JP5631585B2 - 光ファイバ機器センシングシステム - Google Patents
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- JP5631585B2 JP5631585B2 JP2009501746A JP2009501746A JP5631585B2 JP 5631585 B2 JP5631585 B2 JP 5631585B2 JP 2009501746 A JP2009501746 A JP 2009501746A JP 2009501746 A JP2009501746 A JP 2009501746A JP 5631585 B2 JP5631585 B2 JP 5631585B2
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- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/353—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
- G01D5/35303—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre using a reference fibre, e.g. interferometric devices
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- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0009—Making of catheters or other medical or surgical tubes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/353—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
- G01D5/35338—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre using other arrangements than interferometer arrangements
- G01D5/35354—Sensor working in reflection
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- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/26—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes using light guides
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- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
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- G02B6/02057—Optical fibres with cladding with or without a coating comprising gratings
- G02B6/02076—Refractive index modulation gratings, e.g. Bragg gratings
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- A—HUMAN NECESSITIES
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- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- 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
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
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- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/02—Optical fibres with cladding with or without a coating
- G02B6/02057—Optical fibres with cladding with or without a coating comprising gratings
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- Pulmonology (AREA)
- Hematology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Mechanical Engineering (AREA)
- Astronomy & Astrophysics (AREA)
- Human Computer Interaction (AREA)
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- Media Introduction/Drainage Providing Device (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Description
Claims (32)
- 柔軟な伸長型カテーテル本体と;
当該伸長型カテーテル本体内に配置された光ファイバセンサであって、
前記伸長型カテーテル本体のより曲がりやすい遠位部分の屈曲をモニタリングし易くするために、前記伸長型カテーテル本体のより曲がりやすい遠位部分に対する前記光ファイバセンサの動きが抑制されるように、前記伸長型カテーテル本体のより曲がりやすい遠位部分では前記伸長型カテーテル本体と本質的に結合または拘束され、
前記伸長型カテーテル本体のより曲がりにくい近位部分に対する前記光ファイバセンサの動きを可能とするために、前記伸長型カテーテル本体のより曲がりにくい近位部分では無拘束である、光ファイバセンサと;
前記光ファイバセンサの近位端に機能的に結合され、前記光ファイバセンサに伝わるそれぞれの光信号を検出するように構成される検出器と;
当該検出器と機能的に結合され、前記検出された光信号の分析に基づき、前記伸長型カテーテル本体の少なくとも一部の屈曲を測定するように構成されるコントローラとを具え、
前記検出器が周波数領域反射率計を具えることを特徴とする医療機器システム。 - 請求項1に記載の医療機器システムにおいて、さらに、前記伸長型カテーテル本体に機能的に結合され遠隔制御される機器ドライバを具え、前記伸長型カテーテル本体が前記機器ドライバによりロボット制御されることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記伸長型カテーテル本体が手動制御されることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサが1又はそれ以上のブラッグ格子を有するファイバコアを具えるとともに、前記システムが、前記1又はそれ以上のブラッグ格子と操作可能な関係で、前記光ファイバセンサに結合された基準反射体を更に具えることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサが複数のファイバコアを具え、各々のファイバコアが1又はそれ以上のブラッグ格子を含むことを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサが、複数の相隔てられたブラッグ格子を有するファイバコアを具えることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記伸長型カテーテル本体が屈曲中立軸を有し、前記光ファイバセンサが、前記伸長型カテーテル本体の屈曲に拘わらず、前記屈曲中立軸と同軸でないが実質的に平行となるように前記伸長型カテーテル本体に結合されることを特徴とする医療機器システム。
- 柔軟な伸長型カテーテル本体と;
前記伸長型カテーテル本体内の第1の場所に配置された第1の光ファイバセンサと、前記伸長型カテーテル本体内で前記第1の場所から円周上でオフセットしている第2の場所に配置された第2の光ファイバセンサとを含む光ファイバセンサとを含む複数の光ファイバセンサと;
前記光ファイバセンサの各々の近位端に機能的に結合され、各光ファイバセンサに伝わる光波の部分を検出するよう構成された検出器と;
当該検出器と機能的に結合され、前記検出された光波の部分の分析に基づき、前記伸長型カテーテル本体の少なくとも一部の構成を判定するように構成されるコントローラと;を具え、
前記第1の光ファイバセンサと第2の光ファイバセンサは、
前記伸長型カテーテル本体のより曲がりやすい遠位部分の屈曲をモニタリングし易くするために、前記伸長型カテーテル本体のより曲がりやすい遠位部分に対する前記第1の光ファイバセンサと第2の光ファイバセンサの動きが抑制されるように、前記伸長型カテーテル本体のより曲がりやすい遠位部分では前記伸長型カテーテル本体と本質的に結合または拘束され、
前記伸長型カテーテル本体のより曲がりにくい近位部分に対する前記第1の光ファイバセンサと第2の光ファイバセンサの動きを可能とするために、前記伸長型カテーテル本体のより曲がりにくい近位部分では自由浮動である、ことを特徴とする医療機器システム。 - 請求項8に記載の医療機器システムにおいて、前記第1の光ファイバセンサが第1のファイバコアを具え、前記第2の光ファイバセンサが第2のファイバコアを具え、各ファイバコアは複数の相隔てられた複数のブラッグ格子を具え、各々が前記複数のブラッグ格子のそれぞれと操作可能な関係で結合されたそれぞれの広帯域基準反射体を具えることを特徴とする医療機器システム。
- 請求項9に記載の医療機器システムにおいて、前記第1のファイバコアは、前記伸長型カテーテル本体内の第1の場所に配置された第1のマルチコア光ファイバの一部であり、前記第2のファイバコアは、前記伸長型カテーテル本体内の第2の箇所に配置された第2のマルチコア光ファイバの一部であることを特徴とする医療機器システム。
- 請求項8に記載の医療機器システムにおいて、前記複数の光ファイバセンサがさらに、前記伸長型カテーテル本体内で前記第1および第2の場所から円周上でオフセットしている第3の場所に配置された第3の光ファイバセンサを具えることを特徴とする医療機器システム。
- 請求項11に記載の医療機器システムにおいて、前記第1、第2、および第3の場所は、前記伸長型カテーテル本体の壁の円周上で等間隔にあることを特徴とする医療機器システム。
- 請求項11に記載の医療機器システムにおいて、前記複数の光ファイバセンサがさらに、前記伸長型カテーテル本体内の第4の場所に配置された第4の光ファイバセンサを具え、前記第1、第2、第3、および第4の場所は前記伸長型カテーテル本体の壁において円周上で等間隔にあることを特徴とする医療機器システム。
- 請求項11に記載の医療機器システムにおいて、前記第1の光ファイバセンサは前記伸長型カテーテル本体内の第1の場所に配置された第1のマルチコア光ファイバセンサの一部であり、前記第2の光ファイバセンサは前記伸長型カテーテル本体内の第2の場所に配置された第2のマルチコア光ファイバセンサの一部であり、前記第3の光ファイバセンサは前記伸長型カテーテル本体内の第3の場所に配置された第3のマルチコア光ファイバセンサの一部であり、前記第1、第2、および第3の場所は前記伸長型カテーテル本体の壁において円周上で等間隔にあることを特徴とする医療機器システム。
- 伸長型機器本体と;
前記伸長型機器本体の壁の中に納められた近位端と、前記伸長型機器本体の壁の中に納められていない遠位端とを有する光ファイバセンサと;
前記光ファイバセンサの近位端に機能的に結合され、前記光ファイバセンサに送られる各光信号を検出するよう構成された検出器と;
当該検出器と機能的に結合され、前記検出された光信号の分析に基づき、前記光ファイバセンサの遠位端部の温度変化を測定するよう構成されるコントローラと;を具え、
前記光ファイバセンサの遠位端部は、その長さが変化できるように拘束されておらず、当該光ファイバセンサの遠位端部の長さの変化は、前記光ファイバセンサの遠位端部の温度の変化を測定するのに用いられることを特徴とする医療機器システム。 - 請求項15に記載の医療機器システムにおいて、前記分析はスペクトル分析であることを特徴とする医療機器システム。
- 請求項15に記載の医療機器システムにおいて、前記伸長型機器本体は管腔を規定しており、前記光ファイバセンサの遠位端部は少なくとも部分的に前記管腔内に配置されていることを特徴とする医療機器システム。
- 請求項17に記載の医療機器システムにおいて、前記伸長型機器本体が、前記管腔とつながる遠位端部の開口を有し、前記光ファイバセンサは、前記光ファイバセンサの遠位端部が前記遠位端部の開口から外に突出するように前記伸長型機器本体に結合されていることを特徴とする医療機器システム。
- 請求項8に記載の医療機器システムにおいて、前記第1および第2の場所は、前記伸長型カテーテル本体において円周上で正反対にあることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記分析はスペクトル分析であることを特徴とする医療機器システム。
- 請求項8に記載の医療機器システムにおいて、前記分析はスペクトル分析であることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記伸長型カテーテル本体のより曲がりにくい近位部分内の前記光ファイバセンサの近位部分は、前記伸長型カテーテル本体内で浮動自在であることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記伸長型カテーテル本体のより曲がりやすい遠位部分における前記光ファイバセンサの遠位部分は、前記伸長型カテーテル本体のより曲がりやすい遠位部分における前記伸長型カテーテル本体の屈曲をモニタリングし易くするために、前記伸長型カテーテル本体と本質的に結合または拘束されていることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサは、前記伸長型カテーテル本体の遠位端部に埋め込まれていることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサは、前記伸長型カテーテル本体の先端に埋め込まれていることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサは、前記伸長型カテーテル本体の先端に接合されていることを特徴とする医療機器システム。
- 請求項8に記載の医療機器システムにおいて、前記伸長型カテーテル本体のより曲がりにくい近位部分内における前記第1の光ファイバセンサと第2の光ファイバセンサの近位部分はそれぞれ、前記伸長型カテーテル本体内で浮動自在であることを特徴とする医療機器システム。
- 請求項8に記載の医療機器システムにおいて、前記伸長型カテーテル本体のより曲がりやすい遠位部分内における前記第1の光ファイバセンサと第2の光ファイバセンサの遠位部分はそれぞれ、前記伸長型カテーテルのより曲がりやすい遠位部分における前記伸長型カテーテル本体の屈曲をモニタリングし易くするために、前記伸長型カテーテル本体に本質的に結合しているか拘束されていることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサは、前記伸長型カテーテル本体のより曲がりやすい遠位部分に対する前記光ファイバセンサの縦または軸方向の動きを抑制するために、前記伸長型カテーテル本体と本質的に結合するか拘束されていることを特徴とする医療機器システム。
- 請求項1に記載の医療機器システムにおいて、前記光ファイバセンサは、前記伸長型カテーテル本体のより曲がりにくい近位部分に対して前記光ファイバセンサの縦または軸方向の動きを可能にするために、前記カテーテル本体内で浮動自在であることを特徴とする医療機器システム。
- 請求項15に記載の医療機器システムにおいて、前記光ファイバセンサの遠位部分の熱膨張または収縮に応じて、前記光ファイバセンサの遠位部分の長さが変化することを特徴とする医療機器システム。
- 請求項15に記載の医療機器システムにおいて、前記光ファイバセンサの遠位部分の温度変化に応じて、前記光ファイバセンサの遠位部分の長さが変化することを特徴とする医療機器システム。
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CN102599875A (zh) | 2012-07-25 |
US20130012809A1 (en) | 2013-01-10 |
WO2007109778A1 (en) | 2007-09-27 |
JP2009530069A (ja) | 2009-08-27 |
CN102599875B (zh) | 2015-03-11 |
US20120327392A1 (en) | 2012-12-27 |
US20100114115A1 (en) | 2010-05-06 |
EP3545815A1 (en) | 2019-10-02 |
EP1996063A1 (en) | 2008-12-03 |
EP1996063B1 (en) | 2019-07-03 |
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