JP5851188B2 - 力検出用カテーテルのための較正システム - Google Patents
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- 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
- A61B90/06—Measuring instruments not otherwise provided for
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- 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
- A61B2017/00725—Calibration or performance testing
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00988—Means for storing information, e.g. calibration constants, or for preventing excessive use, e.g. usage, service life counter
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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
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- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
- A61B2560/0238—Means for recording calibration data
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6885—Monitoring or controlling sensor contact pressure
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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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/332—Force measuring means
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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
- A61M25/0067—Catheters; Hollow probes characterised by the distal end, e.g. tips
- A61M25/0082—Catheter tip comprising a tool
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Description
表面に載置されている転動体と、
その表面に連結される力検出用デバイスであって、転動体を静止した状態に保持するように、転動体に押し付ける力検出用プローブによって、表面に垂直な方向に加えられた力を示す第1の測定値を得るように構成されている、力検出用デバイスと、
検出用デバイスからの第1の測定値を収集し、力検出用プローブからの力を示す第2の測定値を収集し、かつ、第1の測定値及び第2の測定値に基づき、力検出用プローブを較正するように構成されている、較正プロセッサーと、を備える装置を提供する。
力検出用デバイスに連結された表面に転動体を配置することと、
その表面で転動体が静止した状態に保持されるように、力検出用プローブを転動体に押し付け、同時に、力検出用デバイスへの力を、転動体を通して上記表面に垂直な方向に加えることと、
力検出用プローブを押し付けながら、力検出用デバイス及びプローブを用いて、それぞれ、力の第1の測定値及び第2の測定値を得ることと、
第1の測定値及び第2の測定値に基づき、力検出用プローブを較正することと、を含む、方法が更に提供される。
図1は、本発明の1つの実施形態による、力検出用カテーテルのための較正システム20の説明図である。システム20は、較正ユニット24に連結された較正装置22を備えている。以下に記述される実施形態において、システム20は、プローブ26を較正するために用いられる。本実施例において、プローブ26は、心臓又は他の体器官の治療目的及び/又は診断目的のために用いられるカテーテルを備えている。
図2は、本発明の1つの実施形態による、力検出用カテーテルを較正する方法を概略的に説明するフローチャートである。最初のステップ70において、オペレータ(図示なし)は、遠位先端部30をボール46に押し付ける。遠位先端部30をボール46に押し付けることによって、カテーテル26は、接合部32で曲げられ、それによって、遠位先端部は歪む。遠位先端部30の位置センサー38は、遠位先端部の歪み、即ち、遠位先端部の変位及びたわみを示す信号を出力する。同時に、荷重計50は、遠位先端部30によってボール46へ加えられた下向きの力を示す測定値を出力する。歪みと下向きの力の測定値との両者は、較正ユニット24へ送信される。較正手順の前、オペレータは、典型的には、ボールの重量を計上するために、(キーボード60を介して)荷重計50をゼロにすることに注目されたい。
(1) 表面に載置されている転動体と、
前記表面に連結される力検出用デバイスであって、前記転動体を静止した状態に保持するように、前記転動体に押し付ける力検出用プローブによって、前記表面に垂直な方向に加えられた力を示す第1の測定値を得るように構成されている、力検出用デバイスと、
前記検出用デバイスからの前記第1の測定値を収集し、前記力検出用プローブからの前記力を示す第2の測定値を収集し、かつ、前記第1の測定値及び第2の測定値に基づき、前記力検出用プローブを較正するように構成されている、較正プロセッサーと、を備える装置。
(2) 前記表面が平面的である、実施態様1に記載の装置。
(3) 前記転動体がシリコーンゴム・ボールを含む、実施態様1に記載の装置。
(4) 前記力検出用デバイスが荷重計を備える、実施態様1に記載の装置。
(5) 前記プロセッサーが、前記力検出用デバイスから前記力を示す第1の信号を収集することによって、前記第1の測定値を得るように構成されている、実施態様1に記載の装置。
(6) 前記プローブが、可撓性挿入チューブと、遠位先端部と、前記可撓性挿入チューブの遠位端を前記遠位先端部に接続する接合部と、を備える、実施態様1に記載の装置。
(7) 前記転動体に前記力検出用プローブを押し付けることによって、前記遠位先端部に歪みが生じる、実施態様6に記載の装置。
(8) 前記プロセッサーが、前記プローブから前記歪みを示す1つ又は2つ以上の信号を読み取ることによって、前記第2の測定値を得るように構成されている、実施態様7に記載の装置。
(9) 前記歪みが、前記遠位端の対称軸に平行な前記遠位先端部の軸方向変位を含む、実施態様7に記載の装置。
(10) 前記歪みが、前記遠位端の対称軸からの前記遠位先端部の角度たわみを含む、実施態様7に記載の装置。
(12) 前記プロセッサーが、前記プローブに連結されたメモリに前記較正係数を記憶するように構成されている、実施態様11に記載の装置。
(13) 前記メモリが、電子的消去可能プログラム可能読取り専用メモリ(E2PROM)を含む、実施態様12に記載の装置。
(14) 力検出用デバイスに連結された表面に転動体を配置することと、
前記表面で前記転動体が静止した状態に保持されるように、力検出用プローブを前記転動体に押し付け、同時に、前記力検出用デバイスへの力を、前記転動体を通して前記表面に垂直な方向に加えることと、
前記力検出用プローブを押し付けながら、前記力検出用デバイス及び前記プローブを用いて、それぞれ、前記力の第1の測定値及び第2の測定値を得ることと、
前記第1の測定値及び第2の測定値に基づき、前記力検出用プローブを較正することと、を含む、方法。
(15) 前記表面が平面的である、実施態様14に記載の方法。
(16) 前記転動体がシリコーンゴム・ボールを含む、実施態様14に記載の方法。
(17) 前記力検出用デバイスが荷重計を備える、実施態様14に記載の方法。
(18) 前記第1の測定値を得ることが、前記加えられた力を示す第1の信号を、前記力検出用デバイスから収集することを含む、実施態様14に記載の方法。
(19) 前記プローブが、可撓性挿入チューブと、遠位先端部と、前記可撓性挿入チューブの遠位端を前記遠位先端部に接続する接合部と、を備える、実施態様14に記載の方法。
(20) 前記転動体に前記力検出用プローブを押し付けることによって、前記遠位先端部に歪みが生じる、実施態様19に記載の方法。
(22) 前記歪みが、前記遠位端の対称軸に平行な前記遠位先端部の軸方向変位を含む、実施態様20に記載の方法。
(23) 前記歪みが、前記遠位端の対称軸からの前記遠位先端部の角度たわみを含む、実施態様20に記載の方法。
(24) 前記プローブを較正することが、前記力を前記第1の測定値及び第2の測定値の関数として評価するための1つ又は2つ以上の較正係数を算出することを含む、実施態様14に記載の方法。
(25) 前記プローブに結合されたメモリに前記較正係数を記憶することを含む、実施態様24に記載の方法。
(26) 前記メモリが、電子的消去可能プログラム可能読取り専用メモリ(E2PROM)を含む、実施態様25に記載の方法。
Claims (26)
- 表面に載置されている転動体と、
前記表面に連結される力検出用デバイスであって、前記転動体を静止した状態に保持するように、前記転動体に押し付ける力検出用プローブによって、前記表面に垂直な方向に加えられた力を示す第1の測定値を得るように構成されている、力検出用デバイスと、
前記検出用デバイスからの前記第1の測定値を収集し、前記力検出用プローブからの前記力を示す第2の測定値を収集し、かつ、前記第1の測定値及び第2の測定値に基づき、前記力検出用プローブを較正するように構成されている、較正プロセッサーと、を備える装置。 - 前記表面が平面的である、請求項1に記載の装置。
- 前記転動体がシリコーンゴム・ボールを含む、請求項1に記載の装置。
- 前記力検出用デバイスが荷重計を備える、請求項1に記載の装置。
- 前記プロセッサーが、前記力検出用デバイスから前記力を示す第1の信号を収集することによって、前記第1の測定値を得るように構成されている、請求項1に記載の装置。
- 前記力検出用プローブが、可撓性挿入チューブと、遠位先端部と、前記可撓性挿入チューブの遠位端を前記遠位先端部に接続する接合部と、を備える、請求項1に記載の装置。
- 前記転動体に前記力検出用プローブを押し付けることによって、前記遠位先端部に歪みが生じる、請求項6に記載の装置。
- 前記プロセッサーが、前記力検出用プローブから前記歪みを示す1つ又は2つ以上の信号を読み取ることによって、前記第2の測定値を得るように構成されている、請求項7に記載の装置。
- 前記歪みが、前記遠位端の対称軸に平行な前記遠位先端部の軸方向変位を含む、請求項7に記載の装置。
- 前記歪みが、前記遠位端の対称軸からの前記遠位先端部の角度たわみを含む、請求項7に記載の装置。
- 前記力検出用プローブを較正することが、前記力を前記第1の測定値及び第2の測定値の関数として評価するための1つ又は2つ以上の較正係数を算出することを含む、請求項1に記載の装置。
- 前記プロセッサーが、前記力検出用プローブに連結されたメモリに前記較正係数を記憶するように構成されている、請求項11に記載の装置。
- 前記メモリが、電子的消去可能プログラム可能読取り専用メモリ(E2PROM)を含む、請求項12に記載の装置。
- 力検出用デバイスに連結された表面に転動体を配置することと、
前記表面で前記転動体が静止した状態に保持されるように、力検出用プローブを前記転動体に押し付け、同時に、前記力検出用デバイスへの力を、前記転動体を通して前記表面に垂直な方向に加えることと、
前記力検出用プローブを押し付けながら、前記力検出用デバイス及び前記力検出用プローブを用いて、それぞれ、前記力の第1の測定値及び第2の測定値を得ることと、
前記第1の測定値及び第2の測定値に基づき、前記力検出用プローブを較正することと、を含む、方法。 - 前記表面が平面的である、請求項14に記載の方法。
- 前記転動体がシリコーンゴム・ボールを含む、請求項14に記載の方法。
- 前記力検出用デバイスが荷重計を備える、請求項14に記載の方法。
- 前記第1の測定値を得ることが、前記加えられた力を示す第1の信号を、前記力検出用デバイスから収集することを含む、請求項14に記載の方法。
- 前記力検出用プローブが、可撓性挿入チューブと、遠位先端部と、前記可撓性挿入チューブの遠位端を前記遠位先端部に接続する接合部と、を備える、請求項14に記載の方法。
- 前記転動体に前記力検出用プローブを押し付けることによって、前記遠位先端部に歪みが生じる、請求項19に記載の方法。
- 前記第2の測定値を得ることが、前記力検出用プローブから前記歪みを示す1つ又は2つ以上の信号を読み取ることを含む、請求項20に記載の方法。
- 前記歪みが、前記遠位端の対称軸に平行な前記遠位先端部の軸方向変位を含む、請求項20に記載の方法。
- 前記歪みが、前記遠位端の対称軸からの前記遠位先端部の角度たわみを含む、請求項20に記載の方法。
- 前記力検出用プローブを較正することが、前記力を前記第1の測定値及び第2の測定値の関数として評価するための1つ又は2つ以上の較正係数を算出することを含む、請求項14に記載の方法。
- 前記力検出用プローブに結合されたメモリに前記較正係数を記憶することを含む、請求項24に記載の方法。
- 前記メモリが、電子的消去可能プログラム可能読取り専用メモリ(E2PROM)を含む、請求項25に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/899,909 US8731859B2 (en) | 2010-10-07 | 2010-10-07 | Calibration system for a force-sensing catheter |
US12/899,909 | 2010-10-07 |
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JP2012083348A JP2012083348A (ja) | 2012-04-26 |
JP5851188B2 true JP5851188B2 (ja) | 2016-02-03 |
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JP2011221665A Active JP5851188B2 (ja) | 2010-10-07 | 2011-10-06 | 力検出用カテーテルのための較正システム |
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US (1) | US8731859B2 (ja) |
EP (1) | EP2438881B1 (ja) |
JP (1) | JP5851188B2 (ja) |
CN (1) | CN102551890B (ja) |
AU (1) | AU2011226874B2 (ja) |
CA (1) | CA2754969C (ja) |
IL (1) | IL215186A (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
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US8357152B2 (en) | 2007-10-08 | 2013-01-22 | Biosense Webster (Israel), Ltd. | Catheter with pressure sensing |
US8535308B2 (en) * | 2007-10-08 | 2013-09-17 | Biosense Webster (Israel), Ltd. | High-sensitivity pressure-sensing probe |
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AU2011226874A1 (en) | 2012-04-26 |
CN102551890B (zh) | 2015-07-22 |
IL215186A (en) | 2015-01-29 |
JP2012083348A (ja) | 2012-04-26 |
US8731859B2 (en) | 2014-05-20 |
US20120089358A1 (en) | 2012-04-12 |
IL215186A0 (en) | 2011-11-30 |
CN102551890A (zh) | 2012-07-11 |
CA2754969A1 (en) | 2012-04-07 |
AU2011226874B2 (en) | 2015-06-18 |
CA2754969C (en) | 2019-02-26 |
EP2438881B1 (en) | 2015-01-28 |
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