JP2022545232A - 血管内の特性を判断するための方法およびシステム - Google Patents
血管内の特性を判断するための方法およびシステム Download PDFInfo
- Publication number
- JP2022545232A JP2022545232A JP2022511015A JP2022511015A JP2022545232A JP 2022545232 A JP2022545232 A JP 2022545232A JP 2022511015 A JP2022511015 A JP 2022511015A JP 2022511015 A JP2022511015 A JP 2022511015A JP 2022545232 A JP2022545232 A JP 2022545232A
- Authority
- JP
- Japan
- Prior art keywords
- velocity
- acceleration
- determining
- imaging
- patient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000001133 acceleration Effects 0.000 claims abstract description 51
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 26
- 238000003384 imaging method Methods 0.000 claims description 45
- 230000005291 magnetic effect Effects 0.000 claims description 36
- 239000008280 blood Substances 0.000 claims description 14
- 210000004369 blood Anatomy 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 238000012285 ultrasound imaging Methods 0.000 claims description 4
- 238000002595 magnetic resonance imaging Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims description 3
- 210000001124 body fluid Anatomy 0.000 claims description 2
- 239000010839 body fluid Substances 0.000 claims description 2
- 230000000004 hemodynamic effect Effects 0.000 claims description 2
- 238000012879 PET imaging Methods 0.000 claims 1
- 238000013170 computed tomography imaging Methods 0.000 claims 1
- 210000001519 tissue Anatomy 0.000 description 15
- 230000017531 blood circulation Effects 0.000 description 10
- 239000012530 fluid Substances 0.000 description 9
- 206010002329 Aneurysm Diseases 0.000 description 5
- 208000031481 Pathologic Constriction Diseases 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000036262 stenosis Effects 0.000 description 4
- 208000037804 stenosis Diseases 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000003302 ferromagnetic material Substances 0.000 description 3
- 210000005166 vasculature Anatomy 0.000 description 3
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000002600 positron emission tomography Methods 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 208000007536 Thrombosis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000012620 biological material Substances 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 239000002872 contrast media Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003937 drug carrier Substances 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 230000000155 isotopic effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000001338 necrotic effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/026—Measuring blood flow
- A61B5/0265—Measuring blood flow using electromagnetic means, e.g. electromagnetic flowmeter
- A61B5/027—Measuring blood flow using electromagnetic means, e.g. electromagnetic flowmeter using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/02007—Evaluating blood vessel condition, e.g. elasticity, compliance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3137—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for examination of the interior of blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/02028—Determining haemodynamic parameters not otherwise provided for, e.g. cardiac contractility or left ventricular ejection fraction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/026—Measuring blood flow
- A61B5/0265—Measuring blood flow using electromagnetic means, e.g. electromagnetic flowmeter
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/03—Detecting, measuring or recording fluid pressure within the body other than blood pressure, e.g. cerebral pressure; Measuring pressure in body tissues or organs
- A61B5/036—Detecting, measuring or recording fluid pressure within the body other than blood pressure, e.g. cerebral pressure; Measuring pressure in body tissues or organs by means introduced into body tracts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue
- A61B5/14503—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue invasive, e.g. introduced into the body by a catheter or needle or using implanted sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
- A61B5/6852—Catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6867—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive specially adapted to be attached or implanted in a specific body part
- A61B5/6869—Heart
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6867—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive specially adapted to be attached or implanted in a specific body part
- A61B5/6876—Blood vessel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/374—NMR or MRI
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
- A61B2090/3941—Photoluminescent markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3966—Radiopaque markers visible in an X-ray image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
- A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0223—Magnetic field sensors
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Cardiology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Physiology (AREA)
- Optics & Photonics (AREA)
- Vascular Medicine (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Hematology (AREA)
- Electromagnetism (AREA)
- Human Computer Interaction (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
Abstract
Description
-要素を血管または心臓に配置するステップと、
-要素に作用する推進力を判断するステップと、
-要素の有効加速度および有効速度の少なくとも1つ、特に有効加速度および有効速度の両方を判断するステップと、
-推進力と、要素の有効加速度および有効速度の少なくとも1つ、特に要素の有効加速度および有効速度の両方とに基づいて、要素の近隣媒体の少なくとも1つの特性を判断ステップとを含む。
推進力は、典型的には、特に明記しない限り、患者の身体とのいかなる相互作用もない場合に要素に及ぼされる総力として理解されるものとする。例えば、要素が磁性であり、磁界によって作動される場合、推進力は、血流、または身体内の摩擦、血流、もしくは血栓からの閉塞等の身体的機能による他の力を考慮に入れることなく、磁界によって要素に及ぼされる力である。同様に、要素がプロペラまたはジェットなどの自己推進手段を含む場合、推進力は、この自己推進手段によって及ぼされる力となるであろう。自己推進手段と磁界との組み合わせが使用される場合、推進力は、これらの力の両方を含む。要素の所与の質量に対する推進力から理論上の加速度および速度を計算することが可能である。
好ましくは、本方法は、近隣媒体の少なくとも1つの特性を位置または時間の関数としてメモリに保存するステップをさらに含む。これは、1回のセッション中に血管内の複数の位置を分析することを可能にする。特に、データは、続いて、1次元、2次元、または3次元の特性マップを作成するように分析されることができる。例えば、血管の狭窄または動脈瘤は、本発明による方法により、前記血管の長手方向軸に沿って判断することができる。狭窄または動脈瘤のレベルが判断され、複数の点で保存される場合、長手方向軸に沿った狭窄または動脈瘤を示すグラフを得ることができる。同様に、データは、2次元または3次元で収集されてもよい。
Claims (18)
- 患者の血管または心臓(V)における特性を判断するためのシステムであって、
-血管または心臓(V)に配置される要素(1)と、
-前記要素に作用する推進力(2)を判断するための手段と、
-前記要素(1)の加速度(3)および速度(4)の少なくとも1つ、好ましくは加速度(3)および速度(4)を判断するための手段と、
-前記推進力(2)と、前記要素(1)の加速度(3)および速度(4)のうちの少なくとも1つ、好ましくは加速度(3)および速度(4)とに基づいて、前記要素(1)の近隣媒体の少なくとも1つの特性を判断するための手段とを備える、システム。 - 患者の血管または心臓(V)における特性を判断するための方法であって、
-要素(1)を血管または心臓(V)に配置するステップと、
-前記要素(1)に作用する推進力(2)を判断するステップと、
-前記要素(1)の加速度(3)および速度(4)の少なくとも1つ、好ましくは加速度(3)および速度(4)を判断するステップと、
-前記推進力(2)と、前記要素(1)の加速度(3)および速度(4)のうちの少なくとも1つ、好ましくは加速度(3)および速度(4)とに基づいて、前記要素(1)の近隣媒体の少なくとも1つの特性を判断するステップとを含む、方法。 - 前記推進力(2)は、前記要素(1)に含まれるセンサ(6)によって測定される、請求項1に記載の方法。
- 特にX線撮像、MRI、コンピュータ断層撮影、PET、および超音波画像化のうちの1つによって、前記要素(1)が位置する患者の領域を撮像するステップをさらに含む、先行する請求項のいずれか1項に記載の方法。
- 前記近隣媒体の前記少なくとも1つの特性は、追加的に前記撮像データに基づいて判断される、請求項4に記載の方法。
- 前記要素(1)の位置を判断するステップをさらに含む、先行する請求項のいずれか1項に記載の方法。
- 前記位置は、前記撮像技術によって判断される、請求項4および6に記載の方法。
- 前記位置および/または時間の関数として前記近隣媒体の前記少なくとも1つの特性をメモリ(15)に保存するステップをさらに含む、請求項6または7に記載の方法。
- 前記近隣媒体の前記少なくとも1つの特性を計算するステップは、ソフトウェアコードを実行するコンピュータによって実行される、先行する請求項のいずれか1項に記載の方法。
- 前記近隣媒体の前記少なくとも1つの特性は、機械的特性、血行動態特性、解剖学的特性、および組織学的特性のうちの1つである、先行する請求項のいずれか1項に記載の方法。
- 前記血管または前記心臓(V)内に配置された前記要素(1)は、磁気要素(1)を含み、前記推進力(2)を判断するステップは、磁界(14)の磁界強度を判断するステップを含む、先行する請求項のいずれか1項に記載の方法。
- 前記要素(1)に作用する前記推進力(2)に基づいて前記要素(1)の理論上の加速度または速度を計算するステップをさらに含む、先行する請求項のいずれか1項に記載の方法。
- 前記要素(1)の速度および加速度の理論値を計算するステップは、さらに、前記要素(1)の位置および前記撮像ステップで取得された撮像データに基づく、請求項4および12に記載の方法。
- 前記要素(1)の周囲の液体(9)、好ましくは血管(V)内の血液の流速を測定するステップをさらに含み、加えて、前記近隣媒体の前記少なくとも1つの特性の判断を、前記流速(9)基づかせる、先行する請求項のいずれか1項に記載の方法。
- 前記要素上もしくは前記患者の体内の所定の位置に配置された少なくとも1つの検出器またはマーカ(10)によって前記要素(1)を位置特定するステップをさらに含む、先行する請求項のいずれか1項に記載の方法。
- 患者の体内の要素(1)の近隣媒体を分析するためのコンピュータプログラム製品であって、コンピュータ上で実行されると、推進力(2)と、前記要素(1)の加速度(3)および速度(4)のうちの少なくとも1つとに基づいて、好ましくは加速度(3)および速度(4)とに基づいて、好ましくはさらに、撮像装置によって取得された前記近隣媒体の撮像データに基づいて、前記要素(1)の近隣媒体の少なくとも1つの特性を判断するステップを実行するように適合されたソフトウェアコードを備える、コンピュータプログラム製品。
- 血管または心臓(V)の特性を判断するためのシステムであって、体液によって運ばれおよび/または体液中で能動的に移動する要素(1)と、測定ユニット(11)と、計算ユニット(12)とを備え、前記測定ユニット(11)は、前記要素(1)の加速度(3)および速度(4)の少なくとも1つを判断するように適合され、前記計算ユニットは、好ましくは請求項1~14のいずれか1つに従う方法のステップを実行することによって、前記血管(V)の少なくとも1つの特性を判断するように適合される、システム。
- 前記要素(1)が位置する患者の身体の領域を撮像するように適合される撮像装置(7)をさらに備える、請求項17に記載のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19315100.8A EP3782543A1 (en) | 2019-08-21 | 2019-08-21 | Method and system for determining properties in a vessel |
EP19315100.8 | 2019-08-21 | ||
PCT/EP2020/073457 WO2021032869A1 (en) | 2019-08-21 | 2020-08-21 | Method and system for determining properties in a vessel |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022545232A true JP2022545232A (ja) | 2022-10-26 |
JPWO2021032869A5 JPWO2021032869A5 (ja) | 2023-07-04 |
Family
ID=67953725
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022511015A Pending JP2022545232A (ja) | 2019-08-21 | 2020-08-21 | 血管内の特性を判断するための方法およびシステム |
Country Status (11)
Country | Link |
---|---|
US (1) | US20220280050A1 (ja) |
EP (2) | EP3782543A1 (ja) |
JP (1) | JP2022545232A (ja) |
KR (1) | KR20220052337A (ja) |
CN (1) | CN114222540A (ja) |
AU (1) | AU2020333920A1 (ja) |
BR (1) | BR112022000947A2 (ja) |
CA (1) | CA3147453A1 (ja) |
IL (1) | IL290611A (ja) |
MX (1) | MX2022002065A (ja) |
WO (1) | WO2021032869A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4124312A1 (en) * | 2021-07-26 | 2023-02-01 | Artedrone | System and method for moving a medical device for treating or diagnosing a patient |
TW202241358A (zh) * | 2021-01-21 | 2022-11-01 | 法商亞特德隆公司 | 用於移動用來治療或診斷病患之醫療裝置的系統及方法 |
CN115154847A (zh) * | 2022-08-12 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | 细长型医疗器械的操作装置及测力方法 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5833603A (en) * | 1996-03-13 | 1998-11-10 | Lipomatrix, Inc. | Implantable biosensing transponder |
US20070244520A1 (en) * | 2004-04-19 | 2007-10-18 | Searete Llc | Lumen-traveling biological interface device and method of use |
US8235055B2 (en) * | 2005-01-11 | 2012-08-07 | Uti Limited Partnership | Magnetic levitation of intraluminal microelectronic capsule |
US20120035434A1 (en) * | 2006-04-12 | 2012-02-09 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Control of a lumen traveling device in a body tube tree |
JP5020403B1 (ja) * | 2011-11-28 | 2012-09-05 | リオン株式会社 | 振動式物性測定装置及び方法 |
EP2850992A4 (en) * | 2012-05-14 | 2016-02-17 | Olympus Corp | CAPSULE THERAPY DEVICE AND THERAPY SYSTEM |
US9689934B2 (en) * | 2013-02-26 | 2017-06-27 | Mir Behrad KHAMESEE | Method for providing force information in a magnetic field environment using remote measurement of flux |
US20170119235A1 (en) * | 2015-10-29 | 2017-05-04 | Elwha Llc | Lumen traveling device |
JP2019528986A (ja) * | 2016-10-07 | 2019-10-17 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 血管内流れ決定 |
-
2019
- 2019-08-21 EP EP19315100.8A patent/EP3782543A1/en not_active Withdrawn
-
2020
- 2020-08-21 CA CA3147453A patent/CA3147453A1/en not_active Abandoned
- 2020-08-21 BR BR112022000947A patent/BR112022000947A2/pt not_active IP Right Cessation
- 2020-08-21 US US17/636,669 patent/US20220280050A1/en active Pending
- 2020-08-21 CN CN202080056972.6A patent/CN114222540A/zh active Pending
- 2020-08-21 MX MX2022002065A patent/MX2022002065A/es unknown
- 2020-08-21 WO PCT/EP2020/073457 patent/WO2021032869A1/en unknown
- 2020-08-21 EP EP20757912.9A patent/EP4017347A1/en active Pending
- 2020-08-21 KR KR1020227009008A patent/KR20220052337A/ko unknown
- 2020-08-21 JP JP2022511015A patent/JP2022545232A/ja active Pending
- 2020-08-21 AU AU2020333920A patent/AU2020333920A1/en active Pending
-
2022
- 2022-02-14 IL IL290611A patent/IL290611A/en unknown
Also Published As
Publication number | Publication date |
---|---|
WO2021032869A1 (en) | 2021-02-25 |
CN114222540A (zh) | 2022-03-22 |
AU2020333920A1 (en) | 2022-03-03 |
MX2022002065A (es) | 2022-03-17 |
US20220280050A1 (en) | 2022-09-08 |
BR112022000947A2 (pt) | 2022-06-14 |
IL290611A (en) | 2022-04-01 |
CA3147453A1 (en) | 2021-02-25 |
KR20220052337A (ko) | 2022-04-27 |
EP4017347A1 (en) | 2022-06-29 |
EP3782543A1 (en) | 2021-02-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11786318B2 (en) | Intelligent real-time tool and anatomy visualization in 3D imaging workflows for interventional procedures | |
JP2022545232A (ja) | 血管内の特性を判断するための方法およびシステム | |
EP3583896A1 (en) | Tracking system and marker device to be tracked by the tracking system | |
Leclerc et al. | In vitro design investigation of a rotating helical magnetic swimmer for combined 3-D navigation and blood clot removal | |
JP6129750B2 (ja) | 血管内の装置の形状を用いた血管画像の非剛体モーフィング | |
Tognarelli et al. | Magnetic propulsion and ultrasound tracking of endovascular devices | |
US20060258895A1 (en) | Catheter, catheter device and imaging diagnostic apparatus | |
JP6092788B2 (ja) | 少なくとも2つの組織型内の超音波の速さの計算 | |
CN102365653A (zh) | 对医学成像的改进 | |
JP2019520098A (ja) | 臓器の動作補償 | |
Yang et al. | Ultrasound-guided catheterization using a driller-tipped guidewire with combined magnetic navigation and drilling motion | |
Adebar et al. | 3D segmentation of curved needles using Doppler ultrasound and vibration | |
US20210015562A1 (en) | System And Method For Performing And Evaluating A Procedure | |
JP2023015189A (ja) | 心臓における心臓電気生理学信号のリアルタイム作成のためのシステム及び方法 | |
JP2013504359A (ja) | 検査オブジェクトの内部圧力を測定する装置および方法 | |
Šuligoj et al. | Intravascular tracking of micro-agents using medical ultrasound: Towards clinical applications | |
Martel et al. | A computer-assisted protocol for endovascular target interventions using a clinical MRI system for controlling untethered microdevices and future nanorobots | |
Abayazid et al. | Three-dimensional needle steering using automated breast volume scanner (abvs) | |
Miloro et al. | An innovative platform for treatment of vascular obstructions: system design and preliminary results | |
Bond et al. | The influence of stents on the performance of an ultrasonic navigation system for endovascular procedures | |
Fullerton et al. | The influence of stents on the performance of an ultrasonic navigation system for endovascular procedures | |
JPWO2021032869A5 (ja) | ||
RU2022106938A (ru) | Способ и система определения свойств в сосуде |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230626 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230626 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20240207 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20240220 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20240517 |