WO2003094727A1 - Systeme d'imagerie par resonance magnetique - Google Patents

Systeme d'imagerie par resonance magnetique Download PDF

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Publication number
WO2003094727A1
WO2003094727A1 PCT/JP2003/005820 JP0305820W WO03094727A1 WO 2003094727 A1 WO2003094727 A1 WO 2003094727A1 JP 0305820 W JP0305820 W JP 0305820W WO 03094727 A1 WO03094727 A1 WO 03094727A1
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WO
WIPO (PCT)
Prior art keywords
gantry
magnetic resonance
connector
resonance imaging
imaging
Prior art date
Application number
PCT/JP2003/005820
Other languages
English (en)
Japanese (ja)
Inventor
Hirotaka Takeshima
Shigeru Watanabe
Tetsuhiko Takahashi
Tsutomu Suzuki
Original Assignee
Hitachi Medical Corporation
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP2002136415A external-priority patent/JP2003325470A/ja
Priority claimed from JP2002136416A external-priority patent/JP2003325471A/ja
Application filed by Hitachi Medical Corporation filed Critical Hitachi Medical Corporation
Publication of WO2003094727A1 publication Critical patent/WO2003094727A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/20—Arrangements or instruments for measuring magnetic variables involving magnetic resonance
    • G01R33/28—Details of apparatus provided for in groups G01R33/44 - G01R33/64

Definitions

  • the present invention relates to a magnetic resonance imaging apparatus that captures a tomographic image of a desired part of a human body as a subject using a nuclear magnetic resonance phenomenon, and more particularly, to a magnetic resonance imaging apparatus configured to be movable in an imaging room.
  • a magnetic resonance imaging apparatus applies a static magnetic field and a gradient magnetic field to a subject using a magnetic field generating means, irradiates a high frequency magnetic field pulse to cause nuclear magnetic resonance in the subject, and generates an echo signal emitted from the subject. To detect. Then, signal processing is performed on the detected echo signal, and the density distribution, relaxation time distribution, and the like of nuclear spins in the subject are photographed as tomographic images.
  • the static magnetic field for generating nuclear magnetic resonance must have uniform strength and direction in space and time.
  • Static magnetic field generating means for generating such a static magnetic field are roughly classified into those using a permanent magnet and those using a superconducting magnet or a normal conducting magnet.
  • the stray magnetic field generated by the static magnetic field generating means not only affects the cardiac pacemaker, but also when the ferromagnetic material such as iron approaches the static magnetic field generating means, the leaked magnetic field magnetizes the ferromagnetic material.
  • a large force attracted in the direction of the static magnetic field generating means acts. This attractive force increases as the size of the ferromagnetic material increases and as the magnetic permeability increases.
  • a movable magnetic resonance imaging device as described in Japanese Patent Application Laid-Open No. 2000-1990 is used for percutaneous treatment.
  • the magnetic resonance imaging apparatus is moved so as to move the subject away from the subject, and if necessary, the magnetic resonance imaging apparatus is moved so as to approach the subject and take a tomographic image.
  • FIG. 12 is an explanatory view of the operation when a movable magnetic resonance imaging apparatus is installed in an operating room to perform percutaneous treatment.
  • a movable magnetic resonance imaging apparatus includes a control device, an image processing device 10, and a gantry 100 connected to each other by a cable 10 a for supplying various signals and power. It has.
  • the number of cables 10a depends on the number of signal lines, and they are housed in cable ducts to prevent scattering.
  • the image processing device 100 controls the operation of the transmission coil, the reception coil, the gradient coil, and the like of the gantry 100 according to a predetermined program, and captures a tomographic image.
  • a leakage magnetic field 100a is generated from a gantry 100 of the magnetic resonance imaging apparatus.
  • the stray magnetic field 100a is drawn with three lines, but the outermost line is shown as an approximately 5 Gauss line.
  • the patient 101 as a subject lies on a couch 102, and the head of the patient 101 is fixed to a surgical unit fixture 103.
  • the vicinity of the surgical unit fixture 103 is called an operation field 104, and the gantry 10 is retracted so as not to enter the 5-gauss line of the stray magnetic field 100a.
  • Peripheral devices 105 to 107 such as an infusion, an electrocardiograph, and an operating microscope are provided around the patient 101 and the bed 102.
  • a surgical instrument table 109 on which a surgical instrument 108 is mounted is provided near the operating section fixture 103.
  • the surgeon 110 performs surgery on the patient 101 using the peripheral devices 105 to 107 and the surgical instrument 108. Disclosure of the invention
  • the surgical instruments 108, forceps and the like and peripheral devices 105 to 107 used during the operation are usually made of magnetic materials, so that the magnetic resonance imaging device gantry 100 It is affected by the stray magnetic field of 100 a. For this reason, due to the carelessness of the surgeon 110, etc., these surgical instruments 108 and peripheral devices 105 to 107 are erroneously leaked to the magnetic resonance imaging apparatus gantry 100 by magnetic fields 100a. When these are brought close to each other, they may be attracted in the direction of the magnetic resonance imaging apparatus 100.
  • peripheral devices 105 to 107 malfunction due to the influence of the leakage magnetic field 100a.
  • the total weight of the gantry 100 of the magnetic resonance imaging apparatus is, for example, about several hundred to 300 (kg), which is heavy for a head.
  • the gap of the gantry 100 between which the patient's head and the like are sandwiched is, for example, about 25 [cm] for the head, in order to improve the magnetic field strength and reduce the leakage magnetic field. They are narrowly spaced.
  • the gantry 100 and the control device 100 are connected by a cable 10a, but the cable 10a has a large diameter and hinders the rapid movement of the gantry 100. Had become.
  • An object of the present invention is to realize a magnetic resonance imaging apparatus which can easily perform positioning of a gantry with respect to a patient and can easily and quickly transition between imaging and surgery. .
  • a magnetic resonance imaging apparatus comprising movable gantry means, wherein the gantry means comprises: a magnetic field generating means for generating a static magnetic field and a gradient magnetic field; and a high-frequency magnetic field pulse for causing a subject to generate nuclear magnetic resonance.
  • Imaging means having transmission means for irradiating signals, reception means for detecting echo signals emitted by nuclear magnetic resonance, driving means for moving the gantry means, and electric power for supplying power to the driving means A supply unit; and a drive control unit that controls the operation of the drive unit to control the movement of the gantry unit.
  • the imaging device, the power supply device, and the drive control device are mounted, and a base moved by the drive device is provided.
  • a first connector for supplying power to the power supply means and the gantry means and transmitting imaging information from the gantry means Is provided.
  • a second connector is provided at a first position and connected to the first connector, and the first and second connector are provided. Power is supplied to the power supply unit and the gantry unit via the power supply, and the imaging information is transmitted.
  • a third connector is provided at a second position, and power is supplied to the power supply through the first and third connector. Is done.
  • image processing means for creating a tomographic image of the subject
  • imaging control means for controlling the imaging means to capture a tomographic image of the subject
  • a couch on which a subject is mounted wherein the image processing means and the imaging control means are arranged in a first arrangement area of a room divided into two or more arrangement areas by a partition member; And the gantry means are arranged in a second arrangement area of the room.
  • the second connector means is connected to the first connector means at an arrangement position where the gantry means is suitable for imaging a subject on a bed. Placed in the first position.
  • the first and second connectors transmits and receives imaging information between the image processing means and the imaging control means via the means and the partition member.
  • the third connector means is arranged at an imaging standby position in which the gantry means is separated from an arrangement position suitable for imaging the subject on the bed. In this state, it is arranged at the second position connected to the first connector means.
  • the first connector means and the second connector means are respectively plural, and each of the plural first and second connector means is provided.
  • Power supply connector means and imaging information connector means which are separate from each other.
  • the first connector means is plural, and among the plurality of first connector means, the first connector means is connected to the second connector means.
  • a magnetic resonance imaging apparatus characterized in that the connector means to be connected and the connector means to be connected to the third connector means are separate from each other.
  • the first connector means and the second or third connector means are connected by a guide hole and a guide pin. You.
  • the gantry means includes the image processing means and the imaging control means.
  • the drive control means includes a storage means for storing a preset imaging position, and moves the gantry means to the imaging position stored in the storage means. To control.
  • the drive control means moves the gantry means according to a guide line drawn on a floor in an imaging room.
  • the drive control means includes a display means for virtually displaying a moving state of the gantry means to be moved.
  • the gantry means includes an obstacle detecting means for detecting an obstacle in a moving path of the gantry means.
  • the drive control means stops the movement of the gantry means when the obstacle detection means detects an obstacle.
  • the drive control means includes a display means for displaying that the obstacle detection means has detected an obstacle.
  • the obstacle detecting means is a pressure-sensitive sensor provided on a surface of the gantry means.
  • the imaging means has a permanent magnet as a means for generating a magnetic field, and a temperature detecting means for detecting the temperature of the permanent magnet and a means for maintaining the temperature of the permanent magnet.
  • the gantry means is provided with the heating means, and the imaging means is provided with a temperature control means for controlling a current supplied to the heater means based on the temperature detected by the temperature detecting means.
  • the imaging means has a gradient magnetic field coil for generating a gradient magnetic field as the magnetic field generation means, and the imaging means supplies a current to the gradient magnetic field coil A gradient magnetic field power supply.
  • the imaging means has a high-frequency magnetic field irradiation coil, and the imaging means applies a high-frequency pulse to the high-frequency magnetic field irradiation coil in a predetermined pulse sequence. It has high-frequency transmitting means for repeatedly supplying.
  • FIG. 1 is an overall schematic block diagram of a magnetic resonance imaging apparatus according to a first embodiment of the present invention.
  • FIG. 2 is a schematic internal view of an operating room in which the magnetic resonance imaging apparatus according to the first embodiment of the present invention is arranged, and is a view of the room from above.
  • FIG. 3 is an external configuration diagram of a gantry according to the first embodiment of the present invention.
  • FIG. 4 is a detailed external view near the connector of the gantry according to the first embodiment of the present invention.
  • FIG. 5 is a schematic explanatory view of a state before the connector of the gantry according to the first embodiment of the present invention is connected.
  • FIG. 6 is an overall schematic block diagram of a magnetic resonance imaging apparatus according to a second embodiment of the present invention.
  • FIG. 7 is a diagram illustrating an example of the obstacle detection sensor according to the second embodiment of the present invention.
  • FIG. 8 is a schematic internal view of an operating room in which a magnetic resonance imaging apparatus according to a second embodiment of the present invention is arranged, and is a view of the room from above.
  • FIG. 9 is a basic configuration block diagram of a gantry moving system according to a second embodiment of the present invention.
  • FIG. 10 is an operation flowchart relating to automatic movement of a gantry, detection of an obstacle, and handling of an obstacle in the second embodiment of the present invention.
  • FIG. 11 is an operation flowchart in the case of performing an operation using the magnetic resonance imaging apparatus according to the second embodiment of the present invention.
  • FIG. 12 is an explanatory diagram of a case where a magnetic resonance imaging apparatus is installed in an operating room and non-percutaneous treatment is performed there.
  • FIG. 13 is an explanatory diagram when a magnetic resonance imaging apparatus is installed in an operating room and the gantry is moved to the patient's head.
  • FIG. 1 is an overall configuration block diagram of a magnetic resonance imaging apparatus according to a first embodiment of the present invention.
  • the magnetic resonance imaging apparatus includes a gantry 1, a control device 2, and an image processing device 3.
  • the gantry 1 has a permanent magnet 11, an irradiation coil 12, a gradient coil 13, a receiving coil 14, a temperature sensor 15, a heater 16, a notebook 17, a driving device 18, and a connector 1. 9, a drive control unit 40 and a storage unit 41 are provided.
  • the permanent magnet 11 is placed around the subject (not shown) in the body axis direction or body axis direction.
  • a uniform static magnetic field is generated in a direction perpendicular to the direction, and is provided in a certain space around the subject.
  • a magnet that generates a magnetic field may use a normal conducting or superconducting static magnetic field generating magnet in addition to the permanent magnet 11.
  • an irradiation coil 12 for repeatedly irradiating a high-frequency pulse for causing nuclear magnetic resonance to the nuclei of the atoms constituting the living tissue of the subject in a predetermined pulse sequence
  • a gradient magnetic field coil 13 for generating a gradient magnetic field
  • a receiving coil 14 for detecting an echo signal (NMR signal) emitted by nuclear magnetic resonance of an atomic nucleus of a living tissue of a subject are provided.
  • the gradient magnetic field coil 13 can independently apply a slice-direction gradient magnetic field, a phase-direction gradient magnetic field, and a frequency-direction gradient magnetic field to a subject in Cartesian coordinate axis directions orthogonal to each other. Position information can be added to the echo signal by applying a gradient magnetic field to the subject.
  • the permanent magnet 11 that generates a static magnetic field has a high temperature dependence of the magnetic field strength, it is necessary to control the temperature. Therefore, a temperature sensor 15 and a heater 16 are provided, the temperature of the permanent magnet 11 is measured, and the heater 16 is used to control the permanent magnet 11 to a constant temperature.
  • the driving device 18 is composed of an electric motor, stopping means, and the like, and moves the gantry 1 and positions the gantry 1 during imaging.
  • the driving device 18 is driven by the power from the battery 17 because power is not supplied from the outside when moving.
  • the storage unit 41 stores position information when the gantry 1 is photographed and when the gantry 1 is evacuated.
  • the drive control unit 40 controls the operation of the drive unit 18 and controls the movement of the gantry 1 according to the position information stored in the storage unit 41.
  • the position information in the storage unit 41 may be stored or changed from the image processing device 3, or a position information indicating unit may be provided in the gantry 1 or the control device 2, and the position information may be transmitted from the position information indicating unit. It can be stored in the storage unit 41 or changed.
  • the battery 17 is charged from the primary power supply 24 in the used state.
  • Connector 19 provided on gantry 1 is connected to connector 2 provided on control unit 2. Combined with A, supplies power and sends and receives signals between gantry 1 and controller 2.
  • the control device 2 includes a gradient magnetic field power supply 21, a high-frequency transmission / reception system 22, a temperature control device 23, a primary power supply 24, and the like.
  • the gradient magnetic field power supply 21 supplies a current to the gradient magnetic field coil 13.
  • the operation of the gradient magnetic field power supply 21 is controlled by the sequencer 32 of the image processing device 3.
  • the high-frequency transmission / reception system 22 includes an interface 25, a synthesizer 26, a transmission system 27, and a reception system 28.
  • the interface 25 receives a control signal from the sequencer 32 of the image processing device 3 and supplies it to the synthesizer 26.
  • the synthesizer 26 generates a high-frequency pulse based on the control signal from the sequencer 32, modulates it with a predetermined amplitude, and amplifies the amplitude-modulated high-frequency pulse by the high-frequency amplifier of the transmission system 27. Then, the amplified high-frequency pulse is supplied to the irradiation coil 12 via the filter box 29, the connector 2A, and the connector 19, and the subject is irradiated with a predetermined pulsed electromagnetic wave.
  • the receiving system 28 has an amplifier for amplifying the echo signal received by the receiving coil 14, a quadrature phase detector, and an A / D converter.
  • the receiving system 28 detects an electromagnetic wave (NMR signal) generated from the subject by the electromagnetic wave radiated from the irradiation coil 12 on the transmitting side by the receiving coil 14 arranged close to the subject,
  • the echo signal is converted to a predetermined digital signal via an amplifier, a quadrature detector and an AZD converter.
  • the echo signal converted into the digital signal is converted into two-series collected data sampled by the quadrature phase detector at a timing according to a command from the sequencer 32, and is transmitted through the interface 25 to the sequencer 3. Sent to 2.
  • the temperature control device 23 controls the temperature of the permanent magnet 11 by adjusting the current flowing through the heater 16 based on the temperature of the permanent magnet 11 measured by the temperature sensor 15.
  • the primary power supply 24 supplies power to the battery 17 and supplies power to the heater 16.
  • the image processing device 3 includes a high-speed array processor 31, a sequencer 32, an external storage device 33, a setting switch 34, a display 35, and the like.
  • the high-speed array processor 31 executes a sequence according to a predetermined program.
  • the control unit 2 is controlled via the control unit 32.
  • the sequencer 32 operates based on a control command from the high-speed array processor 31 and outputs various commands necessary for data collection of tomographic images of the subject to the gradient magnetic field power supply 21 and the high-frequency transmission / reception system 22 .
  • the sequencer 32 repeatedly applies a high-frequency magnetic field pulse for causing nuclear magnetic resonance to the nuclei of the atoms constituting the living tissue of the subject in a predetermined pulse sequence, and is controlled by the high-speed array processor 31.
  • the sequencer 32 outputs various commands necessary for data collection of tomographic images of the subject to the gradient magnetic field power supply 21 and the high frequency transmitting / receiving system 22.
  • the setting switches 34 are operation devices such as a keyboard and a mouse that can set and input various states.
  • the external storage device 33 is configured by storage means such as a magnetic disk and an optical disk.
  • the display 35 is composed of a CRT, a liquid crystal, and the like, and displays a tomographic image and the like.
  • the high-speed array processor 31 performs signal processing such as Fourier transform of digital data from the receiving system 28 and calculation of correction coefficients. Further, the high-speed array processor 31 images the signal intensity distribution of an arbitrary cross section, which is a result based on processing such as image reconstruction, or the distribution obtained by performing an appropriate operation on a plurality of signals, and displays the image on a display 35. It is displayed as a tomographic image in the external storage device 33.
  • FIG. 2 is a schematic diagram of an operating room in which the magnetic resonance imaging apparatus according to the first embodiment shown in FIG. 1 is arranged, and is a diagram of the room viewed from above.
  • the operation room is divided into a first arrangement region and a second arrangement region by a wall (partition member).
  • a first connection portion having a fill box 291 and a connector 2A1 and a second connection portion including a fill box 292 and a connector 2A2 are arranged.
  • the boxes 291 and 293 are provided on a wall (partition member) in the operating room 40.
  • the fill box 291 of the first connection part and the connector 2A1 connected to the connector 19 of the gantry 1 are from the bed 100 of the operating room 40 where the gantry 1 is to be retracted. It is provided at a sufficiently distant position. In the example of Fig. 2, it is installed at the upper left corner of the wall surface in the figure.
  • the filter box 2 92 of the second connection is located at the far right in FIG.
  • the connector 2A2 is provided near the center of the wall surface, and the connector 2A2 is provided at a shooting position below the bed 102.
  • Reference numeral 1B indicates a position where the gantry 1 is connected to the first connector 2A1 at the retracted position
  • reference numeral 1C indicates a position where the gantry 1 is connected to the second connector 2A2 at the shooting position. Is shown.
  • the gantry 1 When performing an operation, the gantry 1 is located at the position 1B, and power is supplied to the battery 17 from the power supply 24 of the connector 2A1 at the position 1B.
  • the gantry 1 moves from the position 1B to the position 1C, and is set near the patient's head, that is, at a position where the operation field can be imaged.
  • the movement of the gantry 1 may be performed manually or automatically.
  • the control device 2 and the image processing device 3 are arranged in a separate room (first arrangement region) separated by a wall (the gantry 1 and the bed 102 are arranged in the second arrangement region). There).
  • the surroundings of the operating room 40 are electromagnetically shielded rooms.
  • FIG. 3 is an external configuration diagram of the gantry 1 shown in FIG.
  • the gantry 1 has a connector 19 at the end of the base 1 A, a battery 17 on the top of the base 1 A, a magnetic field generating means (permanent magnet 11, irradiation coil 12, gradient coil 13) Etc.), receiving coil 14, temperature sensor 15, heater 16, etc., imaging means, power supply means, drive control means.
  • a magnetic field generating means permanent magnet 11, irradiation coil 12, gradient coil 13
  • the portion of the drive unit 18 related to the movement of the gantry 1 is built in the base 1A, and the base 1A is moved by the drive unit 18 by electrically driving the vehicle. .
  • the part to be positioned with respect to the patient such as the permanent magnet 11 of the drive unit 18, can be moved with respect to the base 1 A, and the lower part of the permanent magnet 11 Is the drive mechanism.
  • FIG. 4 is an external view showing details of the vicinity of the connector 19 of the gantry 1 shown in FIG. 3, and FIG. 5 is an explanatory diagram of a state before the connector 19 and the connector 1A are combined. .
  • the connector 19 is provided with a plurality of connection terminals for connecting various signals and power.
  • Guide holes 1D and 1E with taper are provided on both sides of connector 19. Is formed.
  • the guide pins 2D and 2E of the connector 2A on the control device 2 side are inserted and coupled to these guide holes 1D and IE. As a result, the connector 19 and the connector 2A are securely connected.
  • the gantry 1 When the gantry 1 is in the state shown by the solid line in FIG. 2, the gantry 1 can be connected to the connector 19 and the connector 2 A 2 only by moving to the right in FIG. In order to connect the connector 19 and the connector 2A1 from the state shown by, the gantry 1 itself must turn.
  • the gantry 1 can only move up, down, left and right in the room without turning. Can be connected to each connector 2A1, 2A2.
  • the gantry 1 simply moves left and right in the room. Better and easier to move.
  • a permanent magnet was described as an example of a means for generating a static magnetic field.However, when a superconducting magnet is used, a refrigerator for cooling the superconducting coil is mounted on the gantry. Therefore, a power line for supplying power to the refrigerator, a signal line for demagnetizing in an emergency, and the like are connected via the connector 19.
  • a power supply line for exciting the coil, a signal line for temperature monitoring, and the like are connected via a connector.
  • the battery 17 mounted on the gantry 1 will be discharged and the drive The structure may not be able to operate.
  • the charge amount of the battery 17 may be monitored, and when the charge amount falls below a predetermined level, an alarm may be generated or a warning light may be turned on.
  • a magnetic resonance imaging device can be realized.
  • MRI imaging is usually performed before surgery to check the condition of the affected area. Then, after performing surgery, MRI imaging is performed again to check the condition of the affected area. Then, based on the imaging result, the operation result is determined, and it is determined whether the operation needs to be continued or the operation can be completed.
  • the work of positioning the gantry is further simplified (automated), thereby reducing the burden on the operator and increasing the safety for the patient.
  • the degree to which the distance is increased depends on the size of the gantry, the spread of the leakage magnetic field, and the configuration and materials of surgical instruments and tools placed around. For example, if a device that dislikes stray magnetic fields is brought closer to the affected area, it is necessary to keep the gantry sufficiently far away. Conversely, if this is not necessary, it may be sufficient to simply lower the gantry near the floor to secure a working area.
  • the imaging position can always be fixed during the confirmation imaging during the operation, store the gantry position and imaging section at the time of the first confirmation imaging in an appropriate storage device, and store it in the storage device for the second and subsequent imaging.
  • By automatically moving and setting the gantry to the stored position significant work can be omitted, and setting errors due to erroneous operations can be avoided in advance. Can be prevented.
  • FIG. 6 is an overall schematic block diagram of a magnetic resonance imaging apparatus according to a second embodiment of the present invention.
  • the same parts as those in the first embodiment are denoted by the same reference numerals, and the detailed description is omitted.
  • the drive mechanism 36 is constituted by a motor, a stop means, and the like, and performs movement of the gantry 1 and positioning during imaging.
  • the driving mechanism 36 is supplied with power from the outside via a cable or the like when moving, but may be equipped with a battery and driven by the power.
  • the obstacle detection sensor 37 does not allow the permanent magnet 11, irradiation coil 12, gradient coil 13, etc. of the gantry 1 to contact the patient 101 or the tubes or cables connected to the patient 101. Is detected in advance.
  • FIG. 7 is a diagram illustrating an example of the obstacle detection sensor 37.
  • obstacle detection sensors 37 are pressure-sensitive sensors 45, 46 provided on the surface of the gantry 1 so as to cover the permanent magnet 11, the irradiation coil 12, and the gradient coil 13. It has.
  • the pressure-sensitive sensors 45 and 46 detect the contact signal when an obstacle (patient 101 or tubes or cables connected to the patient 101) in the direction of movement of the gantry 1 comes into contact. It outputs to the movement control device 29 as an obstacle detection signal.
  • various sensors other than the pressure-sensitive sensors 45 and 46 can be used to detect an obstacle.
  • a laser distance sensor, an ultrasonic sensor, a photoelectric sensor, a pressure sensor, an infrared sensor, an image analysis system using a monitor camera, and the like can be used.
  • a monitor camera or the like is installed in an appropriate place in the operating room (a place that covers the moving area of the gantry 1 and does not allow any obstacles to the monitor to enter). Obstacles are detected by using together with the sensors 45 and 46. This makes it possible to detect the possibility of contact without actually making contact, and to remove obstacles before contact.
  • control device 2 includes a movement instruction / calculation unit 38, a movement control device 29, and a display device 30.
  • the movement instruction / calculation unit 38 calculates the movement direction, the movement speed, the stop position, and the like of the gantry 1, outputs the calculation result to the movement control device 29, and outputs the calculation result to the display device 30.
  • the movement control device 29 controls the movement of the drive mechanism 36, that is, the gantry 1 based on the calculation result from the movement instruction / calculation unit 38 and the obstacle detection signal of the obstacle detection sensor 18.
  • the display device 30 displays the actual movement position of the gantry 1 on a monitor or the like based on the movement instruction and the calculation result from the calculation unit 38 and the movement control signal to the drive mechanism 36 of the movement control device 29. Things.
  • FIG. 8 is a schematic internal view of an operating room in which a magnetic resonance imaging apparatus according to a second embodiment of the present invention is arranged, and is a view of the room as viewed from above.
  • a patient 101 as a subject lies on a couch 102.
  • the head of the patient 101 is fixed to the operation part fixture 103.
  • the vicinity of the surgical-part fixture 103 is an operation field.
  • Gantry 1 moves to the surgical field, the position is set, and MRI imaging is performed.
  • FIG. 8 shows that around the patient 101 and the bed 102, a plurality of persons, such as an operator and their assistants, stand.
  • the display 35 of the image processing device 3, the anesthesia device of the peripheral device 106, and the surgical microscope 107 are arranged on the upper side of the patient 101 and the bed 102 on the diagram, and the surgical instrument 108 is placed.
  • the mounted surgical instrument table 109 and means for infusion 105 are arranged on the lower side.
  • FIG. 8 shows a state in which the gantry 1 has been retracted to the lower left corner of the operating room 40 which is the retracted position.
  • the operating room 40 is an electromagnetically shielded room.
  • the gantry 1 automatically moves from the retreat position to the position of the gantry 1a indicated by the dotted line, that is, the photographing position, in accordance with the guidelines such as the white line 41 drawn on the floor.
  • the gantry 1 has a built-in visual sensor as one of the obstacle detection sensors 18 and moves to the shooting position by being guided by tracing the white line 41 with the visual sensor.
  • protrusions such as rails on the floor as an environment of the operating room 40 because sterilization becomes insufficient and hinders movement of the operator.
  • the white line 41 is drawn on the floor surface, and the gantry 1 is guided to move along it.
  • the gantry 1 Since the patient 101 as the subject lies on the couch 102, the gantry 1 is placed on the gantry 1a when performing an operation. Then, the gantry 1 is positioned and set near the head of the patient 101, that is, at a position where the operative field can be imaged. At the time of MRI imaging before the operation, the gantry 1 should be moved to the vicinity of the operative field by white motion, and manually moved after approaching the operative field.
  • a radio transmitter, an ultrasonic transmitter, or the like may be arranged at a predetermined position of the bed 102 so as to position the gantry 1 at a position where imaging is possible. Since these transmitters may cause image noise during shooting, it is desirable to turn off their power during shooting.
  • FIG. 9 is a block diagram illustrating a basic configuration of the gantry moving system, and is a diagram illustrating a portion related to the moving system of the gantry 1 extracted from the configuration illustrated in FIG.
  • a movement instruction input unit 2 41 and a movement direction and movement amount calculation unit 2 42 constitute the movement instruction and calculation unit 38 shown in FIG. 6, and an obstacle determination unit 2 51 and a movement control unit 25 2 constitutes the movement control device 29 shown in FIG.
  • the movement instruction input section 2 41 inputs a movement instruction (moving instruction to a shooting position, moving instruction to an evacuation position, etc.) output from the setting switch 34 of the image processing apparatus 3 and the like, and inputs the moving direction. ⁇ It is output to the movement amount calculation section 242.
  • the movement direction and movement amount calculation unit 242 calculates the movement direction and the movement amount of the gantry 1 based on the movement instruction from the movement instruction input unit 241, and then calculates the movement control unit 252 and the display device 3 Output to 0.
  • the obstacle detection sensor 37 detects an obstacle or the like present in the moving direction of the gantry 1 and outputs an obstacle detection signal to the obstacle determination unit 251.
  • the obstacle determination unit 25 determines whether the detected object is an obstacle in the moving direction of the gantry 1, and determines whether the detected object is an obstacle in the moving direction of the gantry 1. When it is determined that the obstacle is an object, information on the position of the obstacle is output to the movement control unit 252 and the display device 30.
  • the movement control unit 25 2 calculates the movement path of the gantry 1 based on the movement direction and the movement amount of the gantry 1 output from the movement direction / movement amount calculation unit 24 2, and uses the calculated movement mechanism 3 6 Output to
  • the movement control unit 25 2 constantly monitors whether or not there is an obstacle on the movement route of the gantry 1 based on the information on the position of the obstacle output from the obstacle determination unit 25 1. . Then, when confirming the presence of an obstacle, the movement control unit 25 2 outputs a movement stop signal to the movement mechanism 36 to interrupt the movement of the gantry 1 and that there is an abnormality on the movement route. Is displayed on the display device 30.
  • the moving mechanism 36 operates based on the position information output from the movement control unit 252, and moves the gantry 1 to a position corresponding to the movement instruction.
  • the display device 30 displays the movement direction and the movement direction and the movement amount of the gantry 1 output from the movement amount calculation unit 242 and the information about the position of the obstacle output from the obstacle determination unit 251. Based on this, the movement state of the gantry 1 and the contact state between the gantry 1 and an obstacle are virtually displayed. In addition, the display device 30 displays an abnormality at the time of movement based on the movement stop signal of the gantry 1 output from the movement control unit 25, Judgment ⁇ Ask for action.
  • FIG. 10 is an operation flowchart relating to automatic movement of the gantry 1, obstacle detection, and handling of obstacles.
  • step S70 of Fig. 10 the movement instruction input unit 241 outputs the movement instruction (movement instruction to the shooting position, movement instruction to the retreat position, etc.) to the movement direction / movement amount calculation unit 242. I do.
  • step S71 the movement direction / movement amount calculation unit 242 calculates the movement direction and the movement amount of the gantry 1 based on the movement instruction, and outputs them to the movement control unit 252. Further, in step S71, the movement control unit 252 calculates the movement path of the gantry 1 based on the movement direction and the movement amount of the gantry 1, and outputs the calculated path to the movement mechanism 36.
  • step S72 the obstacle detection sensor 37 detects whether an obstacle or the like does not exist in the moving direction of the gantry 1, and if it is determined that the obstacle does not exist (no), the process proceeds to step S73. . If it is determined in step S72 that there is (yes), the process proceeds to step S76.
  • step S73 since no obstacle has been detected, the moving mechanism 36 moves the gantry 1 to a position corresponding to the movement instruction based on the position information output from the movement control unit 252.
  • step S74 it is determined whether or not the gantry 1 has reached the designated position instructed. If it has reached (yes), the process proceeds to the next step S75 and stops.
  • step S74 If it has not arrived in step S74, the process returns to step S73 to continue the movement process.
  • step S76 since the obstacle is detected, the moving mechanism 36 stops the movement of the gantry 1.
  • step S77 an obstacle detection signal is output from the obstacle detection sensor 37, so that the display device 30 indicates that an obstacle has been detected.
  • step S78 the operator who saw the display on the display device 30 and his assistants Remove harmful substances.
  • step S79 the completion of removal of the obstacle is instructed by operating the setting switch 34 of the image processing apparatus 3 or the like to restart the movement. As a result, the process returns to step S71, and the movement is resumed.
  • FIG. 11 is an operation flowchart for performing an operation using the magnetic resonance imaging apparatus according to the second embodiment of the present invention.
  • step S80 the patient 101 is set at a predetermined position on the bed 102.
  • step S81 the gantry 1 is positioned.
  • step S82 an MRI image is taken before the operation is started to check the condition of the affected area.
  • step S83 the photographing position of the gantry 1 at the time of the first confirmation photographing is stored in the storage means, and in step S84, the gantry 1 is evacuated from the work area so as not to disturb the operation.
  • step S85 surgery is performed in step S85.
  • step S86 the gantry 1 is dynamically moved to the photographing position stored in the storage means to perform positioning for the second and subsequent photographings.
  • step S87 MRI imaging is performed again to confirm the condition of the affected part after performing the operation.
  • step S88 the gantry 1 is evacuated.
  • step S89 the affected part is confirmed based on the imaging result, the operation result is determined, and it is determined whether or not the operation needs to be continued. Do.
  • step S89 If it is determined in step S89 that the operation is to be performed again (no), the process returns to step S85, performs the operation again, and repeats the processing of steps S86 to S89. .
  • step S89 If it is determined in step S89 that surgery is not necessary (yes), the operation is terminated. When the operation is continued, the operations of positioning, photographing, and retreating the gantry 1 are repeated as many times as necessary.
  • a magnetic resonance imaging apparatus capable of eliminating the troublesome setting of the gantry positioning and performing the transition between imaging and surgery easily and in a short time. be able to.
  • Japanese Patent Application Laid-Open Publication No. 2000-3000580 discloses a head surgery in which a member for fixedly supporting the head and a receiving coil are also used.
  • the relative position between the fixed support member and the gantry can be fixed by using the dual-purpose fixed support member, and the initial manual positioning can be performed. It can be simplified. Instead of using the dual-purpose fixed support member, a sample that generates an MRI signal may be embedded in the fixed support member, and the gantry position may be moved and controlled based on the signal detected by the MRI device.
  • a component that generates light of a specific wavelength is attached to a fixing member, and this light is measured by light detection means attached to a plurality of locations on the gantry to grasp the relative positional relationship and control the movement of the gantry. Is also good.
  • the third embodiment of the present invention is a combination of the first embodiment and the second embodiment.
  • the magnetic resonance imaging apparatus in addition to the first embodiment, includes a movement instruction / calculation unit 38, a movement control unit 29, and a display device 30 shown in FIG. , Drive mechanism 36, and obstacle detection sensor 37.
  • the gantry 1 can be automatically moved without being connected to a power cable or the like by a wire, so that the gantry can be easily positioned with respect to the patient.
  • the transition between imaging and surgery can be performed easily and in a short time.
  • the image processing device and the imaging control device are not provided in the gantry 1, but the image processing device and the imaging control device may be provided in the gantry 1.
  • a magnetic resonance imaging apparatus is moved so as to move a subject away from the subject, and if necessary, the magnetic resonance imaging apparatus is moved so as to be close to the subject to take a tomographic image.
  • the gantry can be easily positioned relative to the patient during the operation, and the transition between imaging and surgery can be performed easily and quickly.

Abstract

La présente invention a trait à un système d'imagerie par résonance magnétique comportant un support mobile (1) se rétractant à un emplacement espacé en éloignement d'un sujet lorsque le système d'imagerie n'est pas utilisé, par exemple lors d'une opération, et se déplaçant grâce à des moyens de déplacement (18, 29) vers le voisinage d'un lit (102) pour installer le sujet lors du processus de formation d'image préalablement au positionnement de la portion de prise de vue Lorsque le positionnement d'une portion de prise de vue est complété, la prise de vue d'une image tomographique souhaitée est effectuée par un moyen de commande d'imagerie (3). Lorsque la prise de vue est terminée, le support mobile (1) se rétracte grâce aux moyens de déplacement (18, 29) vers la position escamotée ou une position ne gênant pas l'opération.
PCT/JP2003/005820 2002-05-13 2003-05-09 Systeme d'imagerie par resonance magnetique WO2003094727A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2002-136416 2002-05-13
JP2002136415A JP2003325470A (ja) 2002-05-13 2002-05-13 磁気共鳴イメージング装置
JP2002-136415 2002-05-13
JP2002136416A JP2003325471A (ja) 2002-05-13 2002-05-13 磁気共鳴イメージング装置

Publications (1)

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WO2003094727A1 true WO2003094727A1 (fr) 2003-11-20

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WO (1) WO2003094727A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5916018A (ja) * 1982-07-19 1984-01-27 Kubota Ltd 自動走行車輌
JPS62117012A (ja) * 1985-10-17 1987-05-28 ハンス　ラインハルト　クネツパ− 自走式床清掃機の自動走行のための方法とその方法を実施する床清掃機
JPS62117541A (ja) * 1985-11-18 1987-05-29 株式会社東芝 磁気共鳴イメ−ジング装置
JPH06237911A (ja) * 1993-02-18 1994-08-30 Hitachi Medical Corp 移動式磁気共鳴イメージング装置
JPH0994234A (ja) * 1995-09-29 1997-04-08 Olympus Optical Co Ltd Ｍｒｉ装置
WO2000033722A2 (fr) * 1998-12-08 2000-06-15 Odin Medical Technologies Ltd Procede et systeme permettant de deplacer et de positionner une soude d'irm ouverte
JP2000185022A (ja) * 1998-12-22 2000-07-04 Ge Yokogawa Medical Systems Ltd Ｍｒｉ装置
JP2000201902A (ja) * 1998-01-02 2000-07-25 General Electric Co <Ge> 調整可能な磁気共鳴撮像磁石

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5916018A (ja) * 1982-07-19 1984-01-27 Kubota Ltd 自動走行車輌
JPS62117012A (ja) * 1985-10-17 1987-05-28 ハンス　ラインハルト　クネツパ− 自走式床清掃機の自動走行のための方法とその方法を実施する床清掃機
JPS62117541A (ja) * 1985-11-18 1987-05-29 株式会社東芝 磁気共鳴イメ−ジング装置
JPH06237911A (ja) * 1993-02-18 1994-08-30 Hitachi Medical Corp 移動式磁気共鳴イメージング装置
JPH0994234A (ja) * 1995-09-29 1997-04-08 Olympus Optical Co Ltd Ｍｒｉ装置
JP2000201902A (ja) * 1998-01-02 2000-07-25 General Electric Co <Ge> 調整可能な磁気共鳴撮像磁石
WO2000033722A2 (fr) * 1998-12-08 2000-06-15 Odin Medical Technologies Ltd Procede et systeme permettant de deplacer et de positionner une soude d'irm ouverte
JP2000185022A (ja) * 1998-12-22 2000-07-04 Ge Yokogawa Medical Systems Ltd Ｍｒｉ装置

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