JPH08500441A - 位置決定システム - Google Patents
位置決定システムInfo
- Publication number
- JPH08500441A JPH08500441A JP6506030A JP50603094A JPH08500441A JP H08500441 A JPH08500441 A JP H08500441A JP 6506030 A JP6506030 A JP 6506030A JP 50603094 A JP50603094 A JP 50603094A JP H08500441 A JPH08500441 A JP H08500441A
- Authority
- JP
- Japan
- Prior art keywords
- field
- sensor
- generator
- orientation
- determining
- 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.)
- Granted
Links
Classifications
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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
- 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
- A61B5/064—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 markers
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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
-
- 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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6804—Garments; Clothes
- A61B5/6806—Gloves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F5/00—Coils
- H01F5/02—Coils wound on non-magnetic supports, e.g. formers
- H01F2005/027—Coils wound on non-magnetic supports, e.g. formers wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Geophysics (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Vehicle Body Suspensions (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.各フィールド発生器が複数の同じ場所に配置されたフィールド発生素子を具 備している既知の位置の複数のフィールド発生器に関してフィールドセンサの位 置を決定する方法において、 (1)各発生器に対して、各発生素子を付勢し、フィールドセンサにおいて各 発生素子によって発生された各フィールドを測定し、 (2)各フィールド発生器に対して、各発生素子によって発生されたフィール ドの測定から、特定のフィールド発生器からセンサまでの距離の推定値を計算し 、。 (3)フィールド発生器に関するセンサの位置を計算するために、各フィール ド発生器からセンサまでの距離の推定値、およびフィールド発生器の既知の位置 を利用するステップを具備しているフィールドセンサの位置決定方法。 2.ステップ(1)において、1つの発生素子のみが任意の所定の時間に付勢さ れるように、各フィールド発生器の各発生素子が次々に付勢される請求項1記載 の方法。 3.ステップ(1)において、少なくとも2つの発生素子が同時に付勢され、こ れらの少なくとも2つの各発生素子のそれぞれが同時に付勢された他の発生素子 とは異なる周波数で付勢される請求項1記載の方法。 4.フィールドセンサの位置を決定し、さらに前記センサの方向を決定する方法 において、 (4)各フィールド発生器に関するセンサの方向の推定値を計算するため、ス テップ(3)において計算されたセンサの位置、およびフィールド発生素子によ って発生されたフィールドの形態の知識を使用し、 (5)フィールド発生器に関するセンサの位置および方向が所望の正確度レベ ルで認識されるまでステップ(2)乃至(4)を反復するステップを具備してい る請求項1、2または3のいずれか1項記載の方法。 5.フィールドセンサの位置を決定し、さらに前記センサの方向を決定する方法 において、 (4)各フィールド発生器からのセンサの方向べクトルに対する各フィールド の角度を計算するため、ステップ(3)において計算されたセンサの位置、およ びフィールド発生素子の既知の相対的な方向を使用し、 (5)フィールドの角度およびフィールド発生素子によって発生されたフィー ルドの知識から、各フィールド発生器に関してフィールドセンサの角度を計算し 、 (6)フィールド発生器に関するセンサの位置が所望の正確度レベルで認識さ れるまでステップ(2)乃至(5)を反復し、 (7)各フィールド発生器に関するセンサの方向を計算するステップを具備し ている請求項1、2または3のいずれか1項記載の方法。 6.フィールド発生器に関する複数の同じ場所に配置されたフィールド検知素子 を具備し、複数の同じ場所に配置された フィールド発生素子を具備しているフィールドセンサの位置を決定する方法にお いて、 (1)フィールドを設定するために単一のフィールド発生素子が付勢され、 (2)フィールド内のセンサの位置および方向に依存してフィールドセンサに おけるフィールド強度の値を測定し、 (3)各フィールド発生素子に対してステップ(1)および(2)を反復し、 (4)ステップ2において測定された全ての値およびセンサの位置の推定値を 利用することによって、フィールドの軸がセンサの方に向けられた場合にセンサ に存在するフィールドの強度Bの推定値を計算し、 (5)フィールドに関するセンサの位置が正確に所望のレベルまで分かるまで 、センサの位置の推定値を反復的に変えることによてBの値を最大化するステッ プを具備しているフィールド位置決定方法。 7.フィールドセンサの位置を決定する装置において、 複数のフィールド発生素子をそれぞれ具備している複数のフィールド発生器と 、 目標物体の位置が決定されるフィールドを発生させるための複数の各フィール ド発生素子を付勢するために各フィールド発生器に関して動作可能である付勢手 段と、 フィールドセンサに接続され、センサにおけるフィールドのパラメータを測定 し、出力する測定手段と、 付勢手段を制御し、測定手段によって出力されたパラメー タを記憶し、複数のフィールド発生器に関するセンサの位置を計算する制御手段 とを具備しているフィールド位置決定装置。 8.各フィールド発生素子を連続的に付勢するために付勢手段が実施可能である 請求項7記載の装置。 9.少なくとも2つのフィールド発生素子を連続的に付勢し、別々の周波数でそ れぞれ同時に付勢されたフィールド発生素子を付勢するために付勢手段が実施可 能である請求項7記載の装置。 10.フィールドセンサが単一のフィールド検知素子を具備し、前記フィールド 検知素子によって検知されたフィールドのパラメータがフィールド内のフィール ド検知素子の方向に依存している請求項7、8または9のいずれか1項記載のフ ィールドセンサ位置決定装置。 11.フィールド検知素子が導電ワイヤのコイルを具備する請求項10記載のフ ィールドセンサの位置決定装置。 12.3個のフィールド発生器を有し、それぞれ3個の相互に直交した同じ場所 に配置された発生素子を具備している請求項7乃至11のいずれか1項記載のフ ィールドセンサ位置決定装置。 13.制御手段が、 センサの方向に関係なく、3個の各フィールド発生器からのセンサの距離を推 定し、 各フィールド発生器からのセンサの距離の推定値、および3個のフィールド発 生器の相対的な位置の知識からフィール ド発生器に関するセンサの位置を推定し、 各フィールド発生器からのセンサの距離の次の推定値にセンサの方向の結果を 含むことにより、センサの位置の推定値を反復して改善し、センサの方向を付加 的に決定することによってセンサの位置および方向を計算する請求項7乃至12 のいずれか1項記載のフィールドセンサの位置および方向決定装置。 14.複数のフィールド発生素子を具備しているフィールド発生器と、 目標物体が位置されるフィールドを発生させるために各フィールド発生素子を 順次付勢する付勢手段と、 フィールドのパラメータをそれぞれ検知することができる複数の同じ場所に配 置されたフィールド検知素子を具備している目標物体に取り付けられているセン サと、 各フィールド発生素子が付勢されるときに各フィールド検知素子によって検知 されたフィールドのパラメータを測定し、出力する測定手段と、 付勢手段を制御し、測定手段によって出力されたパラメータを記憶し、フィー ルド発生器に関するセンサの位置を決定する制御手段とを具備し、 制御手段が、 位置依存性加重係数によりセンサによって検知された各パラメータを加重し、 センサでフィールドの強度の推定値をセンサで検知された全パラメータから計 算し、 フィールドの強度の最大値が分かるまで位置依存性加重係数を反復的に変える ことによってセンサの位置を決定するように動作可能であるフィールド発生器に 関する目標物体の位置決定装置。 15.フィールド発生器が3個の相互に直交したフィールド発生素子を具備し、 センサが3個の直交したフィールド検知素子を具備する請求項14記載の目標物 体位置決定装置。 16.実質上添付図面を参照して説明されたように目標物体の位置を決定する装 置。 17.実質上添付図面を参照して説明されたように目標物体を位置決定する方法 。
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP92307492.6 | 1992-08-14 | ||
EP92307492 | 1992-08-14 | ||
GB92307492.6 | 1993-01-27 | ||
GB939301569A GB9301569D0 (en) | 1993-01-27 | 1993-01-27 | Position location system |
GB9301569.1 | 1993-01-27 | ||
PCT/GB1993/001736 WO1994004938A1 (en) | 1992-08-14 | 1993-08-16 | Position location system |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH08500441A true JPH08500441A (ja) | 1996-01-16 |
JP3432825B2 JP3432825B2 (ja) | 2003-08-04 |
Family
ID=26132144
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP50603094A Expired - Fee Related JP3432825B2 (ja) | 1992-08-14 | 1993-08-16 | 位置決定システム |
Country Status (7)
Country | Link |
---|---|
US (6) | US5913820A (ja) |
JP (1) | JP3432825B2 (ja) |
AU (1) | AU675077B2 (ja) |
CA (1) | CA2142338C (ja) |
DE (1) | DE69318304T2 (ja) |
ES (1) | ES2115776T3 (ja) |
WO (1) | WO1994004938A1 (ja) |
Cited By (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000512873A (ja) * | 1996-06-17 | 2000-10-03 | 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 | 患者の体内に挿入され検出される医療用チューブ |
JP2001157659A (ja) * | 1999-10-01 | 2001-06-12 | Biosense Inc | 脈管画像再構成 |
JP2002054928A (ja) * | 2000-08-14 | 2002-02-20 | Reideikku:Kk | 方位測定方法及び測定装置 |
JP2002236010A (ja) * | 2000-10-31 | 2002-08-23 | Biosense Inc | 金属不感受性のシステム |
JP2003004409A (ja) * | 2001-06-26 | 2003-01-08 | Reideikku:Kk | 位置測定方式及び位置測定装置 |
JP2003520062A (ja) * | 1999-05-18 | 2003-07-02 | メディガイド リミテッド | 医療用位置決めシステム |
JP2003530557A (ja) * | 2000-04-07 | 2003-10-14 | ノーザン・デジタル・インコーポレイテッド | 磁気的な位置または配向の決定における誤差の検出方法 |
JP2004130094A (ja) * | 2002-07-18 | 2004-04-30 | Biosense Inc | 髄内釘に対する止めねじの遠位ターゲッティング |
JP2006149484A (ja) * | 2004-11-25 | 2006-06-15 | Olympus Corp | 超音波診断装置 |
JP2006223849A (ja) * | 2005-01-18 | 2006-08-31 | Pentax Corp | 電子内視鏡システム |
JP2006524814A (ja) * | 2003-04-22 | 2006-11-02 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | マルチスケール定位方法 |
JP2007163462A (ja) * | 2005-10-19 | 2007-06-28 | Biosense Webster Inc | 反転磁界システムでの金属不感受性 |
JP2007522860A (ja) * | 2004-02-18 | 2007-08-16 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 脈管系における精細なナビゲーションに対するカテーテル装置及び方法 |
JP2007236937A (ja) * | 2006-03-03 | 2007-09-20 | Biosense Webster Inc | ポジション追跡測定における磁気双極子不明確性の解決 |
JP2007248451A (ja) * | 2005-12-30 | 2007-09-27 | Depuy Products Inc | 磁気源の位置を突き止める方法 |
JP2007298514A (ja) * | 2006-04-28 | 2007-11-15 | Biosense Webster Inc | 医療器具における低減された磁場歪み |
JP2008039562A (ja) * | 2006-08-04 | 2008-02-21 | Meisei Electric Co Ltd | 移動体の位置検出方法及び装置 |
JP2009502396A (ja) * | 2005-08-04 | 2009-01-29 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 治療器具の定位を目的とした,センサの磁気追跡のためのシステム及び方法 |
JP2009229443A (ja) * | 2008-02-29 | 2009-10-08 | Shimadzu Corp | 目標体探査システム |
JP2011039010A (ja) * | 2009-08-18 | 2011-02-24 | Public Works Research Institute | 変形計測システムおよび変形計測方法 |
JP2011059091A (ja) * | 2009-09-07 | 2011-03-24 | Aichi Micro Intelligent Corp | 室内位置検出装置 |
JP2011514197A (ja) * | 2008-03-03 | 2011-05-06 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 電磁トラッキング及び光針による生検誘導 |
US8332013B2 (en) | 1999-05-18 | 2012-12-11 | MediGuide, Ltd. | System and method for delivering a stent to a selected position within a lumen |
JP5117051B2 (ja) * | 2004-12-20 | 2013-01-09 | 株式会社日立メディコ | 超音波診断システム及びその方法 |
WO2013018464A1 (ja) * | 2011-07-29 | 2013-02-07 | オリンパスメディカルシステムズ株式会社 | 位置検出装置、カプセル型内視鏡システムおよびカプセル型内視鏡の位置検出プログラム |
WO2013162033A1 (ja) * | 2012-04-26 | 2013-10-31 | オリンパスメディカルシステムズ株式会社 | 位置検出装置、カプセル型内視鏡システム、及び位置検出プログラム |
JP2014021111A (ja) * | 2012-07-12 | 2014-02-03 | Biosense Webster (Israel) Ltd | 単軸センサのための位置及び向きアルゴリズム |
JP2015083131A (ja) * | 2013-10-25 | 2015-04-30 | バイオセンス・ウエブスター・(イスラエル)・リミテッドBiosense Webster (Israel), Ltd. | 直列接続された自律型位置特定パッド |
JP2015107377A (ja) * | 2009-11-13 | 2015-06-11 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 低侵襲外科システムにおいて使用するマスターフィンガー追跡デバイスおよびその方法 |
WO2017175313A1 (ja) * | 2016-04-05 | 2017-10-12 | オリンパス株式会社 | 磁場センサシステム及びそれを備える軟性装置 |
US9833167B2 (en) | 1999-05-18 | 2017-12-05 | Mediguide Ltd. | Method and system for superimposing virtual anatomical landmarks on an image |
JP2018511122A (ja) * | 2015-03-05 | 2018-04-19 | マジック リープ, インコーポレイテッドMagic Leap,Inc. | 拡張現実のためのシステムおよび方法 |
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 |
JP2020527234A (ja) * | 2017-07-17 | 2020-09-03 | シスナヴ | 少なくとも3つの磁気発生器のセットによって生成された磁場中を移動する物体を位置特定する方法 |
JP2023085038A (ja) * | 2021-12-08 | 2023-06-20 | 功憲 末次 | 現在位置測定システム、現在位置測定装置、現在位置測定プログラム、磁場発生装置および磁場発生プログラム |
Families Citing this family (1012)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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- 1993-08-16 JP JP50603094A patent/JP3432825B2/ja not_active Expired - Fee Related
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2000
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Also Published As
Publication number | Publication date |
---|---|
CA2142338C (en) | 1999-11-30 |
WO1994004938A1 (en) | 1994-03-03 |
DE69318304T2 (de) | 1998-08-20 |
JP3432825B2 (ja) | 2003-08-04 |
AU4726693A (en) | 1994-03-15 |
US8200314B2 (en) | 2012-06-12 |
US6522907B1 (en) | 2003-02-18 |
US6516212B1 (en) | 2003-02-04 |
US6374134B1 (en) | 2002-04-16 |
US7174202B2 (en) | 2007-02-06 |
US20030163037A1 (en) | 2003-08-28 |
US20070167722A1 (en) | 2007-07-19 |
DE69318304D1 (de) | 1998-06-04 |
ES2115776T3 (es) | 1998-07-01 |
AU675077B2 (en) | 1997-01-23 |
CA2142338A1 (en) | 1994-03-03 |
US5913820A (en) | 1999-06-22 |
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