JPH11506831A - 適応フィードバック制御体を備えた磁場配置装置 - Google Patents
適応フィードバック制御体を備えた磁場配置装置Info
- Publication number
- JPH11506831A JPH11506831A JP9501022A JP50102297A JPH11506831A JP H11506831 A JPH11506831 A JP H11506831A JP 9501022 A JP9501022 A JP 9501022A JP 50102297 A JP50102297 A JP 50102297A JP H11506831 A JPH11506831 A JP H11506831A
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- magnetic field
- sensors
- transmitter
- parameters
- 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
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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
- A61B5/062—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
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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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- 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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- 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
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.(a)既知の変動パターンに従って感知容積(50)内の位置とともに変化 するパラメータをそれぞれ有する複数の磁場を発生する磁場発生手段(10)を 備え、前記変動パターンは前記磁場が異なるごとに異なり、 (b)少なくとも1つのセンサ(18)を備え、該センサは、該センサが前記 感知容積内の未知の位置にあるときに前記センサにおける前記パラメータの1つ 以上を検出するとともに、前記1つ以上のパラメータを表す1つ以上のセンサ信 号を提供するように構成されており、更に (c)前記センサ信号と前記既知の変動パターンに基づいて前記センサの算出 位置を決定する算出手段(32)と、 (d)前記磁場発生手段を調整して前記センサ信号、前記算出位置またはこれ らの双方に応答して前記磁場の少なくとも1つの前記既知の変動パターンを変え ることにより前記センサにおけるかかる各変更磁場の前記パラメータを所定の範 囲内に保持するフィードバック制御手段(34)とを備える位置決定装置。 2.(a)感知容積(150)に隣接して異なる位置、異なる配置方向またはこ れらの双方で配置された複数のセンサ(110)を備え、該センサはかかる各セ ンサにおける磁場の1つ以上のパラメータを検出するとともに、前記1つ以上の パラメータを表す1つ以上の信号を提供し、更に (b)前記感知容積内の未知の位置へ移動自在でありかつ前記感知容積におい て少なくとも1つの磁場を提供する少なくとも1つの磁場トランスミッタ(11 8)を有し、各トランスミッタからの磁場がかかるトランスミッタに対する位置 にともなう既知の変動パターンに従って変動することにより前記センサ信号が前 記少なくとも1つのトランスミッタからの磁場の1つ以上のパラメータを表すよ うに構成された磁場発生手段と、 (c)前記センサ信号と前記既知の変動パターンに基づいて前記少なくとも1 つのトランスミッタの算出位置を決定する算出手段(32)と、 (d)前記磁場発生手段を調整して前記センサ信号、前記算出位置またはこれ らの双方に応答して前記磁場の少なくとも1つの前記既知の変動パターンを変え ることにより前記センサにおけるかかる各変更磁場の前記パラメータを所定の範 囲内に保持するフィードバック制御手段(34)とを備える位置決定装置。 3.前記磁場発生手段は前記感知容積においてDC磁場を提供するように動作を 行うことを特徴とする請求の範囲第1または2項に記載の装置。 4.前記磁場発生手段は複数のコイル(10、120、122、124)と、前 記各コイル(34、42、44、46)を直流電流で間欠的に作動させる手段と を有し、前記フィードバック制御手段は前記各直流電流の大きさを変える手段を 有し、前記算出手段は前記各間欠作動の開始後に遅れ時間が経過したときに各セ ンサから信号をサンプリングする手段を有し、前記フィードバック手段は各作動 において印加される電流の大きさに従って各作動の遅れ時間を変えることにより 一層少ない電流が使用されるときに遅れ時間を短くしかつ一層大きな電流が使用 されるときに遅れ時間を長くする手段を更に有することを特徴とする請求の範囲 第3項に記載の装置。 5.前記磁場発生手段は前記感知容積においてAC磁場を提供するように動作を 行うことを特徴とする請求の範囲第1または2項に記載の装置。 6.前記各センサは前記各パラメータに関する所定の最適の動作範囲内で最大の 精度を有し、かつ、前記各パラメータの前記所定の範囲は前記最適の動作範囲に 実質上対応することを特徴とする請求の範囲第1または2項に記載の装置。 7.前記各パラメータの前記所定の範囲は1つの値からなり、前記フィードバッ ク制御手段は各センサにおける磁場の前記各パラメータを実質上前記1つの値に 保持するように動作を行うことを特徴とする請求の範囲第1または2項に記載の 装置。 8.前記磁場発生手段は前記感知容積に隣接して配置された複数のトランスミッ タ(10)を有することを特徴とする請求の範囲第1項に記載の装置。 9.前記トランスミッタはrnとともに減少する大きさを有する磁場を放射する ように動作を行い、rはトランスミッタからの距離であり、nは1よりも大きい 数であることを特徴とする請求の範囲第2または8項に記載の装置。 10.前記各トランスミッタはK/r3に略等しい大きさを有する磁場を放射す るように動作し、Kは実数であり、更に前記フィードバック制御手段はKを調整 するように動作を行うことを特徴とする請求の範囲第9項に記載の装置。 11.センサ本体(18)を更に備え、前記少なくとも1つのセンサは前記セン サ本体に配置された複数の成分センサ(20、22、24)を有し、前記各成分 センサはセンサ本体に対して所定の部分方向の磁場成分の大きさを測定するよう に動作することを特徴とする請求の範囲第1項に記載の装置。 12.前記磁場発生手段は前記感知容積に隣接する互いに離隔する位置に配置さ れた複数のトランスミッタ(10)を有し、前記フィードバック制御手段は複数 の磁場を伝達するように前記各トランスミッタを調整することにより前記各磁場 に関して一の前記成分センサの部分方向の磁場の成分が所定の範囲に入るように 動作を行うことを特徴とする請求の範囲第11項に記載の装置。 13.前記各成分センサはホール効果センサ、磁気抵抗センサ、磁気光センサま たは磁束磁力計であることを特徴とする請求の範囲第11項に記載の装置。 14.前記各センサはコイルを有し、前記磁束発生手段は前記感知容積において AC磁場を提供するように配設されていることを特徴とする請求の範囲第1また は2項に記載の装置。 15.前記磁場発生手段は基準面の一方の側の互いに離隔した位置に配置された 複数のトランスミッタを有し、前記感知容積は前記基準面の他方の側に延びるこ とを特徴とする請求の範囲第1項に記載の装置。 16.前記トランスミッタは実質上共通面内に配置されていることを特徴とする 請求の範囲第15項に記載の装置。 17.前記複数のセンサは基準面の一方の側の互いに離隔した位置に配置され、 前記感知容積は前記基準面の他方の側に延びることを特徴とする請求の範囲第2 項に記載の装置。 18.前記センサは実質上共通面内に配置されていることを特徴とする請求の範 囲第17項に記載の装置。 19.前記少なくとも一つのセンサは複数のセンサを有し、該センサは所定のし きい値を越える成分を有する磁場に曝されることにより損なわれ、前記フィード バック制御手段はしきい値を越える大きさを有する磁場成分に曝されるセンサが ないように前記磁場発生手段を制御する手段を有することを特徴とする請求の範 囲第1または2項に記載の装置。 20.前記少なくとも一つのセンサは複数のセンサを有し、該センサは所定のし きい値を越える成分を有する磁場に曝されることにより損なわれるがリセットル ーチンが行われるとかかる暴露後に復元することができ、前記フィードバック制 御手段はかかる暴露があった場合にかかるリセットルーチンを開始する手段を有 することを特徴とする請求の範囲第1または2項に記載の装置。 21.(a)磁場を提供する少なくとも1つのトランスミッタを有するトランス ミッタ手段(10)と、 (b)それぞれにおける磁場の1つ以上のパラメータを感知する少なくとも1 つのセンサを有するとともにかかるパラメータを示す1つ以上のセンサ信号を提 供するセンサ手段(18)とを備え、前記トランスミッタ手段と前記センサ手段 は協働して複数のトランスミッターセンサ対を画成し、各対は1つのトランスミ ッタと1つのセンサを対の素子として有し、各対の一方の素子は対象物に配置さ れかつ各対の他方の素子は基準フレームの既知の位置に配置され、更に (c)前記センサ信号に基づいて前記基準フレームにおける対象物の配置を決 定する算出手段(32)と、 (d)前記センサ信号に応答して前記伝達手段を調整することにより前記セン サ信号の少なくとも1つを所定の範囲内に保持するフィードバック制御手段とを 備える基準フレームにおける対象物の配置を感知する装置。 22.(a)基準フレームに対する既知の変動パターンをそれぞれ有する1つ以 上の磁場を提供する工程と、 (b)対象物における前記1つ以上の磁場の1つ以上のパラメータを感知して 前記1つ以上のパラメータを示す1つ以上のセンサ信号を提供する工程と、 (c)前記センサ信号および前記既知の変動パターンに基づいて前記基準フレ ームにおける前記対象物の配置を算出する工程と、 (d)前記センサ信号、前記算出された配置またはこれらの双方に応答して前 記1つ以上の磁場の少なくとも1つについての前記既知の変動パターンを変える ことにより前記対象物におけるこのように変化された各磁場の前記パラメータを 所定の範囲内に保持する工程とを備える工程とを備えることを特徴とする基準フ レームにおける対象物の配置を決定する方法。 23.(a)空間における既知の変動パターンをそれぞれが有する1つ以上の磁 場を対象物に対して提供する工程と、 (b)前記基準フレームにおいて既知の配置を有する1つ以上のセンサにおけ る前記1つ以上の磁場の1つ以上のパラメータを感知して前記1つ以上のパラメ ータを示す1つ以上のセンサ信号を提供する工程と、 (c)前記センサ信号および前記1つ以上の磁場の前記既知の変動パターンと に基づいて前記基準フレームにおける前記対象物の配置を算出する工程と、 (d)前記センサ信号、前記算出された配置またはこれらの双方に応答して前 記1つ以上の磁場の前記既知の変動パターンを変えることにより前記センサの少 なくとも1つにおけるこのように変更された各磁場の前記パラメータを所定の範 囲内に保持する工程とを備えることを特徴とする基準フレームにおける対象物の 配置を決定する方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/476,380 | 1995-06-07 | ||
US08/476,380 US5729129A (en) | 1995-06-07 | 1995-06-07 | Magnetic location system with feedback adjustment of magnetic field generator |
PCT/US1996/008411 WO1996041119A1 (en) | 1995-06-07 | 1996-06-03 | Magnetic location system with adaptive feedback control |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH11506831A true JPH11506831A (ja) | 1999-06-15 |
JP3351796B2 JP3351796B2 (ja) | 2002-12-03 |
Family
ID=23891603
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP50102297A Expired - Lifetime JP3351796B2 (ja) | 1995-06-07 | 1996-06-03 | 適応フィードバック制御体を備えた磁場配置装置 |
Country Status (10)
Country | Link |
---|---|
US (1) | US5729129A (ja) |
EP (1) | EP0830562B1 (ja) |
JP (1) | JP3351796B2 (ja) |
CN (1) | CN1133864C (ja) |
AT (1) | ATE438078T1 (ja) |
AU (1) | AU692398B2 (ja) |
DE (1) | DE69637978D1 (ja) |
DK (1) | DK0830562T3 (ja) |
ES (1) | ES2330060T3 (ja) |
WO (1) | WO1996041119A1 (ja) |
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JP2000121306A (ja) * | 1998-09-24 | 2000-04-28 | Biosense Inc | 小型位置センサ― |
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- 1996-06-03 ES ES96917933T patent/ES2330060T3/es not_active Expired - Lifetime
- 1996-06-03 AT AT96917933T patent/ATE438078T1/de not_active IP Right Cessation
- 1996-06-03 WO PCT/US1996/008411 patent/WO1996041119A1/en active Application Filing
- 1996-06-03 EP EP96917933A patent/EP0830562B1/en not_active Expired - Lifetime
- 1996-06-03 DE DE69637978T patent/DE69637978D1/de not_active Expired - Lifetime
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JP2004174244A (ja) * | 2002-11-22 | 2004-06-24 | Biosense Inc | 動的金属の補償 |
JP4717341B2 (ja) * | 2002-11-22 | 2011-07-06 | バイオセンス・ウエブスター・インコーポレーテツド | 動的金属の補償 |
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 |
JP2005052637A (ja) * | 2003-07-18 | 2005-03-03 | Pentax Corp | カプセル型装置及びカプセル型装置駆動制御システム |
JP2009519086A (ja) * | 2005-12-15 | 2009-05-14 | 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 | 参照センサーのモジュラー・アレイを使った金属アーチファクト補償のための電磁的追跡の方法および装置。 |
JP2015502790A (ja) * | 2011-11-22 | 2015-01-29 | アセンション テクノロジー コーポレイションAscension Technology Corporation | 追跡ガイドワイヤ |
JP2017012840A (ja) * | 2011-11-22 | 2017-01-19 | アセンション テクノロジー コーポレイションAscension Technology Corporation | 追跡ガイドワイヤ |
JP2015530144A (ja) * | 2012-08-28 | 2015-10-15 | コーニンクレッカ フィリップス エヌ ヴェ | トラッキングセットアップと一体化した介入誘導システム |
US11583697B2 (en) | 2012-08-28 | 2023-02-21 | Koninklijke Philips N.V. | Interventional guidance system with integrated tracking setup |
JP2019080934A (ja) * | 2013-12-23 | 2019-05-30 | 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. | 位置追跡システム |
Also Published As
Publication number | Publication date |
---|---|
US5729129A (en) | 1998-03-17 |
AU692398B2 (en) | 1998-06-04 |
ES2330060T3 (es) | 2009-12-03 |
EP0830562B1 (en) | 2009-07-29 |
ATE438078T1 (de) | 2009-08-15 |
AU6031296A (en) | 1996-12-30 |
DE69637978D1 (de) | 2009-09-10 |
EP0830562A4 (en) | 2001-08-22 |
CN1133864C (zh) | 2004-01-07 |
EP0830562A1 (en) | 1998-03-25 |
DK0830562T3 (da) | 2009-11-30 |
JP3351796B2 (ja) | 2002-12-03 |
WO1996041119A1 (en) | 1996-12-19 |
CN1186549A (zh) | 1998-07-01 |
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