JP4610560B2 - カテーテルをナビゲートする機器及び方法 - Google Patents
カテーテルをナビゲートする機器及び方法 Download PDFInfo
- Publication number
- JP4610560B2 JP4610560B2 JP2006530784A JP2006530784A JP4610560B2 JP 4610560 B2 JP4610560 B2 JP 4610560B2 JP 2006530784 A JP2006530784 A JP 2006530784A JP 2006530784 A JP2006530784 A JP 2006530784A JP 4610560 B2 JP4610560 B2 JP 4610560B2
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- JP
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- Prior art keywords
- catheter
- navigation system
- trajectory
- motion
- filtering
- 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.)
- Expired - Fee Related
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7203—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal
- A61B5/7207—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal of noise induced by motion artifacts
-
- 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
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00699—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement caused by respiration, e.g. by triggering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
- 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
- A61B5/062—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 using magnetic field
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Artificial Intelligence (AREA)
- Physiology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Psychiatry (AREA)
- Human Computer Interaction (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Materials For Medical Uses (AREA)
Description
Claims (8)
- 周期的な内在動作の影響を受ける脈管系内のカテーテルをナビゲートするナビゲーションシステムであって、
a)前記カテーテルの各空間位置を示す時系列の位置信号を記録する位置探査装置と、
b)前記位置探査装置に結合され、また、前記時系列の位置信号をフィルタリングすることによって、前記周期的な内在動作について補正された前記カテーテルの軌道を計算するよう設計されるデータ処理装置と、
を有し、
前記フィルタリングは、オリジナルのデータ記録と所定のアルゴリズムに基づいた、データ記録の再計算であり、
前記フィルタリングは、スペクトルフィルタリングを含み、
前記フィルタリングは、
1)時間の関数として記録された前記時系列の位置信号の周波数スペクトルを計算する段階と、
2)前記周期的な内在動作を特徴付ける少なくとも1つの周波数窓における前記周波数スペクトルの振幅を低減することによってフィルタリングされたスペクトルを計算する段階と、
3)前記フィルタリングされたスペクトルから前記補正された軌道を合成する段階と、
を有するナビゲーションシステム。 - 前記周波数窓は、前記段階1)において計算された前記周波数スペクトルの局所的な極大値の位置から得られることを特徴とする請求項1記載のナビゲーションシステム。
- 前記フィルタリングは、前記周期的な内在動作を特徴付ける時間間隔に亘った前記時系列の位置信号のスライディング中心の計算を含むことを特徴とする請求項1記載のナビゲーションシステム。
- 心電図を記録する測定システムを有し、
前記測定システムは、前記データ処理装置に結合されることを特徴とする請求項1記載のナビゲーションシステム。 - 前記周期的な内在動作は、心拍によって引き起こされ、
前記データ処理装置は更に、呼吸によって引き起こされる内在動作について前記補正された軌道を補正するよう設計されることを特徴とする請求項1記載のナビゲーションシステム。 - 前記データ処理装置は、
a)前記脈管系に対する前記カテーテルの動作がない前記補正された軌道の一部から呼吸によって引き起こされた動作パターンを計算する段階と、
b)前記計算された動作パターンを差し引くことによって前記補正された軌道を補正する段階と、
を実行するよう設計されることを特徴とする請求項5記載のナビゲーションシステム。 - 前記データ処理装置は、前に決められた動作パターンに基づいて外挿フィルタを適用することによって前記補正された軌道を補正するよう設計されることを特徴とする請求項5記載のナビゲーションシステム。
- 前記データ処理装置に結合される呼吸センサを有することを特徴とする請求項1記載のナビゲーションシステム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03101457 | 2003-05-21 | ||
PCT/IB2004/050603 WO2004103182A1 (en) | 2003-05-21 | 2004-05-06 | Apparatus and method for navigating a catheter |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007500565A JP2007500565A (ja) | 2007-01-18 |
JP4610560B2 true JP4610560B2 (ja) | 2011-01-12 |
Family
ID=33462198
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006530784A Expired - Fee Related JP4610560B2 (ja) | 2003-05-21 | 2004-05-06 | カテーテルをナビゲートする機器及び方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20070197905A1 (ja) |
EP (1) | EP1628575B1 (ja) |
JP (1) | JP4610560B2 (ja) |
CN (1) | CN100542489C (ja) |
AT (1) | ATE488180T1 (ja) |
DE (1) | DE602004030110D1 (ja) |
WO (1) | WO2004103182A1 (ja) |
Families Citing this family (59)
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US8784336B2 (en) | 2005-08-24 | 2014-07-22 | C. R. Bard, Inc. | Stylet apparatuses and methods of manufacture |
DE102005044338A1 (de) * | 2005-09-16 | 2007-03-22 | Siemens Ag | Verfahren und Anordnung zur Lokalisation eines in ein Untersuchungsobjekt mindestens teilweise eingeführten, medizinischen Instruments |
FR2891153B1 (fr) * | 2005-09-28 | 2008-08-22 | Centre Nat Rech Scient | Dispositif de traitement thermique de tissus biologiques en mouvement |
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US8271070B2 (en) * | 2007-10-04 | 2012-09-18 | Siemens Aktiengesellschaft | Method for monitoring myocardial wall thickness |
US10524691B2 (en) | 2007-11-26 | 2020-01-07 | C. R. Bard, Inc. | Needle assembly including an aligned magnetic element |
US10751509B2 (en) | 2007-11-26 | 2020-08-25 | C. R. Bard, Inc. | Iconic representations for guidance of an indwelling medical device |
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US9521961B2 (en) | 2007-11-26 | 2016-12-20 | C. R. Bard, Inc. | Systems and methods for guiding a medical instrument |
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JP5523791B2 (ja) | 2008-10-27 | 2014-06-18 | 株式会社東芝 | X線診断装置および画像処理装置 |
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-
2004
- 2004-05-06 US US10/557,970 patent/US20070197905A1/en not_active Abandoned
- 2004-05-06 WO PCT/IB2004/050603 patent/WO2004103182A1/en active Application Filing
- 2004-05-06 DE DE602004030110T patent/DE602004030110D1/de active Active
- 2004-05-06 JP JP2006530784A patent/JP4610560B2/ja not_active Expired - Fee Related
- 2004-05-06 AT AT04731442T patent/ATE488180T1/de not_active IP Right Cessation
- 2004-05-06 EP EP04731442A patent/EP1628575B1/en not_active Not-in-force
- 2004-05-06 CN CNB2004800136345A patent/CN100542489C/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
ATE488180T1 (de) | 2010-12-15 |
DE602004030110D1 (de) | 2010-12-30 |
CN1791360A (zh) | 2006-06-21 |
CN100542489C (zh) | 2009-09-23 |
WO2004103182A1 (en) | 2004-12-02 |
JP2007500565A (ja) | 2007-01-18 |
US20070197905A1 (en) | 2007-08-23 |
EP1628575B1 (en) | 2010-11-17 |
EP1628575A1 (en) | 2006-03-01 |
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