WO2006097423A1 - Dispositif pour determiner la position et/ou l'orientation d'un objet pouvant naviguer - Google Patents

Dispositif pour determiner la position et/ou l'orientation d'un objet pouvant naviguer Download PDF

Info

Publication number
WO2006097423A1
WO2006097423A1 PCT/EP2006/060559 EP2006060559W WO2006097423A1 WO 2006097423 A1 WO2006097423 A1 WO 2006097423A1 EP 2006060559 W EP2006060559 W EP 2006060559W WO 2006097423 A1 WO2006097423 A1 WO 2006097423A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnetic
coils
field
frequency
signals
Prior art date
Application number
PCT/EP2006/060559
Other languages
German (de)
English (en)
Inventor
Dirk Diehl
Rainer Kuth
Johannes Reinschke
Rudolf Röckelein
Wolfgang Schmidt
Stefan Kirsch
Christian Schilling
Original Assignee
Siemens Aktiengesellschaft
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
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2006097423A1 publication Critical patent/WO2006097423A1/fr

Links

Classifications

    • 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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • 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
    • A61B34/73—Manipulators for magnetic surgery
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue
    • A61B5/14539—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue for measuring pH
    • 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
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
    • 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
    • A61B5/03—Detecting, measuring or recording fluid pressure within the body other than blood pressure, e.g. cerebral pressure; Measuring pressure in body tissues or organs
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • the invention relates to a device for determining the position of a navigable object that is within a magnetic background field with predetermined at the location of Ob ⁇ jektes, frequency-dependent maximum amplitude of its magnetic induction, the background field of coils of a background coil system ⁇ called out and navigation of the object is provided.
  • a receiving device for receiving generated from the object in response to the position measurement field Po ⁇ sitionssignalen and - means for further processing and analysis of the position signals.
  • a determination of orientation should also be understood as meaning a position determination.
  • a corresponding device is e.g. DE 101 42 253 Cl to remove.
  • non-invasive or minimally invasive procedures are gaining in importance ⁇ tung.
  • Such measures are standing here as a collective term for comparable for various medical projects such as di ⁇ agnosen (visual inspection, biopsies) or therapies (targeted drug delivery, mounting clips or stents).
  • the measure is to be carried out on subjects such as humans or animals. Particularly desirable is the implementation of such measures inside the subject, especially in the interior of hollow organs such as the entire gastrointestinal tract.
  • special navigable objects such as capsules or capsule systems can be provided (cf., for example, EP 0 667 115 A, US Pat.
  • a corresponding overall system is also referred to as Endoroboter.
  • other bodies to be navigated such as e.g. Catheter tips, for which, if necessary, a wire connection to the outside is possible conceivable.
  • this th with magnetic material such as permanent magnets ⁇ appropriate magnetization direction or ferromagnetic parts or current-carrying coils which generally produce a magnetic moment to be fitted.
  • magnetic material such as permanent magnets ⁇ appropriate magnetization direction or ferromagnetic parts or current-carrying coils which generally produce a magnetic moment to be fitted.
  • suitably controllable magnetic fields Kräf ⁇ te and possibly torques can be exercised on the correspondingly designed object.
  • a corresponding endorobot system can be found in WO 03/028224 A2.
  • the system includes a magnetic coil system for non-contact navigation of a video camera equipped with a video camera.
  • a device for determining the position of the capsule should be provided.
  • the system comprises special transmitter coils and a system of receiver coils arranged in the capillary. With these coils, the signals generated by the transmitting coils are detected and transmitted to the outside to a non-descript Emp ⁇ receiving device.
  • a concrete plant to a non-contact movement and or fixing is a magnetic body in a working space by using a magnetic coil system Ge ⁇ subject of the non-prepublished German Patent Application 103 41 092.9.
  • the magnetic fields to be applied externally by the magnetic coil system can be subdivided into a magnetic basic field for generating a torque on the magnetic body and a magnetic gradient field for magnetically generating translatory forces thereon. That is, the magnetic fields to be applied are not spatially homogeneous, but location-dependent.
  • Has a predetermined force and a predetermined torque are generated according to the correct gradient magnetic field and the right may ⁇ genetic background field at the location of the magnetic body or whether ⁇ jektes.
  • the object of the present invention is therefore to at least reduce the above-mentioned problems in a device with the features mentioned above.
  • an electromagnetic compatibility of position and / or orientation measuring systems operating according to the electromagnetic principle, in particular in the human body, with magnetic fields which are used for other purposes, such as imaging or navigation should be provided.
  • a wireless transmitter ⁇ transmission of the sensor signals of the position measuring system from the body Inne- ren be given to the outside.
  • the device for Positionsbe ⁇ humor of a navigable object which is located within a background magnetic field of predetermined amplitude of its magnetic induction, which is of coils of a background-coil system caused, - a system of transmitter coils for generating a position measuring field at least one predetermined frequency at the location of the object with more than the amplitude of the magnetic induction of the background field at the predetermined frequency Fre ⁇ opposing magnetic induction, - a receiving device for receiving generated from the object in response to the position measurement field Posi ⁇ tion signals, and - including means for further processing and analysis of the position signals and be formed according to the invention in that at least one of the transmitting coil, at least part of a coil is at the same time of the background field-coil system.
  • position determination is understood here and below as meaning also a spatial orientation determination, that is, with the device according to the invention a position and / or an orientation determination should in principle be executed simultaneously or separately from one another.
  • the inventive measures is based on the fact that usually magnetic background fields for magnetic navigation are relatively low frequency. At each frequency, the background field has a certain amplitude of magnetic induction or field strength. The value of the amplitude depends on the respective Fri ⁇ off frequency. The maximum value is generally assumed to be at a frequency below 1 kHz.
  • systems In contrast, systems must be in a position and / or orientation determination generally at much higher frequencies, typically about 10 kHz to about 100 kHz, ar ⁇ BEITEN.
  • tables than the amplitude of the magnetic ⁇ induction must, however, be ensured that at the predetermined frequency or the predefined frequencies, the approximate determination of the systems to a position and / or Orientie ⁇ caused amplitude of the magnetic induction having a larger value of the background field , This makes it possible to use the transmission coils for the position detection system in the field-generating coils of the other purpose
  • Integrate magnetic coil system For example, flow-generating flows can be used to exert forces and torque. elements are siege to the object a higher-frequency magnetic field Sprintla ⁇ , which leads to the induction gleichfrequenter voltages and currents in sensor coils position of the object and thus can be used as a position signal.
  • the signal strength can be set variably.
  • considerably higher field strengths than with the previously used position measuring systems can be transmitted. The expenditure on equipment with respect to the required coils is reduced accordingly. Since the input device for position and / or orientation determination operating in a different frequency range than the magnetic Spulensys ⁇ system to the background field generation, an undesirable mutual influence can at least substantially be avoided ⁇ ver.
  • the device according to the invention may additionally have the following features:
  • the position of the object signals may be transmitted to by means of a signal transmission unit that further signals transmission for over ⁇ is provided.
  • Such further signals may be generated by a sensor or an actuator, wherein the sensor may in particular be a video or pH value or pressure sensor or the actuator in particular a biopsy forceps.
  • the signal transmission unit may be a Funkübertra ⁇ be generating unit or wired.
  • the magnetic background field may be such as to provide, in particular, non-contact navigation of a magnetic object which is mechanically connected to the object Body act. Corresponding fields are applied to endorobot systems.
  • the system of transmit coils may include additional coils adjacent to one, some or all of the coils of the background magnetic field coil system.
  • the signals of the transmitter coils are either superimposed on the magnetic background field at the same time or can be generated separately from it.
  • the useful frequency of the maximum amplitude of the background magnetic field does not exceed 100 Hz, while the frequency of the position measuring field exceeds 1 kHz and extends to approximately 100 kHz. Such a separation of the frequencies is a good prerequisite for an undisturbed position and / or orientation determination.
  • the object to be navigated is preferably a capsule of an endorobot system.
  • FIGURE shows a schematic representation of a system for the non-invasive examination and / or treatment of a subject with an endorobot comprising an inventively designed device, in particular for a non-contact position and / or orientation determination of its endoscopy capsule.
  • the endoscopy unit In the endoscopy unit, generally designated 2, it is assumed that equipment known per se is used. Not shown or explained parts of the system are the general state of the art. The basic structure and the operation of the endoscopy system 2 is also described in DE 103 41 092Al.
  • the system comprises a coil system 3 for generating a magnetic background field with a power supply 4 connected thereto and a control and regulation unit in order to be able to navigate a capsule without contact as an object 12.
  • the capsule ver ⁇ adds in particular via a sensor such as a video, pH, or pressure sensor and / or an actuator such as a biopsy forceps.
  • These parts communicate through the same signal ⁇ transmission unit with the outside world, via which the polyvinyl sitionsmesssignale be transmitted to the outside world.
  • a video unit used here is indicated 6 is ⁇ .
  • the fourteen power amplifiers 8k together form the power supply 4. All power amplifiers are controlled or regulated by the control and regulation unit 5 via a respective control line 9k.
  • a subject or patient 10 to be examined is to be introduced along the axis A into the coil system 3. It is placed in the coil system in such a way that an endoscopy capsule 12 swallowed by it comes to rest approximately in the middle of the coil system. There, the coil system has a so-called Ar ⁇ beitsvolumen, within which the capsule can be navigated without contact by means of the coil ⁇ system.
  • the endoscopy capsule 12 is based on known embodiments (cf.
  • the capsule carries in its interior at its front end a camera andcommunseinrich ⁇ tion not shown. Through a viewing window the area of the capsule is illuminated and can take an image of the capsule environment ⁇ the camera.
  • the recorded image data are either immediately or preprocessed and, if necessary after intermediate storage by radio, transmitted as video signals S2 to a video receiver 14 outside the magnetic coil system 3 and displayed on a screen 15 of the video unit 6.
  • an input device in the form of a 6D mouse 16, which is operated by an operator, not shown, for example, a doctor examining the patient, based on the image displayed on the screen 14.
  • the spatial position of the capsule endoscope 12 and the Orientie ⁇ tion of its longitudinal axis 17 is collected through an inventive device for position and / or orientation determination.
  • this device generally designated 20, in the figure essentially only one receiving unit 21 is indicated, which detects the position data or signals S1 emitted by the endoscopy capsule and transmits them to the control and regulation unit 5. If necessary, these signals can also be transmitted by wire.
  • the position detection of the capsule endoscope 12 requires an additional magnetic field H p, acting on the or the Po ⁇ sitionssensorspulen the endoscopic capsule with one or sev- eral (different) frequencies.
  • the frequency range for the corresponding field of this field signals p referred to as position measurement field H is substantially higher than the generally at most 100 Hz reaching Nutzfre ⁇ frequency range of the coil system 3 for generating the magnetic field H ex see background.
  • the frequency of the position measuring field (H p ) is between 1 kHz and 100 kHz.
  • the transmission coils for the position detection are to be integrated into the field generators of the coil system used for the magnetic background field H ex .
  • the higher frequency AC currents for generating the other magnetic field or position measuring field H p which in general ⁇ my in the range between 1 kHz and the lOOkHz-range, can be bought by additional amplifier makes available, inductively or capacitively to thebigerzeu- ing individual coils 13i and 23j of the coil system 3 angekop ⁇ pelt be.
  • a corresponding bandwidth of, for example, 20 kHz the amplifier 8k assuming at the inputs of the transmitter signals to generate the additional magnetic field superimposed.
  • the additional generators 24m required for further individual coils have been omitted for the sake of clarity.
  • the resulting coil current in the frequency range of the position measurement is then measured and, via the then known magnetic field, serves as one of the input variables for calculating the position of the sensor coils of the endoscopy capsule 12.
  • the high-frequency signals of the sensor coils are then amplitude-modulated or frequency-modulated in the capsule and transmitted to the receiving unit 21 via radio frequency from the examination object to the outside as analog signals S1.
  • Digitalver ⁇ understandable is a digitization of the high-frequency signals, pre-processing and a transmission entspre ⁇ accordingly processed signals to the receiving unit 21 possible.
  • measuring ⁇ already sent signal or video signal S2 of the video part of the capsule for the transmission of the position signals.
  • Measuring system can also be provided a phase-sensitive detection of Sig ⁇ signals to the receiver coils in the manner of a lock-in technique.
  • position / orientation determining means distinguishes between -.
  • a sensor coil system which position magnetic fields at a sensor location, such as a capsule endoscope, receives sitions ensue to Po ⁇ , and
  • a transmission coil system which generates magnetic fields for supplying the aforementioned sensor coil system.
  • These two coil systems together with a known computing unit for converting the sensor signals into positions, form a so-called position measuring system.
  • the coil system provided for generating a background magnetic field H ex is generally referred to as - an external magnet system which fields for others
  • the prerequisite for a functioning capability of a device according to the invention for position and / or orientation determination thus defined is that the frequency ranges in which the position measuring system and the external magnet system work can be separated from one another.
  • the external magnet system will operate at a lower frequency.
  • the frequencies of the external magnet system are below 1 kHz, while those of the Positionsmesssys ⁇ tems are above this value, in particular about 10 kHz and up to about 100 kHz range.
  • the electromagnetic compatibility of the position measuring system and the external magnet system can be disturbed by the following effects: a) External DC fields and / or AC fields with useful frequencies below 100 Hz lead to: d) excitation of oscillations of the transmitter coils by Lorentz forces, L 1 ) Saturation of external parts in the position measuring system. b) Generation of eddy currents in conductive parts such as the external magnet system by the Sendespulen ⁇ system and associated distortions of the field generated by the transmission coil system. c) External AC fields in the frequency range of the transmitting coil ⁇ system, for example, shares in the field of external Magnetsys ⁇ tems in the frequency range of the transmitting coil system with ähn ⁇ Licher or higher amplitude.
  • Störeffek ⁇ te can be the following countermeasures in detail Vorse hen ⁇ :
  • the transmitting coil system is designed so that it can withstand the forces acting on it without that occur deformation or mechanical vibrations, the mood, the Positionsbe ⁇ or other system characteristics affect kön- nen. These requirements are usually caused by the con ⁇ the coil of the transmitting coil system constructive tion already fulfilled by be shed with plastic this example.
  • ⁇ Kgs NEN advantageous, at least some or all Einzelspu- len of the external magnet system are simultaneously used as a transmission system.
  • Spulensys ⁇ system which serves for movement of the capsule, are used. Possibly. the coils for generating the external magnetic field in number and / or arrangement are not sufficient to serve alone as a transmission system for position determination.
  • transmission coils of a position measuring system can contain ferromagnetic cores, which are driven into saturation in the external magnet system, so that then the generated fields are changed and the position determination is impaired.
  • ferromagnetic objects as they are to be provided for an endoscopy capsule, can be wholly or partially driven into saturation at the location of the sensor coils or in their immediate vicinity, whereby the fields at the location of the sensor coil are changed and, in turn, the position determination becomes erroneous. For this reason one can at the transmitting coil system using coils of the external magnet system and possibly also required to ⁇ rate coils completely ferromagnetic material ver ⁇ do without.
  • the field distortions of ferromagnetic objects in the vicinity of the sensor can then be determined by calibration measurements and / or field calculations and taken into account within the positioning algorithm.
  • the effect of fields of the transmitting coil or of the external magnet system on cores in the sensor coils causes no saturation effects because of the high air gap through the body.
  • the fields generated by a magnetic capsule navigation system at the capsule location are very small and in the mT range.
  • the transmitter coil system must be able to generate defined and reproducible field distributions in order to enable accurate position determination.
  • the field distortions due to conductive objects, in which non-negligible eddy currents are induced due to their position and / or size, can be taken into account by calibration measurements and / or by field calculations.
  • the eddy current bodies are to be regarded as part of the transmitting coil system. If such We ⁇ belstrom redesign movable, their current position must be included in the algorithm for determining position. To effect cl
  • the sources of interference are broadband and of low spectral density
  • a narrowband filtering in particular passively or by means of synchronous detection, may be sufficient.
  • the useful signal can be separated by selecting a suitable frequency of the transmitting coil system in combination with narrow-band filtering.
  • the external magnet system is not energized or energized for the duration of the position detection, so that then no interference fields are generated. If it is not possible to dispense with the current supply of the external magnet system, a constant energization can take place for the duration of the position measurement. In this case, no high-frequency interference fields are generated.
  • the frequency of the transmission system can be so ⁇ sets that the interference frequencies are just avoided. - If a position detection without synchronization with the external magnetic field, such as for a Kapselnaviga ⁇ tion, done reliably, so may advantageously a frequency or amplitude modulation of the transmission signal be provided, where appropriate, the current Störsignal ⁇ spectrum is taken into account by the navigation magnetic field.
  • the coil system for generating the magnetic background field since it was considered ⁇ by that the coil system for generating the magnetic background field, at least with some of its len Spu ⁇ at the same time as a system of transmitting coils for generating a magnetic field position measuring is sufficient.
  • the transmitting coil system comprises coils for the position measuring field still further (additional).
  • the coil system for generating the magnetic background field of coils with optimized winding numbers for this purpose exist, with partial coils of it with reduced
  • Number of turns can optionally serve with auxiliary coils as a transmitting coil system. It may also be separate, for example, electrically insulated coils can be integrated as transmitter coils in the coil of the coil system for generating the magnetic background field and, if so, with the auxiliary coils Sen ⁇ despulensystem. Moreover, it is also conceivable that passive additional coils and / or other shaped conductive Kor ⁇ per passively by eddy currents influence the field distribution for the purpose of positioning and improve and as an integral part of the transmitting coil system for Generie ⁇ tion of a magnetic position measuring field considered ⁇ to.
  • the position and / or orientation of an arbitrary object can be detected contactlessly in a working volume by detecting position / orientation magnet fields emitted by the transmitting coil system from the object and transmitting it to an object. are returned unit, which determines the position of the received signals by means of known devices for electronic processing and evaluation.
  • a magnetic element or induction ⁇ coil-equipped probe such as a catheter or a flexible endoscope or a small capsule camera with lighting and transmitters act, the video images from inside the body, such as the Digestive tract or the lungs or other parts of the body.
  • the object may also be part of a ferromagnetic foreign body such as a needle or a functional module in inaccessible areas, which is moved or removed by magnetic forces.
  • a ferromagnetic foreign body such as a needle or a functional module in inaccessible areas, which is moved or removed by magnetic forces.
  • associated magnetic probes other, in particular inaccessible accomodat ⁇ me can be, for example, inspected internally, said probes can of course be equipped with different or additional functional tionality.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne un dispositif pour déterminer la position d'un objet (12) pouvant naviguer, placé à l'intérieur d'un champ de fond magnétique (Hex) d'une amplitude dépendant de la fréquence de son induction magnétique, ledit champ étant produit par des bobines (13i, 23j) d'un système (3) de bobines à champ de fond. Au moins une partie des bobines (13i, 23j) dudit système (3) de bobines à champ de fond est utilisée simultanément comme une bobine de transmission permettant de produire un champ magnétique (Hp) de mesure de la position, présentant une fréquence prédéterminée sur l'emplacement de l'objet (12), l'amplitude du champ (Hp) de mesure de la position sur l'emplacement de l'objet (12) étant supérieure à celle du champ de fond (Hex) à une fréquence prédéterminée. Le dispositif de l'invention comprend également un récepteur (21) destiné à recevoir des signaux de position (S1) produits par l'objet en fonction du champ (Hp) de mesure de la position et des moyens pour traiter et évaluer les signaux de position (S1).
PCT/EP2006/060559 2005-03-17 2006-03-08 Dispositif pour determiner la position et/ou l'orientation d'un objet pouvant naviguer WO2006097423A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005012387 2005-03-17
DE102005012387.2 2005-03-17

Publications (1)

Publication Number Publication Date
WO2006097423A1 true WO2006097423A1 (fr) 2006-09-21

Family

ID=36587104

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/060559 WO2006097423A1 (fr) 2005-03-17 2006-03-08 Dispositif pour determiner la position et/ou l'orientation d'un objet pouvant naviguer

Country Status (2)

Country Link
DE (1) DE102006010730A1 (fr)
WO (1) WO2006097423A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008098856A2 (fr) * 2007-02-16 2008-08-21 Siemens Aktiengesellschaft Système de bobines magnétiques comportant un système de bobines de navigation et un système de localisation
WO2008128909A2 (fr) * 2007-04-19 2008-10-30 Siemens Aktiengesellschaft Dispositif d'introduction de données permettant la navigation d'un instrument médical, dispositif médical correspondant et procédé associé
WO2009027191A1 (fr) * 2007-08-31 2009-03-05 Siemens Aktiengesellschaft Dispositif de mesure de position et de guidage
GB2460082A (en) * 2008-05-16 2009-11-18 Siemens Magnet Technology Ltd Navigation equipment and methods for determining the position and orientation of a wireless probe
EP2327355A1 (fr) * 2008-09-02 2011-06-01 Olympus Medical Systems Corp. Système de guidage de capsule
EP2384687A1 (fr) * 2005-12-27 2011-11-09 Olympus Medical Systems Corporation Système de guide à dispositif médical encapsulé
CN104739411A (zh) * 2015-04-01 2015-07-01 南京医科大学 一种使用磁传感器对磁性目标进行检测定位的方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007051860A1 (de) * 2007-10-30 2009-07-09 Siemens Ag MCGE-Gerät und Betriebsverfahren
DE102008003005A1 (de) 2008-01-02 2009-07-16 Siemens Ag Positionskontrolle medizinischer Geräte im menschlichen Körper mittels Phasendifferenzmessung
DE102009010286B3 (de) * 2009-02-24 2010-11-25 Siemens Aktiengesellschaft Vorrichtung zum berührungslosen Führen eines Körpers in einem Arbeitsraum nebst zugehöriger Magnetfelderzeugungseinrichtung und zugehörigem magnetischen Körper

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991007669A1 (fr) * 1989-11-08 1991-05-30 Bruker Analytische Messtechnik Gmbh Dispositif pour la production de gradients, tomographe a spin nuclaire et procede pour l'obtention d'images au moyen d'un tel tomographe
US20030060702A1 (en) * 2001-08-29 2003-03-27 Rainer Kuth Minimally invasive medical system employing a magnetically controlled endo-robot
DE10341092A1 (de) * 2003-09-05 2005-04-07 Siemens Ag Anlage zur berührungsfreien Bewegung und/oder Fixierung eines magnetischen Körpers in einem Arbeitsraum und Verwendung eines Magnetspulensystems
EP1543766A1 (fr) * 2003-12-19 2005-06-22 Siemens Aktiengesellschaft Système et procédé pour la détermination de la position et de l'orientation in vivo d'une capsule endoscopique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1991007669A1 (fr) * 1989-11-08 1991-05-30 Bruker Analytische Messtechnik Gmbh Dispositif pour la production de gradients, tomographe a spin nuclaire et procede pour l'obtention d'images au moyen d'un tel tomographe
US20030060702A1 (en) * 2001-08-29 2003-03-27 Rainer Kuth Minimally invasive medical system employing a magnetically controlled endo-robot
DE10341092A1 (de) * 2003-09-05 2005-04-07 Siemens Ag Anlage zur berührungsfreien Bewegung und/oder Fixierung eines magnetischen Körpers in einem Arbeitsraum und Verwendung eines Magnetspulensystems
EP1543766A1 (fr) * 2003-12-19 2005-06-22 Siemens Aktiengesellschaft Système et procédé pour la détermination de la position et de l'orientation in vivo d'une capsule endoscopique

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2384687A1 (fr) * 2005-12-27 2011-11-09 Olympus Medical Systems Corporation Système de guide à dispositif médical encapsulé
DE102007007801A1 (de) 2007-02-16 2008-08-21 Siemens Ag Magnetspulensystem mit einem Navigationsspulensystem und einem Ortungssystem
WO2008098856A3 (fr) * 2007-02-16 2008-11-20 Siemens Ag Système de bobines magnétiques comportant un système de bobines de navigation et un système de localisation
WO2008098856A2 (fr) * 2007-02-16 2008-08-21 Siemens Aktiengesellschaft Système de bobines magnétiques comportant un système de bobines de navigation et un système de localisation
DE102007007801B4 (de) * 2007-02-16 2015-02-26 Siemens Aktiengesellschaft Magnetspulensystem mit einem Navigationsspulensystem und einem Ortungssystem
WO2008128909A2 (fr) * 2007-04-19 2008-10-30 Siemens Aktiengesellschaft Dispositif d'introduction de données permettant la navigation d'un instrument médical, dispositif médical correspondant et procédé associé
WO2008128909A3 (fr) * 2007-04-19 2008-12-18 Siemens Ag Dispositif d'introduction de données permettant la navigation d'un instrument médical, dispositif médical correspondant et procédé associé
WO2009027191A1 (fr) * 2007-08-31 2009-03-05 Siemens Aktiengesellschaft Dispositif de mesure de position et de guidage
GB2460082A (en) * 2008-05-16 2009-11-18 Siemens Magnet Technology Ltd Navigation equipment and methods for determining the position and orientation of a wireless probe
WO2009138766A1 (fr) * 2008-05-16 2009-11-19 Siemens Plc Équipement de navigation et procédés pour déterminer la position et l'orientation d'une sonde autonome
EP2327355A4 (fr) * 2008-09-02 2011-10-26 Olympus Medical Systems Corp Système de guidage de capsule
EP2327355A1 (fr) * 2008-09-02 2011-06-01 Olympus Medical Systems Corp. Système de guidage de capsule
CN104739411A (zh) * 2015-04-01 2015-07-01 南京医科大学 一种使用磁传感器对磁性目标进行检测定位的方法

Also Published As

Publication number Publication date
DE102006010730A1 (de) 2006-09-28

Similar Documents

Publication Publication Date Title
WO2006097423A1 (fr) Dispositif pour determiner la position et/ou l'orientation d'un objet pouvant naviguer
DE102005040528B4 (de) Drahtlose Erfassung der Ausrichtung eines Endoskops
DE69838876T2 (de) Magnetisch ausrichtbare fernleitanordnungen und anwendungsverfahren
DE69736550T2 (de) Verfahren zur bilderzeugung durch magnetische resonanz und zur spektroskopischen analyse und dazugehörendes gerät
DE60317861T2 (de) Distale Zielvorrichtung für Verriegelungsschrauben in intramedulären Nägeln
DE19532676C1 (de) Anordnung zur Bestimmung der Position eines Markers in einem Hohlraum innerhalb des Organismus eines Lebewesens
EP1543766A1 (fr) Système et procédé pour la détermination de la position et de l'orientation in vivo d'une capsule endoscopique
EP2942008B1 (fr) Dispositif de résonance magnétique doté d'une unité de détection de mouvement et procédé de détection d'un mouvement d'un patient pendant un examen par résonance magnétique
DE102007030972B3 (de) MR-kompatibles Videosystem
DE102008054297A1 (de) Katheter-Anordnung zum Einführen in ein Blutgefäß, medizinische Untersuchungs- und Behandlungseinrichtung mit einer solchen Katheter-Anordnung und Verfahren zum minimalinvasiven Eingriff an einem Blutgefäß im Gehirn
DE10207736B4 (de) Verfahren zur Bestimmung der Position einer Lokalantenne
DE102008006711A1 (de) Medizinische Diagnose- oder Therapieeinheit und Verfahren zur Verbesserung von Untersuchungs- bzw. Behandlungsabläufen mit einer medizinischen Diagnose- oder Therapieeinheit
DE102005032039A1 (de) Endoskopsystem mit Einführlängenerfassung
DE19958408A1 (de) MR-Anordnung und MR-Verfahren zur Lokalisierung und/oder Visualisierung eines mit einer passiven Magnetvorrichtung ausgestatteten medizinischen Instruments
DE102011017591A1 (de) Endoskopiekapsel zur Untersuchung und/oder Behandlung in einem Hohlorgan eines Körpers und Untersuchungs- und/oder Behandlungseinrichtung mit einer Endoskopiekapsel
DE112018003204T5 (de) Chirurgisches Bildgebungssystem und -verfahren
DE102014207124A1 (de) Medizinische Bildgebungsvorrichtung
DE102008035092B4 (de) Vorrichtung zur Durchführung einer minimalinvasiven Diagnose oder Intervention im Körperinneren eines Patienten mit einem Kapselendoskop sowie Verfahren zur Ermittlung der Istposition eines Kapselendoskops im Körperinneren eines Patienten
DE102006014040B4 (de) Verfahren und Einrichtung zur drahtlosen Fernsteuerung der Kapselfunktionen einer Arbeitskapsel eines Magnetspulensystems
DE102006014045B4 (de) Verfahren und Einrichtung zur drahtlosen Fernsteuerung der Kapselfunktionen einer Ortungsspulen aufweisenden Arbeitskapsel
DE102016215044B4 (de) Erzeugung einer Bewegungsinformation
WO2009109515A1 (fr) Système médical
WO2008077495A1 (fr) Déclenchement acoustique d'un appareil d'imagerie par résonance magnétique
WO2010091926A1 (fr) Procédé et dispositif pour déterminer un trajet parcouru par une capsule endoscopique dans un patient
EP3545836B1 (fr) Procédé de mise en uvre d'une tomographie par impédance électrique à l'aide d'une installation mr

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: DE

NENP Non-entry into the national phase

Ref country code: RU

WWW Wipo information: withdrawn in national office

Country of ref document: RU

122 Ep: pct application non-entry in european phase

Ref document number: 06724978

Country of ref document: EP

Kind code of ref document: A1

WWW Wipo information: withdrawn in national office

Ref document number: 6724978

Country of ref document: EP