JP4701179B2 - カテーテルをナビゲートするナビゲーションシステム - Google Patents
カテーテルをナビゲートするナビゲーションシステム Download PDFInfo
- Publication number
- JP4701179B2 JP4701179B2 JP2006530783A JP2006530783A JP4701179B2 JP 4701179 B2 JP4701179 B2 JP 4701179B2 JP 2006530783 A JP2006530783 A JP 2006530783A JP 2006530783 A JP2006530783 A JP 2006530783A JP 4701179 B2 JP4701179 B2 JP 4701179B2
- Authority
- JP
- Japan
- Prior art keywords
- catheter
- navigation system
- trajectory
- position signal
- data processing
- 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
- A61B5/721—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal of noise induced by motion artifacts using a separate sensor to detect motion or using motion information derived from signals other than the physiological signal to be measured
-
- 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
- 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
-
- 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
- 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
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
- A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Human Computer Interaction (AREA)
- Signal Processing (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physiology (AREA)
- Psychiatry (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
Description
Claims (6)
- 心拍によって引き起こされる周期的な内在動作の影響を受ける脈管系内を、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)心電図を記録する測定システムと、
c)前記位置探査装置及び前記測定システムに結合されるデータ処理装置と、
を有し、
前記データ処理装置は、前記心電図の心拍の収縮期に対応するフェーズの間に記録された前記時系列の位置信号内の位置信号を1又は複数抑制することによって前記位置信号を変更し、前記時系列の位置信号における前記抑制された位置信号から生じた途切れを有する補正軌道を生成し、さらに、前記途切れの前の最後の位置信号と前記途切れの後の最初の位置信号との間の線形内挿により保持された位置信号によって前記途切れを埋める、及び/又は、外挿を使用して将来の時刻における前記カテーテルの位置を推定することによって前記途切れを埋めるよう設計される、システム。 - 前記外挿は、カルマンフィルタに支援されて行わ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、呼吸によって引き起こされる前記脈管系の内在動作について前記補正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のない前記補正軌道の一部から呼吸によって引き起こされる動作パターンを計算する段階と、
b)計算した動作パターンを差し引くことによって前記補正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3記載のナビゲーションシステム。 - 前記データ処理装置は、前に決定さ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3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 (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03101456 | 2003-05-21 | ||
EP03101456.6 | 2003-05-21 | ||
PCT/IB2004/050602 WO2004103174A1 (en) | 2003-05-21 | 2004-05-06 | Apparatus and method for navigating a catheter |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007502187A JP2007502187A (ja) | 2007-02-08 |
JP4701179B2 true JP4701179B2 (ja) | 2011-06-15 |
Family
ID=33462197
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006530783A Expired - Fee Related JP4701179B2 (ja) | 2003-05-21 | 2004-05-06 | カテーテルをナビゲートするナビゲーションシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20070055141A1 (ja) |
EP (2) | EP1628574A1 (ja) |
JP (1) | JP4701179B2 (ja) |
CN (1) | CN100381099C (ja) |
WO (1) | WO2004103174A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9572519B2 (en) | 1999-05-18 | 2017-02-21 | Mediguide Ltd. | Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors |
Families Citing this family (47)
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US9833167B2 (en) | 1999-05-18 | 2017-12-05 | Mediguide Ltd. | Method and system for superimposing virtual anatomical landmarks on an image |
US8442618B2 (en) | 1999-05-18 | 2013-05-14 | Mediguide Ltd. | Method and system for delivering a medical device to a selected position within a lumen |
US7778688B2 (en) | 1999-05-18 | 2010-08-17 | MediGuide, Ltd. | System and method for delivering a stent to a selected position within a lumen |
DE102005005037B4 (de) | 2005-02-03 | 2012-02-02 | Siemens Ag | Einrichtung zur Aufnahme elektrophysiologischer Signale und zur Darstellung der Signale oder daraus ermittelter Signalinformationen |
US8784336B2 (en) | 2005-08-24 | 2014-07-22 | C. R. Bard, Inc. | Stylet apparatuses and methods of manufacture |
FR2891153B1 (fr) * | 2005-09-28 | 2008-08-22 | Centre Nat Rech Scient | Dispositif de traitement thermique de tissus biologiques en mouvement |
EP1933710B1 (en) | 2005-10-11 | 2017-03-15 | Carnegie Mellon University | Sensor guided catheter navigation |
JP5738507B2 (ja) * | 2006-01-19 | 2015-06-24 | 東芝メディカルシステムズ株式会社 | 超音波プローブの軌跡表現装置及び超音波診断装置 |
US9084556B2 (en) | 2006-01-19 | 2015-07-21 | Toshiba Medical Systems Corporation | Apparatus for indicating locus of an ultrasonic probe, ultrasonic diagnostic apparatus |
US7794407B2 (en) | 2006-10-23 | 2010-09-14 | Bard Access Systems, Inc. | Method of locating the tip of a central venous catheter |
US8388546B2 (en) | 2006-10-23 | 2013-03-05 | Bard Access Systems, Inc. | Method of locating the tip of a central venous catheter |
US10449330B2 (en) | 2007-11-26 | 2019-10-22 | C. R. Bard, Inc. | Magnetic element-equipped needle assemblies |
US10524691B2 (en) | 2007-11-26 | 2020-01-07 | C. R. Bard, Inc. | Needle assembly including an aligned magnetic element |
US8781555B2 (en) | 2007-11-26 | 2014-07-15 | C. R. Bard, Inc. | System for placement of a catheter including a signal-generating stylet |
US9521961B2 (en) | 2007-11-26 | 2016-12-20 | C. R. Bard, Inc. | Systems and methods for guiding a medical instrument |
US10751509B2 (en) | 2007-11-26 | 2020-08-25 | C. R. Bard, Inc. | Iconic representations for guidance of an indwelling medical device |
US8849382B2 (en) | 2007-11-26 | 2014-09-30 | C. R. Bard, Inc. | Apparatus and display methods relating to intravascular placement of a catheter |
ES2651898T3 (es) | 2007-11-26 | 2018-01-30 | C.R. Bard Inc. | Sistema integrado para la colocación intravascular de un catéter |
US9649048B2 (en) | 2007-11-26 | 2017-05-16 | C. R. Bard, Inc. | Systems and methods for breaching a sterile field for intravascular placement of a catheter |
US8478382B2 (en) | 2008-02-11 | 2013-07-02 | C. R. Bard, Inc. | Systems and methods for positioning a catheter |
US9901714B2 (en) | 2008-08-22 | 2018-02-27 | C. R. Bard, Inc. | Catheter assembly including ECG sensor and magnetic assemblies |
US8437833B2 (en) | 2008-10-07 | 2013-05-07 | Bard Access Systems, Inc. | Percutaneous magnetic gastrostomy |
US9445734B2 (en) | 2009-06-12 | 2016-09-20 | Bard Access Systems, Inc. | Devices and methods for endovascular electrography |
US9532724B2 (en) | 2009-06-12 | 2017-01-03 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation using endovascular energy mapping |
JP5795576B2 (ja) | 2009-06-12 | 2015-10-14 | バード・アクセス・システムズ,インコーポレーテッド | 心電図(ecg)信号を使用して心臓内またはその近くに血管内デバイスを位置決めするコンピュータベースの医療機器の作動方法 |
AU2010300677B2 (en) | 2009-09-29 | 2014-09-04 | C.R. Bard, Inc. | Stylets for use with apparatus for intravascular placement of a catheter |
WO2011044421A1 (en) | 2009-10-08 | 2011-04-14 | C. R. Bard, Inc. | Spacers for use with an ultrasound probe |
US8409098B2 (en) * | 2009-10-14 | 2013-04-02 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Method and apparatus for collection of cardiac geometry based on optical or magnetic tracking |
BR112012019354B1 (pt) | 2010-02-02 | 2021-09-08 | C.R.Bard, Inc | Método para localização de um dispositivo médico implantável |
WO2011150376A1 (en) | 2010-05-28 | 2011-12-01 | C.R. Bard, Inc. | Apparatus for use with needle insertion guidance system |
ES2864665T3 (es) | 2010-05-28 | 2021-10-14 | Bard Inc C R | Aparato para su uso con sistema de guiado de inserción de aguja |
JP2013535301A (ja) | 2010-08-09 | 2013-09-12 | シー・アール・バード・インコーポレーテッド | 超音波プローブヘッド用支持・カバー構造 |
JP5845260B2 (ja) * | 2010-08-20 | 2016-01-20 | シー・アール・バード・インコーポレーテッドC R Bard Incorporated | Ecg支援カテーテル先端配置の再確認 |
WO2012058461A1 (en) | 2010-10-29 | 2012-05-03 | C.R.Bard, Inc. | Bioimpedance-assisted placement of a medical device |
RU2609203C2 (ru) | 2011-07-06 | 2017-01-30 | Си.Ар. Бард, Инк. | Определение и калибровка длины иглы для системы наведения иглы |
USD699359S1 (en) | 2011-08-09 | 2014-02-11 | C. R. Bard, Inc. | Ultrasound probe head |
USD724745S1 (en) | 2011-08-09 | 2015-03-17 | C. R. Bard, Inc. | Cap for an ultrasound probe |
WO2013070775A1 (en) | 2011-11-07 | 2013-05-16 | C.R. Bard, Inc | Ruggedized ultrasound hydrogel insert |
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WO2015120256A2 (en) | 2014-02-06 | 2015-08-13 | C.R. Bard, Inc. | Systems and methods for guidance and placement of an intravascular device |
US10973584B2 (en) | 2015-01-19 | 2021-04-13 | Bard Access Systems, Inc. | Device and method for vascular access |
WO2016210325A1 (en) | 2015-06-26 | 2016-12-29 | C.R. Bard, Inc. | Connector interface for ecg-based catheter positioning system |
US11000207B2 (en) | 2016-01-29 | 2021-05-11 | C. R. Bard, Inc. | Multiple coil system for tracking a medical device |
CN109310338B (zh) | 2016-06-29 | 2021-11-19 | 皮科洛医疗公司 | 用于血管导航、评估和/或诊断的装置和方法 |
EP3852622A1 (en) | 2018-10-16 | 2021-07-28 | Bard Access Systems, Inc. | Safety-equipped connection systems and methods thereof for establishing electrical connections |
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Citations (2)
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JP2001170027A (ja) * | 1999-09-30 | 2001-06-26 | Koninkl Philips Electronics Nv | 医療器具の位置を決定する方法及び装置 |
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-
2004
- 2004-05-06 WO PCT/IB2004/050602 patent/WO2004103174A1/en active Application Filing
- 2004-05-06 EP EP04731441A patent/EP1628574A1/en not_active Withdrawn
- 2004-05-06 JP JP2006530783A patent/JP4701179B2/ja not_active Expired - Fee Related
- 2004-05-06 US US10/557,968 patent/US20070055141A1/en not_active Abandoned
- 2004-05-06 CN CNB2004800137174A patent/CN100381099C/zh not_active Expired - Fee Related
- 2004-05-06 EP EP10183619A patent/EP2386246A1/en not_active Withdrawn
Patent Citations (2)
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JP2001524012A (ja) * | 1997-05-08 | 2001-11-27 | ルーセント メディカル システムズ インコーポレイテッド | 内在する医療装置の場所と向きを確定するシステムと方法 |
JP2001170027A (ja) * | 1999-09-30 | 2001-06-26 | Koninkl Philips Electronics Nv | 医療器具の位置を決定する方法及び装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9572519B2 (en) | 1999-05-18 | 2017-02-21 | Mediguide Ltd. | Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors |
US9956049B2 (en) | 1999-05-18 | 2018-05-01 | Mediguide Ltd. | Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors |
US10251712B2 (en) | 1999-05-18 | 2019-04-09 | Mediguide Ltd. | Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors |
Also Published As
Publication number | Publication date |
---|---|
CN100381099C (zh) | 2008-04-16 |
WO2004103174A1 (en) | 2004-12-02 |
CN1791356A (zh) | 2006-06-21 |
EP1628574A1 (en) | 2006-03-01 |
US20070055141A1 (en) | 2007-03-08 |
JP2007502187A (ja) | 2007-02-08 |
EP2386246A1 (en) | 2011-11-16 |
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