてカテーテルの使用時に実施される請求項15記載の方法。
- 所定の量に基づいて、回転遅延について表示される画像を補正することは、表示される画像に対してインデックスパルスを遅延させて、画像の投影を遅延させることを含む請求項15記載の方法。
- イメージングカテーテルは、光コヒーレンストモグラフィー(OCT)イメージングカテーテルであり、表示される画像は、OCT画像である請求項15記載の方法。
- 回転遅延を補正する方法であって、
画像内の回転歪み量と、イメージングカテーテルの駆動モータによって引き込まれる電流量との間の相関関係を取得するステップと、
駆動モータを用いてイメージングカテーテルの駆動シャフトを回転するために、駆動モータに供給される電流量を測定するステップと、
測定した電流量が予め定めた値より高い場合、該相関関係を使用して、回転調整値を決定するステップと、
回転調整値に基づいて、画像の方位を調整するステップと、を含む方法。 - 測定ステップ、使用ステップおよび調整ステップは、アテローム切除処置においてカテーテルの使用時に実施される請求項19記載の方法。
- 画像の方位を調整することは、ディスプレイに対してインデックスパルスを遅延させて、ディスプレイ上の画像の投影を遅延させることを含む請求項19記載の方法。
- イメージングカテーテルは、光コヒーレンストモグラフィー(OCT)イメージングカテーテルであり、表示される画像は、OCT画像である請求項19記載の方法。
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EP3407777B1 (en) | 2020-12-30 |
US20190021679A1 (en) | 2019-01-24 |
WO2017132247A1 (en) | 2017-08-03 |
EP3407777A1 (en) | 2018-12-05 |
EP3407777A4 (en) | 2019-09-11 |
JP6927986B2 (ja) | 2021-09-01 |
AU2017212407A1 (en) | 2018-08-02 |
US11278248B2 (en) | 2022-03-22 |
CA3012186A1 (en) | 2017-08-03 |
CN108882857A (zh) | 2018-11-23 |
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