JP5468731B2 - 複数のemセンサ位置を補正するための方法及び装置 - Google Patents
複数のemセンサ位置を補正するための方法及び装置 Download PDFInfo
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- JP5468731B2 JP5468731B2 JP2007245125A JP2007245125A JP5468731B2 JP 5468731 B2 JP5468731 B2 JP 5468731B2 JP 2007245125 A JP2007245125 A JP 2007245125A JP 2007245125 A JP2007245125 A JP 2007245125A JP 5468731 B2 JP5468731 B2 JP 5468731B2
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- 238000000034 method Methods 0.000 title claims description 45
- 230000005291 magnetic effect Effects 0.000 claims description 47
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- 230000005672 electromagnetic field Effects 0.000 claims description 16
- 238000013442 quality metrics Methods 0.000 claims 1
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- 238000000429 assembly Methods 0.000 description 32
- 238000002594 fluoroscopy Methods 0.000 description 9
- 230000005855 radiation Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 5
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- 210000003484 anatomy Anatomy 0.000 description 3
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- 238000001514 detection method Methods 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
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- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012634 optical imaging Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002600 positron emission tomography Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000002211 ultraviolet spectrum Methods 0.000 description 1
- 238000001429 visible spectrum Methods 0.000 description 1
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- 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
- 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
- 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
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- 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
-
- 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
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Human Computer Interaction (AREA)
- Oral & Maxillofacial Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Description
w2=d1 2/(d1 2+d2 2)
上式においてd1及びd2は、患者に対して固定のセンサアセンブリ16からの撮像システムに対して固定のセンサアセンブリ12及び14のそれぞれまでの送信器−受信器間距離である。
12 第1のEMセンサアセンブリ
14 第2のEMセンサアセンブリ
16 第3のEMセンサアセンブリ
18 第4のEMセンサアセンブリ
20 X線蛍光透視システム
22 制御器
24 ワークステーション
26 C字アーム
28 X線放射源
30 X線放射検出器
32 患者
34 テーブル
36 医用デバイス
38 較正アセンブリ
40 インタフェース回路
42 中央処理回路
44 メモリ回路
46 ワークステーションインタフェース回路
48 ユーザインタフェース
50 ディスプレイ
52 主EMセンサ
54 基準EMセンサ
56 第1の仮想点
58 第2の仮想点
60 信号の収集
62 センサ箇所の決定
64 センサ箇所の補正
66 センサ間での選択
68 デバイス箇所の投射
70 第1のセンサアセンブリに関する送信器−受信器間距離のしきい値との比較
72 第1のセンサアセンブリに関する磁場完全性値のしきい値との比較
74 第2のセンサアセンブリに関する送信器−受信器間距離のしきい値との比較
76 第2のセンサアセンブリに関する磁場完全性値のしきい値との比較
78 警告の通報
80 第2のセンサアセンブリの選択
82 第2のセンサアセンブリに関する送信器−受信器間距離のしきい値との比較
84 第2のセンサアセンブリに関する磁場完全性値のしきい値との比較
86 第1のセンサアセンブリの選択
88 第1と第2のセンサアセンブリに関する送信器−受信器間距離の比較
Claims (10)
- 撮像システム(20)の撮像の対象に対して移動する磁場歪曲物体の存在により発生する1つまたは複数の電磁場歪みを補正するために電磁気センサ(12、14)を選択を行うための方法であって、
電磁場が存在するときに複数の電磁気センサ(12、14)の各々の箇所を表す信号を収集する工程と、
1つまたは複数の品質計測値に基づいて、前記磁場歪曲物体を含む前記撮像システム(20)に対して固定されている複数の電磁気センサ(12、14)からの信号間で選択を行う工程と、
を含む方法。 - 前記1つまたは複数の品質計測値は、電磁場完全性を含む、請求項1に記載の方法。
- 前記1つまたは複数の品質計測値は、送信器−受信器間距離、電磁場強度のうちの1つまたは両方をさらに含む、請求項2に記載の方法。
- 複数の電磁気センサ(12、14)からの信号間での前記選択は重み付けアルゴリズムを利用することを含む、請求項1乃至3のいずれかに記載の方法。
- 複数の電磁気センサ(12、14)からの信号間での前記選択は該電磁気センサ(12、14)の各々に関する送信器−受信器間距離を該複数の電磁気センサ(12、14)の残りのセンサに関する送信器−受信器間距離又は距離しきい値と比較することを含む、請求項1乃至4のいずれかに記載の方法。
- 前記複数の電磁気センサ(12、14)間での選択にその一部で基づいてデバイス(36)位置及び方向を決定する工程を含む請求項1乃至5のいずれかに記載の方法。
- 撮像システム(20)の撮像の対象に対して移動する磁場歪曲物体の存在により発生する1つまたは複数の電磁場歪みを補正するのに最適な電磁気センサを選択するためのシステム(10)であって、
前記磁場歪曲物体を含む前記撮像システム(20)に対して固定されている複数の電磁気センサ(12、14)と、
電磁場を発生させるためあるいは前記複数の電磁気センサ(12、14)の各々の箇所を表す信号を受信するための前記対象に対して固定された追加的電磁気センサ(16)と、
前記複数の電磁気センサ(12、14)の箇所を表す信号を収集すると共に、1つまたは複数の品質計測値に基づいて該複数の電磁気センサ(12、14)からの信号間で選択を行うように構成された制御器(22)と、
を備えるシステム(10)。 - 前記1つまたは複数の品質計測値は、電磁場完全性を含む、請求項7に記載のシステム(10)。
- 前記1つまたは複数の品質計測値は、送信器−受信器間距離、電磁場強度のうちの1つまたは両方をさらに含む、請求項8に記載のシステム(10)。
- 前記制御器(22)はさらに前記複数の電磁気センサ(12、14)間での選択にその一部で基づいてデバイス(36)位置及び方向を決定するように構成されている、請求項7乃至9のいずれかに記載のシステム(10)。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/528,291 US10016148B2 (en) | 2006-09-27 | 2006-09-27 | Method and apparatus for correction of multiple EM sensor positions |
US11/528,291 | 2006-09-27 |
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JP2008080122A JP2008080122A (ja) | 2008-04-10 |
JP5468731B2 true JP5468731B2 (ja) | 2014-04-09 |
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