JP5416225B2 - 光ファイバー力感知カテーテル - Google Patents
光ファイバー力感知カテーテル Download PDFInfo
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- JP5416225B2 JP5416225B2 JP2011544939A JP2011544939A JP5416225B2 JP 5416225 B2 JP5416225 B2 JP 5416225B2 JP 2011544939 A JP2011544939 A JP 2011544939A JP 2011544939 A JP2011544939 A JP 2011544939A JP 5416225 B2 JP5416225 B2 JP 5416225B2
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Description
ーター、マッピング電極、内視鏡視覚装置(endoscopic vision systems)、および遺伝学
的注入装置(genetic impregnation devices)のような治療用送達システムのような、しかしこれらに限定されない多数のエンドエフェクタのうちの何れかを備えてもよい。例示的システムは、例えば、特許文献3〜7に記載されている。
載されている。前記特許文献は、関節継ぎ手によって連結された一連の強剛な連結子を備えた手術を行なうためのロボットシステムを記載している。前記関節継ぎ手には複数のブラッググレーティングが配置されており、その結果、各継ぎ手の曲角は、例えば干渉計を用いて、ブラッググレーティングによって反射される光の波長の変化を測定することによって光学的に測定され得る。
において測定された波長変化を用いてカテーテルまたは他の医療機器の空間的定位を算出する別の空間的定位システムについて記載している。ブコルツの文献は、ボッセルマンの文献にも記載されているように、歪みセンサーは変形可能なシース内に包み込まれ得ることを開示しているが、曲角の計算は、変形可能なシースの材料特性の特性付けを必要とするとは記載されていない。
実質的に増大しない、カテーテルまたはガイドワイヤーのような、診断および治療装置を提供することが望ましいであろう。装置の先端部に印加される力の計算を可能にし、かつ電磁干渉に実質的に影響されない、カテーテルおよびガイドワイヤーのような診断および治療装置を提供することがさらに望ましい。
(大きさおよび方向)を分解するための装置および方法を開示している。レオの文献は、接触力を感知しないカテーテルによるものと同じプロファイルを本質的に維持し、かつ電磁干渉に実質的に影響を受けない、カテーテルにおける光ファイバーの歪み要素の使用を開示している。レオら付与された特許文献12は、カテーテルのチップ上における力の入射(force incident)を推測するためにファイバブラッググレーティング歪みセンサーの変形を用いる力感知カテーテルシステムを開示している。アービー(Aeby)らに付与された特許文献13は、カテーテルの先端に課される力によって生じる撓みを分離する変形可能な構造を有する三軸力センサーを開示している。前記特許文献において、光ファイバーは照射と変形可能な構造からの反射光の受容との双方を行い、受容した反射光の強度は課された力に従って変化する。レオらに付与された特許文献14は、干渉計の原理を用いて、歪み感知アセンブリの構造的変形を検知して力を推測する光ファイバー接触感知カテーテルを開示している。レオらおよびアービーらに付与された上述の公報は、本出願の譲受人に譲渡され、そこに含まれた明白な定義を除いて、参照により余すところなく本願に援用される。
)を形成してもよい。
ファイバーケーブルのような伝送線路82は、透過放射80をカプラー74に伝え、カプラー74は、透過放射80を、送信/受信線路84を通して、さらに可撓性長尺状カテーテルアセンブリ87内に収容された光ファイバー要素83(図1A)を介して、光ファイバー感知要素90に導く。カテーテルアセンブリ87の光ファイバー要素83および送信/受信線路84は、図1に示すようなコネクター86を介して接続され得る。
さを有し得る。一実施形態において、カテーテルアセンブリ87は、基端側部分87a、中間部分87bおよび先端側部分87cを備える。先端側部分87cは、光ファイバー感知要素90を収容し得るエンドエフェクタ88を備えてもよい。前記カテーテルアセンブリは、用途に応じて、中空構造のもの(すなわち管腔を有する)であってもよいし、または非中空構造のもの(すなわち管腔を有さないもの)であってもよい。
ている。すなわち、示した実施形態における受信器は、干渉計型光ファイバー歪みセンサー90aによる使用のために変調波形89aの周波数の検知、またはファイバブラッググレーティング歪みセンサー90bによる使用のために反射部分89bの中心波長の分解のいずれかを行うように選択されている。受信器76は、入来する反射放射線89をマイクロプロセッサー78によって処理するためにデジタル信号に処理および/または変換する。
光ファイバー力感知アセンブリ92が本発明の実施形態において示されている。この実施形態において、構造部材102は長手軸線110を規定し、かつ外面112を備える。構造部材102は、図3〜図10では基部セグメント118、基端側セグメント120、中央セグメント122、および先端側セグメント124として識別される複数のセグメント116に分割されている。前記セグメント116は、長手軸線110に沿って直列配置で互いに隣接し得る。
として個々に識別される複数の可撓部分128によって架橋され得、よって中立軸線130a,130b,130cとして個々に識別される複数の中立軸線130を規定する。各中立軸線130は、任意の方向の純粋曲げを受けるときに応力がゼロとなる各可撓部分128内における位置をなす。
線148aは、先端150aに対向する間隙136aの境界を画定する先端側セグメント124の表面154aによって範囲を定められる。従って、範囲が定められた光伝搬軸線148に近接したセグメント116の表面154は高度に反射性にされ得る。
opposed)していてもよいが、そうである必要はない。例えば、可撓部分128aは、先
端150aと直径方向に対向し得るなどである。
れるような干渉計型共振器の特性を有する間隙である。同様に、本願に用いられる「間隙干渉計」とは、干渉間隙を用いて干渉パターンを生成する干渉計である。
反射面またはコーティング168は、高反射面154から反射された光の一部を再反射するとともに、歪み感知システム70による検出のために反射光の残部を実質的に透過させる。
な変化をもたらす。平行移動されたモーメントは、可撓部分128b,128cをそれぞれの慣性軸線x−xまわりで撓曲させる。間隙136bを光ファイバー104bの先端150bに近接して閉じさせ、間隙136cを光ファイバー104cの先端150cに近接して開かせる。図11Bの描写において、側方力FLはそれぞれの慣性軸線x−xに対して垂直に作用していないので、可撓部分128bまたは可撓部分128cのいずれも純粋曲げの状態ではないことに留意する。従って、慣性軸線x−xまわりの撓曲の程度は、一般に、慣性軸線x−xに垂直に作用する側方力FLの成分に比例するであろう。
とが理解される。従って、三次元空間における力ベクトルは、これらの純粋な荷重の作用下において光ファイバー力感知アセンブリの応答を検定(calibrate)し、軸線方向成分お
よび側方成分を推測するために様々な応答を重ね合わせることによって分解することができる。
法である。
して結合されている光ファイバー202は、構造部材196のセグメント116間の撓みを制限する復元力または反力をもたらす。圧縮力または緊張力であり得る反力は、光ファイバー202の歪みセンサーを横切る歪みを生じる(光ファイバー力感知アセンブリ192のファブリーペロー歪みセンサー198または光ファイバー力感知アセンブリ208のファイバブラッググレーティング歪みセンサー214)。
な、内視鏡的応用に用途を見出してもよい。
Claims (20)
- 脈管または器官を診査または治療するためのカテーテルであって、前記カテーテルは、
基端および先端部を有する可撓性長尺状本体と、
前記先端部に近接して前記可撓性長尺状本体内に配置された光ファイバー力感知アセンブリとを備え、前記光ファイバー力感知アセンブリは、
外面を有し、かつ長手軸線を規定する構造部材を備え、前記構造部材は、
前記長手軸線に沿った直列配置で互いに隣接して複数の間隙を形成する少なくとも4つの複数のセグメントであって、前記複数の間隙の各々は前記複数のセグメントのうちの隣接するセグメントの間に位置する、複数のセグメントと、
前記複数のセグメントのうちの前記隣接するセグメントが複数の可撓部のうちの1つによって架橋されるように、前記複数のセグメントの間にて前記複数の間隙の各々に分散された複数の可撓部であって、前記可撓部の各々は前記構造部材の前記外面の一部を形成する、複数の可撓部と、
前記構造部材と動作可能に接続された複数の光ファイバーとを備え、前記複数の光ファイバーは少なくとも3つの光ファイバーを含んでなり、前記光ファイバーのそれぞれは光伝播軸線を画成し、それぞれの前記光ファイバーは前記複数の可撓部のうち対
応する1つの可撓部の直径方向に対向する、カテーテル。 - 前記可撓部の各々は、前記長手軸線とほぼ平行な中立軸線を規定する、請求項1に記載のカテーテル。
- 前記複数の光ファイバーは、前記構造部材の前記外面に動作可能に結合されている、請求項1に記載のカテーテル。
- 前記構造部材の前記外面は、前記長手軸線にほぼ平行な複数の溝を形成し、前記複数の光ファイバーの各々は前記複数の溝のうちの対応する1つに配置されている、請求項3に記載のカテーテル。
- 前記複数の間隙の少なくとも1つは前記長手軸線にほぼ直交する、請求項1に記載のカテーテル。
- 前記構造部材は中空管を備える、請求項1に記載のカテーテル。
- 前記中空管は円筒状である、請求項6に記載のカテーテル。
- 前記複数の光ファイバーは結合材によって前記構造部材と動作可能に接続されている、請求項1に記載のカテーテル。
- 前記構造部材は金属/セラミック複合材、石英および液晶ポリマーのうちから選択される材料を含む、請求項1に記載のカテーテル。
- 前記複数の光ファイバーの各々は、前記複数の間隙のうちの1つに隣接して配置されるとともに、前記複数の間隙のうちの前記1つに隣接したセグメント上に光を放出し、同セグメントから反射される光を収集するために配向された先端を有し、
前記光ファイバーの前記先端と、前記複数の間隙のうちの前記1つに隣接し、かつ前記光ファイバーの前記先端に対向するセグメントとの間の距離は、前記複数の間隙のうちの前記1つに架橋する前記対応する1つの可撓部の撓曲に応答して変化する寸法を有する、請求項1に記載のカテーテル。 - 前記光ファイバーの先端と前記複数の間隙のうちの前記1つに隣接する前記セグメントとが干渉間隙を形成する、請求項10に記載のカテーテル。
- 前記複数の間隙のうちの前記1つに隣接する前記セグメントから反射された光の収集物は、前記複数の間隙のうちの前記1つに架橋する前記対応する1つの可撓部のうちの前記1つの撓曲に応答して強度が変化する、請求項10に記載のカテーテル。
- 前記複数の光ファイバーの各々は、それらの光ファイバーと一体をなす光ファイバー歪みセンサーを備える、請求項1に記載のカテーテル、
- 前記光ファイバー歪みセンサーは、ファイバブラッググレーティング歪みセンサーおよびファブリーペロー歪みセンサーのうちの1つを含む、請求項13に記載のカテーテル。
- 前記光ファイバー歪みセンサーの少なくとも一部は、前記複数の間隙のうちの1つに対応する前記構造部材の軸線方向位置にある、請求項13に記載のカテーテル。
- 前記複数の可撓部のそれぞれは前記長手軸線に直交する平面上に断面を規定し、前記断
面は面重心を規定し、第1慣性軸線および第2慣性軸線は前記面重心を通過するものとして規定され、前記第2慣性軸線は前記第1慣性軸線に直交し、かつ前記構造部材の前記長手軸線と交差し、前記第2慣性軸線まわりの断面2次モーメントは、前記第1慣性軸線まわりの断面2次モーメントより少なくとも10倍大きい、請求項1に記載のカテーテル。 - 前記第1慣性軸線まわりの断面2次モーメントは前記可撓部の前記断面の最小断面2次モーメントである、請求項16に記載のカテーテル。
- 前記可撓部の前記断面は弓形を画定する、請求項16に記載のカテーテル。
- 前記可撓部は前記長手軸線のまわりにほぼ均等に分布している、請求項16に記載のカテーテル。
- 前記複数の可撓部の数は3個であり、それらの可撓部は前記長手軸線のまわりに120度の間隔で中心が置かれている、請求項19に記載のカテーテル。
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