JP4025309B2 - 医療機器の位置と方位を決定するための位置決めシステム - Google Patents
医療機器の位置と方位を決定するための位置決めシステム Download PDFInfo
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Description
ンテナは、これらのアンテナからセンサヘ放射される電磁場を発生する。このトラッキングシステムは、閉鎖された環状システムとして働き、その中では制御手段が遠隔対象物にあるセンサで感受される場を測定するし、遠隔対象物に対する指向ベクトルとして放射する点頭場を与えるために放射アンテナに情報を送り返すことになる。
公知の識別可能な場、好ましくは連続性交流磁場を、ドライブ信号に応じて発生させる複数の場発生器;
該場に応じてセンサ信号を発生する観血的の医療機器中の遠心端近傍に位置した複数のセンサ; ならびに
該ドライブ信号と該センサ信号に対応した複数の信号に対する入力を持つ信号処理器、ならびに観血的の医療機器中のある点の三個の位置座標と三個の方位座標を作る信号処理器。
好ましい。
それらの遠心端において軸方向の超音波イメージング発信器を持っている観血的の医療機器、好ましくはカテーテルあるいは内視鏡。
それらの方位を変更するために遠心端を操作する手段;並びに、遠心端の異なる方位において得られた複数の該表示を受信し、かつ少なくとも部分的に遠心端を囲んでいる組織の音響特性の3次元マップを作る画像再構築回路。
ドライブ信号に対応して、既知の識別可能な場を発生する複数の場発生器;
該場に応じてセンサ信号を発生する観血的の医療機器中の遠心端近傍に位置した複数のセンサ; ならびに
該ドライブ信号と該センサ信号に対応した複数の信号に対する入力を持つ信号処理器、ならびに観血的の医療機器中のある点の三個の位置座標と三個の方位座標を作る信号処理器。
(a)複数の、幾何学的に異なった交流磁場を発生すること;
(b)遠心端近傍の複数の点にあるセンサにおける交流磁場を感知すること。
(c)発生した磁場及び感知磁場を代表する信号に感応する侵襲性の医療機器の一部の六次元の位置と方位を計算すること。
(a)超音波変換器すなわち変換器末端の先の音響特性を表示する該超音波変換器を体内に挿入すること。
(b)変換器の方位を操作し複数の該表示を提供すること;
(c)複数の該表示から少なくとも部分的に変換器端末を囲んでいる領域に於ける組織の音響特性の三次元マップを構築すること。
遠心端に取り付けられかつ遠心端近傍で曲げられたカテーテルを貫通している相対的にさらに柔軟なワイヤ;
遠心端近傍で真っ直ぐで、かつその時にワイヤをスライド出来るように保持している相対的にさらに堅いスリーブ。それによりスリーブがワイヤ上を滑る場合に、ワイヤと遠心端は真っ直ぐになる。
第一端末、すなわち装置の円心端末に取り付けられている該第一端末、に取り付けられている二つの部分を形成するために、長い部分に沿って切り開かれた平坦な相対的に柔軟な部分;
一対のワイヤ、すなわち一端はそれらの第二端で該部分の一つに取り付けられている; そして
ワイヤの相対的長さを変更するための手段。これにより柔軟なエレメントは曲げられ、それにより装置の遠心端の操縦が出来ることになる。
内面内部の複数の方位での該表面までの距離を測定すること;そして表面の画像を形成するために距離を組み合わせること。
ており、放射器は患者の人体表面23の外側にある。
度をより正確にマップする事と、心臓壁をより正確に画像化する事とが、本発明の幾つかの面の特別な目的である。
これらの次元はかなりの範囲で変化し好ましい範囲の次元の単なる代表であることを理解できよう。とりわけ、最大許容サイズとワイヤ直径に依存するが、コイルのサイズは小さいときは0.3mm(幾分かの感度ロスはあるが)大きいときは2mmあるいはそれ以上である。ワイヤサイズは10から31ミクロンで、巻き数は300から2600である。
を放射する特別な放射器の距離と方位にも依存するが、異なった振幅と位相を持った周波数成分から構成されている信号を、それぞれが生み出すことになる。
SIGSは、センサSの増幅された出力である。ここで、S=1、2または3であり; CURCは、放射器Cを流れる電流である。ここで、C=1、2または3であり;
fbは、任意の基本周波数であり;
foは、fbの整数倍であるサンプリング周波数であり;
そして、Nは、多くのサンプル中の相関長さ N=K(fo/fb)であり、ここでKは正の整数であり、CURCと周波数fCのサイン波の相関は、
マッピングできる空間に於けるセンサの可能な限り全ての位置と方位に対する磁場は、以下を用いることにより得ることが出来る:
1)具体例で使われる放射器の電場方程式
2)放射器の正確な位置と方位、と
3)放射器Acを通って流れる電流
各電場発生器の効果は、電場の形態に依存している一セットの電場方程式を解くのに使われる。この方程式セットを解くことは、遠隔センサの位置決めと方位を決めることになる。
巻き数N,半径R,電流Iのコイルに対して、距離rに於ける半径方向の電場成分は、
知の変数である。
個の既知の変数がある。3個のセンサは、遠隔対象物の中で定まった既知の位置と方位を持つ。遠隔対象物の各々の位置と方位に対し、各センサの位置と方位を計算でき、そしてそれ故各放射器と各センサに対する感知された電場BVを計算できる。
3個の放射器と例としてここに使われている3個のセンサシステムへのアプローチの結果は、以下の形の6個の変数(すなわちセンシング手段の位置のx、y、zと、位置決めセンサの方位に対するε、ξ、ζ)を持った非線形代数方程式となる:
D/A機能は、市販の8ー21ビット解像度のD/Aボードを使用することにより、達成される。そのようなD/Aの例は、ナショナルインストルメント A/D,D/A ボード AT−MIOー16X、あるいはナショナルインストルメントDSPモデルATーDS2200である。放射ドライバ増幅器市販されており、2ー16Ω出力インピーダンスと60から500ワットの出力パワーを持つ。そのような増幅器の例は、韓国ソウル市のインケル社から作られているインケル増幅器型NAー420である。
96に付けられている2本の操作ワイヤより成る操作メカニズムを示す。ヘッド96は、ステンレススチールのような比較的に柔軟な材料で形成されており、軸方向に切り目が入っており、半枚の各側面にはワイヤ94に結び付けられている。そのようなヘッドは、2本のワイヤ(94)とその端末で結びつけられ、そしてもっと簡単に曲がった構造になるようにワイヤを平らにすることにより、作られている。
位置決めセンサ14と活性部分16は、位置決めセンサの位置と方位の計測により活性部分(超音波変換器)の位置と方位を捉えられるように堅く結びつけられている。カテーテルの曲げ角度と回転角度を変更することにより、360度の画像のイメージングが可能になる。図10Cに示すように、付加的にあるいは2者択一的に他のワイヤを短くすることにより回転の大きさを緩和できるし、多方向への曲げも出来ることになる。変換器のわずかな動きも、特別な位置に関連した1次元取得画像を簡単に解釈することにより補正できる。
おり(例えばワイヤの端を溶接することにより)、好ましくは固定されておりワイヤと摩擦接触しているスピンドル106の周りに、巻き付けられている。レバー108は、その覆いの中心近くのピン110で回転できるように取り付けられており、レバーは、ワイヤ94の一端でかつその覆いに平行にスライドできるスライダ112の多端で結びつけられている。そのスライダを動かすと、遠心端のワイヤ94の一方は、他方に関して長くなる。
ラーと共に単結晶の音響結晶の計画的アレイとなり得る。
局所電気心拍曲線の振幅と傾斜をテンプレートに比較して計算されるか、あるいは人為的に使用者により計算される。その局所活性化時間は、患者の皮膚上のECG端末により測定される活性化時間を参照して、決定される。使用者は、データ取得のプロセスを終了させることが出来るし、あるいは以下に述べるように、活性化時間の空間グラヂエントに関して情報密度用のすでに取得されている活性化マップを調べる活性化評価マップアルゴリズムにより評価することが出来る。このアルゴリズムは、活性化時間検出用の次の好ましい場所を示すことが出来る。カテーテルは、使用者により新しい場所に動かされて、マッピングプロセスは、続行される。
人体表面ECGデータは、2段階で得られる。第1に、自動的にあるいは誘起されたVTをペーシングする間、そして第2に、異なった場所での心内膜をペーシングする間。VTの間に得られたECGデータは、平均化された信号であり、テンプレートが構築される(TCH、記録された各チャンネルに対して)。ECGデータは、心内膜のペーシングの間に得られるし、動悸の同数(N)は、平均化された信号QRS(PCH、記録された各チャンネルに対して)。そこでのこのアルゴリズムは、PCHとTCHの間の位相シフトを計算し、それが第1チャンネルに対して最大相互相関を与える。この時間シフトは、残っているチャンネルのシフトに使われ、そしてそれらに対して相互相関を計算する。全チャンネルに対する全相互相関は、合算され蓄えられる。それからアルゴリズムは、このチャンネルで最大相互相関を引き起こす時間シフトを計算するために、記録された次のチャンネルを使うことになる。さてこの時間シフトは、全てのPCHとTCHの間の相互相関に対して適用され、再び全相互相関は、合算される。この手段は、全てのチャンネルに対して繰り返され、達成された最大相互相関は、心内膜上のこの場所でのPCHとTCHの間の相互相関の値として使用される。
(1)マッピングガイダンスアルゴリズム
このアルゴリズムは、入力として、ある変数の役に立つマップ化された情報(例えば、血脈洞周期間の局所活性化時間)。このアルゴリズムはマップ化された変数(すなはち、この例での活性化時間)の空間導関数を計算し、そしてマップ化された変数の空間成分を、目的関数が秩序立てるとき、他のデータポイントを加えるための次の最良の位置を計算する。例えば、このアルゴリズムはマップ化された変数が、短距離を超えただけで著しく変化する領域で、多くのデータポイントが得られるのだという事を提案することになるだろう。
このアルゴリズムは、以下にすぐ与えられる規則のような、得られた情報を評価するためにユーザが決める階層規則セットである。
(a)VTマッピング上への典型的な再入可能な道を、同定可能な共通の遅い道で同定すること・・・・・グレードA;
(b)ペースマップ中で90%以上の補正指標を持ったサイトの同定・・・・・グレードB;
(c)時期尚早の非捕捉性刺激を持ってVTを終了させたサイトの同定・・・・・グレードC;そして
(d)血脈洞周期の間に記録された拡張期ポテンシャルに類似しているVTの間に記録されたプレポテンシャルマップの同定・・・・・グレードD。
(1)血脈洞周期活性化マップ(等時性マップ);
(2)拡張期ポテンシャル発生時間マップ(等時性マップ)
(3)ペースマッピング間の局所待ち時間等時性マップ;
(4)VT間の活性化時間等時性マップ;そして
(5)VTマッピング間のプレポテンシャル等時性マップ。
Claims (2)
- 人体に挿入される医療機器の位置と方位を決定するための位置決めシステムであって、
ドライブ信号に応じて、既知の識別可能な場を発生させる複数の放射器;
医療機器内の先端近傍に位置し、該場に応じてセンサ信号を発生する複数のセンサ;
医療機器内の先端近傍に位置し、患者の体内の局所に働きかける活性部分;
該ドライブ信号と該センサ信号に対応した複数の信号に基づき、医療機器の一部分の位置座標と方位座標をそれぞれ3つづつ計算するプロセッサ;
より成り、複数の放射器により発生された複数の場の、周波数および位相の少なくとも一方が異なることを特徴とすると共に、
更に医療機器は、
第1端部と第2端部を有し、第2端部から第1端部の直前に至るまで切り目を入れた、柔軟な材料で形成されるプレート状部材;
上記第2端部において、切り目を入れて分けられた一方の端部に接続される第1ワイヤ;
上記第2端部において、切り目を入れて分けられた他方の端部に接続される第2ワイヤ;
上記プレート状部材を覆う鞘部材;
上記第1ワイヤと第2ワイヤに引く力や押す力を加え、プレート状部材を曲げる操作部;
を備え、医療機器の遠心端を操作するようにしたことを特徴とする位置決めシステム。 - 医療機器の遠心端が、カテーテルあるいは内視鏡である、請求項1による位置決めシステム。
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JP2004119194A Withdrawn JP2004275776A (ja) | 1994-08-19 | 2004-04-14 | 医療用機器の診断及び取扱いならびに映像システム |
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- 1995-01-24 CN CNB95195606XA patent/CN1226960C/zh not_active Expired - Lifetime
- 1995-01-24 EP EP95908708A patent/EP0776176B1/en not_active Expired - Lifetime
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- 1995-01-24 AT AT95908708T patent/ATE188108T1/de not_active IP Right Cessation
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- 1995-01-24 DE DE69514238T patent/DE69514238T2/de not_active Expired - Lifetime
- 1995-01-24 AU AU16930/95A patent/AU1693095A/en not_active Abandoned
- 1995-01-24 JP JP50803396A patent/JP3708121B2/ja not_active Expired - Lifetime
- 1995-01-24 DE DE69532139T patent/DE69532139T2/de not_active Expired - Lifetime
- 1995-01-24 CA CA2607769A patent/CA2607769C/en not_active Expired - Lifetime
- 1995-01-24 ES ES95908708T patent/ES2144123T3/es not_active Expired - Lifetime
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JP2004275776A (ja) | 2004-10-07 |
JP2009066429A (ja) | 2009-04-02 |
DE69532139T2 (de) | 2004-08-26 |
EP0894473A3 (en) | 1999-07-07 |
DE69514238D1 (de) | 2000-02-03 |
EP0776176A1 (en) | 1997-06-04 |
DE69514238T2 (de) | 2000-05-11 |
JPH10507104A (ja) | 1998-07-14 |
JP2004283601A (ja) | 2004-10-14 |
CN1168625A (zh) | 1997-12-24 |
JP4394733B2 (ja) | 2010-01-06 |
ATE253864T1 (de) | 2003-11-15 |
EP0894473B1 (en) | 2003-11-12 |
JP4448194B2 (ja) | 2010-04-07 |
WO1996005768A1 (en) | 1996-02-29 |
CA2607769C (en) | 2012-04-24 |
ES2210662T3 (es) | 2004-07-01 |
CA2197986A1 (en) | 1996-02-29 |
JP2009207926A (ja) | 2009-09-17 |
AU1693095A (en) | 1996-03-14 |
CA2607769A1 (en) | 1996-02-29 |
CA2197986C (en) | 2008-03-18 |
ES2144123T3 (es) | 2000-06-01 |
EP0776176B1 (en) | 1999-12-29 |
JP3708121B2 (ja) | 2005-10-19 |
DE69532139D1 (de) | 2003-12-18 |
EP0894473A2 (en) | 1999-02-03 |
ATE188108T1 (de) | 2000-01-15 |
HK1007059A1 (en) | 1999-04-01 |
CN1226960C (zh) | 2005-11-16 |
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