JP2020513269A - 身体組織の熱流束分布感知のためのシステム及び方法 - Google Patents
身体組織の熱流束分布感知のためのシステム及び方法 Download PDFInfo
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- JP2020513269A JP2020513269A JP2019529871A JP2019529871A JP2020513269A JP 2020513269 A JP2020513269 A JP 2020513269A JP 2019529871 A JP2019529871 A JP 2019529871A JP 2019529871 A JP2019529871 A JP 2019529871A JP 2020513269 A JP2020513269 A JP 2020513269A
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Abstract
Description
本特許出願は、2016年12月9日に出願された、”System and Method for Distributed Heat Flux Sensing of Body Tissue”という表題の米国仮特許出願第62/432,452号の優先権及び出願日の利益を主張するものであり、この文献は、その全体が参照により本明細書に組み込まれる。
Anatomic Structure for Image-Guided Surgery”を開示する)がそのような1つのシステムを開示しており、この文献は、その全体が参照により本明細書に組み込まれる。遠隔操作医療システム100は、照明システム、操縦制御システム、洗浄システム、及び/又は吸引システム等のオプションの動作及びサポートシステム(図示せず)をさらに含み得る。いくつかの実施形態では、遠隔操作医療システム100は、2つ以上のマニピュレータアセンブリ及び/又は2つ以上のマスターアセンブリを含み得る。マニピュレータアセンブリの正確な数は、他の要因の中でも、外科的処置及び手術室内の空間的制約に左右されるであろう。マスターアセンブリ106は、並置してもよく、又はそれらアセンブリは別々の位置に位置付けしてもよい。複数のマスターアセンブリによって、2人以上のオペレータが1つ又は複数のマニピュレータアセンブリを様々な組合せで制御するのを可能にする。
thereto”を開示する);(2004年7月16日に出願された)米国特許出願第12/047,056号(“Fiber-optic
shape and relative position sensing”を開示する);(1998年6月17日に出願された)米国特許第6,389,187号(“Optical Fibre Bend Sensor”を開示する)に記載されており、これら全ての文献は、その全体が参照により本明細書に組み込まれる。
on the Object Being Tracked”を開示する)に提供されており、この文献は、その全体が参照により本明細書に組み込まれる。いくつかの実施形態では、形状センサ222は、(患者の固定座標系(「患者空間」と呼ばれる)において)形状センサ222のベースの位置に関する情報と一緒のセンサ222の形状によって、先端チップを含む形状センサに沿った様々な点の位置を計算することができるので、位置センサとしても機能し得る。
Surgery with Enhanced Dexterity and Sensitivity”を開示する)及び(2008年9月30日に出願された)米国特許出願第12/286,644号(“Passive Preload and Capstan Drive for Surgical Instrument”を開示する)に詳細に記載されており、これらの文献は、その全体が参照により本明細書に組み込まれる。
Anatomic Structure for Image-Guided Surgery”を開示する)に提供されており、この文献は、その全体が参照により本明細書に組み込まれる。
Claims (53)
- 身体組織の熱流束分布感知のためのシステムであって、当該システムは、
測定範囲内の複数の点に対応する複数の温度測定値を提供する分布センサと、
前記測定範囲に沿って熱エネルギーを前記身体組織に加える熱エネルギー源と、
1つ又は複数のプロセッサと、を含んでおり、
該1つ又は複数のプロセッサは、
前記分布センサから前記複数の温度測定値を受信することであって、該複数の温度測定値は前記複数の点に対応する、受信することと、
前記複数の点のそれぞれにおける前記熱エネルギー源によって加えられる熱エネルギーの量を決定することと、
前記複数の温度測定値と前記熱エネルギー源によって加えられる前記熱エネルギーの量とに基づいて、前記複数の点のそれぞれにおける熱流束を決定することと、を行うように構成される、
システム。 - 前記分布センサは、バッチモードで前記複数の点における温度を測定する、請求項1に記載のシステム。
- 前記分布センサは、走査モードで前記複数の点における温度を測定する、請求項1に記載のシステム。
- 前記分布センサは、外因性ファブリペロー干渉計(EFPI)ベースの温度センサを含む、請求項3に記載のシステム。
- 前記熱エネルギー源は、電流の印加時に熱を加える、前記分布センサの周りに導電性クラッドを含む、請求項1に記載のシステム。
- 前記導電性クラッドは、前記導電性クラッドを前記身体組織に電気的に結合するために、身体電極を含むモノポーラ導体として構成される、請求項5に記載のシステム。
- 前記導電性クラッドは、バイポーラ導体として構成される、請求項5に記載のシステム。
- 前記導電性クラッドは、該導電性クラッドの先端部で電気的に接合される一対の同心状金属管を含む、請求項7に記載のシステム。
- 前記導電性クラッドは、導電層でコーティングされた絶縁性毛細管を含む、請求項7に記載のシステム。
- 前記分布センサは光ファイバーセンサを含み、該光ファイバーセンサは前記測定範囲を通って延びる光ファイバーを含む、請求項1に記載のシステム。
- 前記熱エネルギー源は、前記光ファイバーに加熱照明を当てて前記光ファイバーに熱を発生させる、請求項10に記載のシステム。
- 前記光ファイバーは導電性材料でコーティングされ、前記熱エネルギー源は前記光ファイバー内で定在電磁波を発生させて熱を発生させる、請求項10に記載のシステム。
- 前記光ファイバーセンサは、前記光ファイバーに沿って温度と形状とを同時に測定する、請求項10に記載のシステム。
- 前記プロセッサは、前記測定された前記光ファイバーの形状に基づいて熱流束マップを生成するようにさらに構成される、請求項13に記載のシステム。
- 形状測定は、既知の3次元基準フレームにおける前記光ファイバーセンサの位置及び向きのうちの少なくとも一方の決定を含む、請求項14に記載のシステム。
- 前記身体組織の解剖学的モデル又は画像が前記3次元基準フレームに位置合わせされる、請求項15に記載のシステム。
- 前記プロセッサは、前記熱流束マップを前記解剖学的モデル又は画像上に重ね合わせるようにさらに構成される、請求項16に記載のシステム。
- 前記プロセッサは、前記決定された熱流束に基づいて、前記複数の点のそれぞれにおける組織のタイプを識別するようにさらに構成される、請求項1乃至17のいずれか一項に記載のシステム。
- 前記プロセッサは、前記決定された熱流束に基づいて、前記組織のタイプを癌性、非癌性、焼灼された状態、焼灼されていない状態、又は健康のうちの少なくとも1つとして分類するようにさらに構成される、請求項18に記載のシステム。
- 前記プロセッサは、
前記組織のタイプを血管として識別し、
該血管の位置を特定する、ようにさらに構成される、請求項18に記載のシステム。 - 前記プロセッサに結合されたディスプレイをさらに含み、該ディスプレイは前記決定された熱流束の視覚的表現を示す、請求項1乃至17のいずれか一項に記載のシステム。
- 治療ツールをさらに含み、前記プロセッサは、前記決定された熱流束に基づいて前記治療ツールの動作パラメータを変更するようにさらに構成される、請求項1乃至17のいずれか一項に記載のシステム。
- 前記治療ツールは焼灼プローブである、請求項22に記載のシステム。
- 前記焼灼プローブは、無線周波数エネルギー、マイクロ波エネルギー、超音波エネルギー、凍結療法、及び化学物質のうちの少なくとも1つの供給源を含む、請求項23に記載のシステム。
- ディスプレイをさらに含み、前記動作パラメータは、焼灼処置中に表示される、請求項22に記載のシステム。
- 前記動作パラメータは、前記治療ツールの位置、前記治療ツールの出力、及び閾値条件が満たされるときの処置段階の終了のうちの少なくとも1つを含む、請求項22に記載のシステム。
- 前記治療ツールは、可撓性カテーテルに取り付けられるか、又は該可撓性カテーテルを通して挿入される、請求項22に記載のシステム。
- 前記分布センサは、前記可撓性カテーテルに取り付けられるか、又は該可撓性カテーテルを通して挿入される、請求項27に記載のシステム。
- 分布センサを使用して身体組織の熱流束を決定するための方法であって、当該方法は、
前記分布センサから複数の温度測定値を受信するステップであって、該複数の温度測定値は前記分布センサの測定範囲内の複数の点に対応する、受信するステップと、
前記複数の点に加えられる熱エネルギーの量を決定するステップと、
前記受信した複数の温度測定値及び前記決定された加えられる熱エネルギー量に基づいて、前記複数の点における前記身体組織の熱流束を決定するステップと、を含む、
方法。 - 前記分布センサは、バッチモードで前記複数の点のそれぞれにおける温度を同時に測定する、請求項29に記載の方法。
- 走査モードで前記分布センサを動作させるステップをさらに含む、請求項29に記載の方法。
- 前記分布センサは光ファイバーセンサを含み、該光ファイバーセンサは前記測定範囲を通って延びる光ファイバーを含む、請求項29に記載の方法。
- 前記光ファイバーを介して加熱照明を当てて前記身体組織を加熱するステップをさらに含む、請求項32に記載の方法。
- 前記光ファイバー内で定在電磁波を発生させて前記身体組織を加熱するステップをさらに含む、請求項32に記載の方法。
- 前記光ファイバーセンサから複数の形状測定値を受信するステップをさらに含み、該複数の形状測定値は、前記測定範囲内の前記複数の点のそれぞれの3次元位置を特定する、請求項32に記載の方法。
- 前記決定された熱流束と前記特定された3次元位置とに基づいて熱流束マップを生成するステップをさらに含み、該熱流束マップは既知の形状基準フレーム内にある、請求項35に記載の方法。
- 解剖学的基準フレーム内の前記身体組織の解剖学的モデル又は画像を取得するステップと、
前記解剖学的基準フレームを前記形状基準フレームと位置合わせするステップと、をさらに含む、請求項36に記載の方法。 - 前記熱流束マップを前記解剖学的モデル又は画像上に重ね合わせるステップをさらに含む、請求項37に記載の方法。
- 前記決定された熱流束に基づいて前記複数の点のそれぞれにおける前記身体組織を分類するステップをさらに含む、請求項29乃至38のいずれか一項に記載の方法。
- 前記身体組織を分類するステップは、前記身体組織のタイプ及び前記身体組織の状態を判定するステップのうちの少なくとも1つを含む、請求項39に記載の方法。
- 前記身体組織のタイプを判定するステップは、前記身体組織が肺組織及び血管のうちの少なくとも一方であると判定するステップを含む、請求項40に記載の方法。
- 前記身体組織の状態を判定するステップは、前記身体組織が健康の、癌性の、非癌性の、焼灼された、及び焼灼されていない組織のうちの少なくとも1つであると判定するステップを含む、請求項40に記載の方法。
- 前記決定された熱流束に基づいて前記身体組織の位置を特定するステップをさらに含む、請求項29乃至38のいずれか一項に記載の方法。
- 前記決定された熱流束の視覚的表現を表示するステップをさらに含む、請求項29乃至38のいずれか一項に記載の方法。
- 熱流束分布センサを使用して治療システムにフィードバックを提供するための方法であって、当該方法は、
初期動作パラメータを治療ツールに与えて治療処置を行うステップと、
該治療処置中に取り込まれた、前記熱流束分布センサからの複数の熱流束測定値を受信するステップと、
前記複数の熱流束測定値に基づいて、調整された動作パラメータを前記治療ツールに与えるステップと、を含む、
方法。 - 前記治療ツールは焼灼プローブである、請求項45に記載の方法。
- 前記焼灼プローブは、無線周波数エネルギー、マイクロ波エネルギー、超音波エネルギー、凍結療法、及び化学物質のうちの少なくとも1つの供給源を含む、請求項46に記載の方法。
- 前記動作パラメータを表すインジケータを表示するステップをさらに含む、請求項45乃至47のいずれか一項に記載の方法。
- 前記複数の熱流束測定値に基づいて位置フィードバック信号を生成するステップをさらに含み、前記調整された動作パラメータは、前記位置フィードバック信号に基づいた前記治療ツールの調整された位置を含む、請求項45乃至47のいずれか一項に記載の方法。
- 前記動作パラメータを調整するステップは、治療用プローブの出力を調整するステップを含む、請求項45乃至47のいずれか一項に記載の方法。
- 閾値条件が満たされたときに治療処置の段階を終了させるために前記複数の熱流束測定値に基づいてカットオフ信号を生成するステップをさらに含む、請求項45乃至47のいずれか一項に記載の方法。
- 可撓性カテーテルを通して治療用プローブを挿入するステップをさらに含む、請求項45乃至47のいずれか一項に記載の方法。
- 前記可撓性カテーテルを通して前記熱流束分布センサを挿入するステップをさらに含む、請求項52に記載の方法。
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CN109843143A (zh) | 2019-06-04 |
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EP3551031A1 (en) | 2019-10-16 |
EP4104746B1 (en) | 2023-12-06 |
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JP7097883B2 (ja) | 2022-07-08 |
EP3551031B1 (en) | 2022-08-03 |
EP3551031A4 (en) | 2020-08-12 |
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