WO2009027191A1

WO2009027191A1 - Position measuring and guiding device

Info

Publication number: WO2009027191A1
Application number: PCT/EP2008/060337
Authority: WO
Inventors: Hironao Kawano; Akio Uchiyama; Andreas RÖSNER; Wolfgang Schmidt; Johannes Reinschke
Original assignee: Siemens Aktiengesellschaft; Olympus Medical Systems Corporation
Priority date: 2007-08-31
Filing date: 2008-08-06
Publication date: 2009-03-05
Also published as: CN102014729B; CN102014729A; DE102007041346A1

Abstract

The invention relates to a position measuring and guiding device (1) having a position measuring unit for determining the position, and a guiding unit (4) for the contact-less guidance of a medical instrument within the body of a patient, particularly a capsule endoscope within the scope of a capsule endoscopy, wherein the position measuring unit of the position measuring and guiding device (1) has an at least substantially hollow-cylindrical, particularly tube-shaped carrier body (3) for at least one further component of the position measuring unit, which is disposed in an inner region of the guiding unit (4).

Description

description

Position measuring and guiding device

The invention relates to a position measuring and guiding device with a position measuring unit for determining the position and a guide unit for the contactless guidance of a medical instrument in the body of a patient, in particular a capsule endoscope in the context of a capsule endoscopy.

In various examinations and procedures it is necessary to introduce a medical instrument or device into the body of a patient. One example is capsule endoscopy, in which a digital camera contained in a capsule is used, which the patient swallows and then generates images on their way through the body and sends them to a receiving or storage unit.

In order to achieve the greatest possible benefit in such examinations and procedures, it is advantageous if the position of the medical instrument in the body of the patient is known and, moreover, a targeted guidance of the medical instrument, in particular a non-contact guidance, is possible. Only with a knowledge of the position, it is possible, for example, to correctly associate the image recordings with corresponding body sites during capsule endoscopy. Certain places in the body, for example, which are to be examined in a more targeted manner with the image recordings, can, if appropriate, only be reached with the possibility of guiding the capsule or another medical instrument.

Because of this, position measuring and guiding devices are used alone or in combination with each other and described in the prior art, for example in the form of the magnetic coil system known from DE 103 40 952 B3 for the non-contact movement of a magnetic body in a working space or the position detection system - like the guidance system of WO 2005/120345 A2. In this case, the individual receiving coils in the position detection system of WO 2005/120345 A2 are arranged in a plurality of arrays on different carrier parts in a cubic shape.

The system for non-contact movement of a magnetic body, which is shown in DE 103 40 925 B3, consists of a plurality of coils which form a cylindrical body in the interior.

There is the problem that in a combination of known position measuring and guiding devices, the available working area would be significantly reduced or limited or for the patient who needs to be stored in the interior of these facilities, only little space would be available. An integrated solution for the position measurement and guidance of a medical instrument, in which a position measuring unit and a guide unit or their individual components are not only more or less unconnected next to each other or in the optimal positioning with regard to avoiding blocking of the Available working volume or the space available to the patient would be unknown.

The invention is thus based on the object of specifying an improved position measuring and guiding device in this respect.

To solve this problem, a position measuring and guiding device with a position measuring unit for determining the position and a guide unit for non-contact guidance of a medical instrument in the body of a patient, in particular a capsule endoscope in the context of a capsule endoscopy, is provided, which is characterized in that the position measuring unit of Position measuring and guiding device one, at least substantially, hollow cylindrical, in particular tubular, carrier body for we- at least a part of the position measuring unit, which is arranged in an inner region of the guide unit.

The position measuring and guiding device according to the invention is thus embodied in an integrated form with a position measuring unit and a guide unit such that the sensor system and, if appropriate, further (essential) components for measuring the position in the interior of a system for non-contact guidance of the medical device. see instruments are arranged in the form of or on and / or on a single carrier body. The position sensor is thus applied to an at least approximately or exactly hollow cylindrical carrier, which can be described as a position measuring tube. Coils for an electromagnetic position determination and / or further parts for position measurement are arranged on or on this carrier body, if appropriate integrated therein. Due to different (more or less integrated in the tube) components of the position measuring unit such as coils in a based on an electromagnetic operating principle position measuring system or a corresponding position measuring unit to deviations from the exact cylindrical shape come. However, it is essential for the invention that the main components or parts of the position measuring unit as a whole are integrated into or arranged on a position measuring tube or a body which has substantially the shape of a cylinder. The hollow cylinder does not necessarily have a round, but may also have an elliptical or angular cross-section.

The cylindrical position measuring unit then interacts, depending on the functional principle on which it is built, with other components of the position measuring and guiding device, for example with an LC resonant circuit in or on the medical instrument itself or with control devices, etc. Due to the tubular, for example, a round cross-section having formation of the position measuring unit or the carrier body, in particular the coil system of an electromagnetic position measuring unit, the available work area or the space provided for the patient storage space is not unnecessarily obstructed. Rather, an optimal tubular shape is provided, as it is known, for example, as a working area in magnetic resonance tomography. The position measuring tube or the position measuring unit with the hollow cylindrical shape, in which optionally different components for the position measurement are integrated, is arranged overall in the interior of a system for non-contact guidance of the medical instrument. Thus, not only by the hollow cylindrical carrier body of the position measuring unit itself, an exact positioning of the components of the position measuring system relative to each other given, but it is also by the nesting of the position measuring unit and the guide unit exact positioning of the position measuring unit with respect to the Füh- system or realized the leadership unit. The arrangement in the interior of a correspondingly designed guide unit allows easy installation and positioning with the required or desired accuracy. The guide unit which surrounds the position measuring unit, which is thus arranged around the position measuring unit, prevents individual components for the position measurement or the guide from interfering or blocking each other and correspondingly arranging component-to-component in a correspondingly complex manner must become.

Of course, it is of particular advantage if the surrounding guide unit is itself (at least substantially) (hollow) cylindrical or substantially hollow cylindrical body (with a carrier body of the position measuring unit corresponding inner cross section), since in this case the shapes are matched are and a simple nesting of the positioning unit and the guide unit is possible with corresponding shapes. With particular advantage, the position measuring unit is designed as an electromagnetic position measuring unit and / or the guide unit as a magnetic guide unit. For the position measurement, therefore, an electromagnetic action principle is used, while the guide is advantageously carried out magnetically. For this purpose, if appropriate, at least one corresponding sensor or an active element is to be provided in the medical instrument or on the medical instrument, for example for the position measurement an induction coil and for the guide a permanent magnet. A magnetic guide unit is then expediently designed as an electromagnet with a generally (circular) cylindrical opening or bore, in which the cylindrical position measuring unit can be inserted, for which purpose the sizes of the two tubes are to be matched. In the case of a hollow-cylindrical design of the position-measuring unit with a circular outer cross section, unlike the cuboid or cubic position detection systems known from the prior art, it optimally fits into the interior of a magnet, which also generally has a round cross-section.

The hollow cylindrical carrier body of the position measuring unit can, at least substantially, consist of a glass fiber reinforced plastic and / or a thickness of a few mm, in particular in the range of 2 to 10 mm and especially of about 4 mm or in the range of 4 to 6 mm , exhibit. The inner diameter can be about 600 mm. A typical range is 590 mm to 710 mm. The position measuring tube is thus advantageously formed of a glass fiber reinforced plastic (GRP), at least as far as it is not inevitably made of other materials existing functional components such as the coils of an electromagnetic position measuring unit. This offers the advantage that thus the base body (without the functional components) of the position measuring unit is not magnetic and also non-conductive, so that it by the cylindrical body itself does not interfere with the position measurement or the leadership of the medical instrument comes.

The thickness of the position measuring tube is advantageously in the range of a few mm to ensure the necessary stability. A typical suitable value is 4 mm. Of course, however, other wall thicknesses or wall thicknesses that vary over the length of the position measuring tube are also conceivable, in particular in the range from 4 to 6 mm.

In the presence of an electromagnetic position measuring unit, at least one receiving coil (as an essential component of the position measuring unit) can be arranged on the inside of the at least substantially hollow cylindrical carrier body of the position measuring unit, in particular in at least one on the inside of the substantially hollow cylindrical carrier body attached housing, optionally in two fixed to opposite sides of the hollow cylindrical body support housings. The essentially or precisely hollow-cylindrical body thus has one or more housings which are designed to receive receiving coils and are arranged on the inner casing or in the region of the inner surface of the jacket of the cylinder. Typically, two or even more housings are provided for the receiving coils. These housings can be glued to the inner shell region of the cylinder. The housings can be designed as required for at least one receiver coil or an array of receiver coils. For example, an embodiment is conceivable in which a housing or a box is arranged on the upper side of the horizontal cylinder for receiving receiving coil arrays and three further housings separated by rails for guiding a patient bed are arranged in the lower region. Alternatively, only a single housing may be provided in the lower region between the rails for the patient bed. The can

Housing tops, so not adhered to the inner cylinder surface sides, be designed differently. Typically, a flat housing top offers. But also conceivable are housing top sides with steps and the like.

Each electromagnetic position measuring system has receiving coils - on the other hand, transmitting coils are not absolutely necessary if the medical instrument to be located transmits itself.

In an electromagnetic position measuring unit, the (substantially) hollow cylindrical carrier body of the position measuring unit may have on its outer surface at least one groove for receiving at least one transmitting coil as a further component of the position measuring unit, in particular a groove adapted to the shape of the transmitting coil. In the case of several transmitting coils, the groove can correspondingly have a shape which is suitable for receiving a plurality of transmitting coils.

Furthermore, at least one transmitting coil can be adhesively bonded in a groove and / or at least one groove can be sealed with at least one transmitting coil received therein. Advantageously, the coils are first glued into the grooves, after which the grooves are then sealed so as to obtain a uniform and flat outer boundary surface or a corresponding outer finish. The sealing can in turn be done with adhesive or with epoxy resin and other suitable materials.

In an electromagnetic position measuring unit with transmitting coils, at least one transmitting coil may be formed with a single conductor layer or with two conductor layers having at least one, in particular a few turns, in particular with turns made of a copper wire and / or a wire having a painted and / or a round cross section ,

The transmitting coils are thus typically single-layered, possibly also multi-layered, arranged, one layer each having a few windings, for example, a round painted copper Ferdrahts has. These layers are then z. B. glued into the grooves described above.

The fixed arrangement of the transmitting and receiving coils in an electromagnetic position measuring system on or in the region of the hollow cylindrical carrier body results in a detailed fixed and exact arrangement, made possible by the integration into a single component, namely the position measuring tube. As a result, the relative positions of the individual components (with other functional principles, if appropriate, differently shaped components) are unchangeable and thus known.

The guide unit may be formed with a, at least in essence, cylindrical opening, in particular in the case of a magnetic guide unit as a magnet with a cylindrical inner tube or bore, for receiving the position measuring unit. The guide unit is therefore cylindrical in total or at least with respect to its (optionally continuous) opening or an inner surface or as a hollow cylinder, so that the position measuring tube of the position measuring unit are advantageously inserted with corresponding cross-sectional shapes directly into the opening or the tube thus formed can, so that there is an optimal arrangement in terms of space consumption.

This makes it possible to easily and accurately position the position measuring system or unit within the magnetic guidance system.

In order for them to be arranged in one another without any problems, the (essentially) cylindrical opening of the guide system is larger than the (largest diameter for a deviation from a circular cross section) outer diameter of the hollow cylindrical carrier body of the position measuring unit, particularly larger by a few millimeters , and / or the hollow cylindrical carrier body of the position measuring unit is longer than the substantially cylindrical (and optionally continuous) opening of the guide unit. formed, in particular by a few inches longer. For example, if the inner diameter of a guide magnet as a guide unit is larger by 1 to 4 mm, typically 2 mm, than the outer diameter of the cylinder of the position measuring system, it is possible to easily insert the cylinder of the position measuring system into the guide magnet. If the cylindrical body is a few centimeters longer than the inner opening / bore or the inner tube of the guide unit, this allows the cylinder of the position measuring unit to be adjusted with mounting elements which are fastened to the projecting area or engage here connect them, for example, with end plates of the guide unit and the like.

The cross section of the hollow cylindrical carrier body and / or a cylindrical opening of the guide unit may be at least substantially circular or elliptical or rectangular. Other forms or slight deviations from the forms mentioned are conceivable.

The guide unit may be formed with at least one end plate. Typically, at both ends of the guide unit, which surrounds the position measuring unit, such end plates are provided, on which inter alia a protruding at the respective ends tube of the position measuring unit can be fixed without the decoupling of position measuring unit and guide unit would be in question ,

In addition, at least one fastening means may be provided for fastening the position measuring unit or the carrier body in or on the guide unit, in particular for attachment to at least one end plate of the guide unit. The position measuring and guiding device thus has, as a rule, a plurality of fastening means with which the

Position measuring unit or the carrier body, so the cylindrical tube, relative to the guide unit, for example, to the magnet of a magnetic guide system, fixed or is mounted. For example, the position measuring unit can be fixed by means of the fastening means or mounting means to two end plates of a guide magnet of a magnetic guide unit. There is no connection in the interior of the two units, so that accordingly there is a mechanical decoupling.

For example, at least one fastening means may be a mounting block, in particular a mounting block, which acts on the hollow-cylindrical carrier body of the position-measuring unit and on an end plate of the guide unit. Thus, one or more mounting blocks are used, which are fastened on one side to the position measuring tube, on the other side to the end plate of the guide unit or another component of the guide unit, so as to fix these two units against each other.

In addition, at least one fastening means may be a mounting ring and / or flange, in particular a mounting ring and / or flange, which externally surrounds the hollow cylindrical carrier body of the position measuring unit and / or stabilizes the carrier body in its shape. The mounting ring may be a flange, which is fitted with respect to the inner diameter of the outer diameter of the (round) position measuring tube or by screws on this and / or one

End plate of a guide unit is attached. Positioning pins can be used to determine the angle of rotation between the position measuring tube and the flange. Additional positioning pins can be used when connecting to the end plate.

For example, the position measuring unit or the carrier body with the help of at least one elongated hole of at least one fastening means and / or the position measuring unit and / or at least one spacer can be adjusted. Thus, an adjustability can be realized in that the mounting means and optionally also the cylindrical tube of the position measuring unit have slots, whereby in, for example, elongated holes in mounting blocks in the radial direction with respect to a cylindrical guide unit, in particular with respect to a guide magnet, may be provided which allow adjustability together with slots in the position measuring cylinder in the azimuthal direction.

By means of spacers of suitable thickness under the fastening means or mounting blocks, a radial (concentric), azimuthal and also axial adaptability of the cylinder of the position measuring system relative to the guide unit is then made possible overall.

Advantageously, the adjustment or adjustment in all three directions as a total three-dimensional adaptation is possible, since only in this way an accurate and accurate positioning of the present in an electromagnetic position measuring system receiving coils and possibly also existing transmitting coils relative to the coils of a magnetic guidance system, the electromagnetic interference with the Cause position measuring system or the position measuring unit, can be achieved. Then it is possible to compensate for the electromagnetic interference by means of a software for the position measuring system of the device based on the known relative positions, which are then firmly adhered to.

At least one fastening means may be formed such that the position measuring unit, in particular the carrier body, with respect to the guide unit in the axial and / or radial and / or azimuthal direction is adjustable, in particular by means of at least one screw.

For example, three or more mounting blocks can be used, with the aid of which the position measuring unit can be fixed relative to the guide unit. These fastening means then allow an adjustability of the position measuring tube relative to the guide unit, for example relative to the magnet in a magnetic guide unit, this adjustability advantageously in three different axes, ie axially with respect to the longitudinal axis of the position measuring and guide device (ie in the lying direction of a patient), radially in the direction of the radius of the cylindrical body of the position measuring unit and azimuthal in the circumferential direction of the cylindrical body of the position measuring unit is given.

The position measuring unit or the carrier body can be adjustable with respect to the guide unit with a setting tolerance of less than (or in the range of) 0.1 mm.

In order to allow the most accurate adjustment of the position of the position measuring unit relative to the guide unit (for example, for a reliable calculation of electromagnetic interference influences of the guide system on the position measuring system), the adjustment accuracy should be in the range of 0.1 mm or higher. Such a high adjustment accuracy is necessary, for example, because in an electromagnetic position measuring system with a magnetic guidance system, the navigation coils of the navigation magnet for the guidance of the medical instrument as electrically conductive objects are disturbing bodies for the electromagnetic position measuring unit of the position measuring and guiding device. However, if a fixed position of the position measuring tube with its components relative to the navigation magnet or to the guide unit can be achieved by the adjustment and fixation, the disturbing influence of the navigation coils in the position determination can be "outweighed." By an exact adjustment, as it depends For example, given a setting tolerance of less than 0.1 mm, the required accuracy in the calculation can be achieved without excessive experimental calibration effort The use of adjusting screws for adjusting the positions of the position-measuring unit relative to the guide unit provides a particularly easy way to adjust or adjust. With a screw guide of about 1 mm per revolution, an accuracy in the range of 0.1 mm or better can be achieved. At least one fastening means may be designed in several parts for adjusting the position measuring unit with respect to the guide unit, in particular with an axial and / or an azimuthal and / or a radial slide element for enabling an adjustability in the respective directions. With such multipart, in particular substantially (with respect to the main components) in three parts, formed fasteners such as mounting blocks can in turn a three-dimensional adjustment or adjustment of the hollow cylindrical carrier body of the position measuring unit with respect to the guide unit, in particular with respect to a magnet of a magnetic guide unit, can be achieved. The fastening means are for example adjustment pads, which are adjustable in three axes by means of adjusting screws and the like. If a plurality of similar fastening means of this type is used, for example three arranged or to be arranged at each end of the cylindrical tube of the position measuring unit, this allows a cost-effective production, since it is in each case one and the same component. When using adjusting screws for adjusting, there is the advantage that the adjustment can be made only with the help of a screwdriver, without further additional devices or tools are required. An adjustment is thus fast and very precise possible. Due to the multi-part design of the fastening means, the adjustability in the three different axes is also made possible solely by the fastening means. By way of slide elements, that is to say components with displaceably formed carriages and optionally further constituents, an adjustability is realized in each case in one direction.

At least one slide element, that is to say an axial or azimuthal or radial slide element, can have at least one plate, in particular two plates which are perpendicular to one another, and / or an axial slide element on the hollow cylindrical carrier body of the position measuring unit and / or a radial slide element on the managerial attack unit and / or an azimuthal carriage element between an axial and a radial carriage be arranged. The slide elements can therefore have a plate-like construction, in particular such that two plates each are perpendicular to one another, so that the plates for the different directions or the slides for the adjustability in the different directions are combined to form a stable element which despite the Adjustability or the adjustment options absorb the forces that occur in the overall system, and with the position of the unit fixed relative to the magnet or the guide unit are stored.

In particular, a structure is recommended such that a mounting element or fastening means in the form of a slide element for the axial adjustment on the cylindrical body of the position measuring unit engages while a radial slide element, in particular in the embodiment with vertical plates and a set screw and a carriage for adjustment in the desired manner, engages the guide unit, wherein between these two carriage elements or fastening elements, the carriage element or the fastening element for the azimuthal adjustability is arranged.

In each case three fastening means can be provided at the two ends of the hollow cylindrical carrier body of the position measuring unit, in particular such that two fastening means arranged symmetrically to the vertical axis in the lower region of the hollow cylindrical carrier body enclose an angle of substantially 90 degrees and a fastening means arranged in the upper region Essentially located on the vertical axis. Thus, a total of six fastening means are provided, wherein these fastening means are arranged in each case star-shaped at the respective ends of the (substantially) hollow cylindrical body of the position measuring unit. In this case, in the lower area symmetrical to the vertical axis of the horizontally oriented position measuring tube two fastening means may be provided which advantageously, but not necessarily, include an angle in the range of 90 degrees. A fastening means can be arranged in the upper region, ie on a vertical axis, by means of the cylinder oriented in its longitudinal direction horizontally to the bottom of an examination or treatment chamber, with regard to the arrangement of a couch within the tube of the position measuring unit.

With these three fasteners on each side, easy mounting (mounting) and adjustment with the required accuracy is possible. Of course, as many as three or fewer fasteners may be used, however, the three fastener assembly on each side is particularly advantageous in practice.

The position measuring unit can be designed as a preassembled individual element for arrangement within the guide unit, in particular in the case of an electromagnetic position measuring unit with transmitter and receiver coils preassembled on the hollow cylindrical carrier body. This offers the advantage that only a single (integrated) component, namely the cylindrical position measuring tube with the preassembled components in the form of coils, etc., has to be introduced into the guide unit, in particular into a magnet of a magnetic guidance system. The components of the position measuring unit then have mutually fixed positional relationships, so are positioned in each case exactly and correctly to each other. This can not be due to an incorrect arrangement of the elements for the position measurement too

Errors in the position determination come. Furthermore, with such a uniformly designed single component, a simple assembly of the position measuring and guiding device is possible.

Furthermore, the position measuring and guiding device can have at least one computing device and / or be connected to a computing device which can be used by means of a program means for the consideration of interference in the determination of the position and / or the guidance of the medical instrument is formed by and / or on the position measuring unit and / or the guide unit, in particular for the consideration of electromagnetic interference in an algorithm at least one program means for determining position with the position measurement unit. The position measuring and guiding system can each have their own arithmetic unit. However, a common arithmetic unit is also conceivable. For example, it is in the combination of an electromagnetic position measuring system with a magnetic guide unit so that the coils of the guide system as electrically conductive objects represent a disturbing body for the position measuring system or the position measuring unit. In a known position of the components of the position measuring unit relative to the guide system or navigation system, as in the position measuring and guiding device according to the invention by the use of the hollow cylindrical carrier body, which is mounted with the fastening means fixed or exactly adjustable relative to the guide unit, is given However, these disturbances can be calculated out. For this purpose, the position measuring and guiding device on a suitable computing device, which may optionally be a computing device, which is provided anyway for the processing of the position data or guide data or for controlling the instrument. Optionally, there may also be a (data) connection to a correspondingly designed computing device, on which software runs which, for example as software for the position measuring device, makes it possible to take account of these disturbing influences.

The and / or a computing device can be used for the consideration of eddy currents, which are induced in particular by transmitting coils in the guide unit, and associated interference in the determination of the position, in particular for or by calculation and compensation of the interference in Depending on a known and exactly adjusted position of the position measuring unit, be formed.

Furthermore, a patient bed in the position measuring and guiding device or for use together with the position measuring and guiding device for supporting the patient can be guided on a freely suspended rail system without mechanical or at least without direct mechanical connection to the hollow cylindrical carrier body of the position measuring unit. By this storage of the patient bed on a levitating rail system a direct connection of the deck or the rail system is avoided for position measuring tube. The lack of mechanical contact with the position measuring tube prevents interference, not least a deformation of the position measuring tube or the cylindrical body, which can be formed accordingly thin-walled. The storage of the rail system for the couch is made to produce the mechanical decoupling outside of the position measuring tube by means of a suitable stand system, which if necessary also serves to support the guide unit.

In particular, a patient bed for supporting the patient may be guided on a rail system with two rails and at least one, in particular mechanically stiffened, transverse connection between the rails. This cross-connection, which may optionally be in the form of a plurality of ribs, serves to reinforce, in order to avoid deformation of the rail system and thus problems in the storage of the deck. At least one stand in the area outside the position measuring unit, ie beyond the ends of the cylinder, is used for the mounting of the free-floating rail system, for which purpose the rails are designed to be longer than the position measuring tube and directly attached to the stand or attached to such a stand system ,

Moreover, the invention relates to a position measuring unit, in particular for a position measuring and guiding device as described above, which at least substantially, having hollow cylindrical carrier body. In contrast to the prior art, therefore, there is a unitary carrier body which does not have to have a cubic basic shape or cuboidal basic shape, but as a basically tubular body can have a round cross-section and advantageously represents a (single) preassembled or integrated element on which all are arranged in the vicinity of the location of the medical instrument to be placed components of the position measurement. Thus, only a single component is required, which can also be optimally introduced by the hollow cylindrical configuration, for example, in a bore of a magnetic guide system, especially in a round cross-section in a corresponding round tube. The position measuring unit advantageously consists of a glass fiber reinforced plastic.

Furthermore, the invention relates to a method for determining the position and for guiding a medical instrument in the body of a patient, in particular a capsule endoscope within the scope of a capsule endoscopy, by means of a position measuring and guiding device as described above or by means of such a position measuring unit. The method therefore relates to the position determination and the guidance of a medical instrument, that is to say a (purely physical) measurement data determination or signal transmission to a medical device. In this case, the position determination or guidance takes place by means of a position measuring and guiding device, in which the position measuring unit is designed as a substantially cylindrical body.

In addition, the invention relates to a method for arranging a position measuring unit, in particular a position measuring unit as described above, a position measuring and guiding device, in particular as described above, wherein the position measuring unit has a, at least substantially, hollow cylindrical carrier body, in an inner region of a guide unit of the position measurement - and guide guiding device, wherein the position measuring unit by means of at least one mounting ring and / or flange on the guide unit, in particular an end plate, is attached and / or in which for stabilizing the hollow cylindrical support body at least one mounting template, at least partially, is inserted into the cylinder cavity of the carrier body , is used.

The assembly or assembly of the position measuring or guide unit can be carried out so that the position measuring tube is connected to an end plate of the guide unit via a mounting ring or flange, wherein the outer diameter of a (round) position measuring tube to the inner diameter of Flange is adapted. About positioning pins, the angle of rotation between the position measuring tube and the

Flange determined. The position measuring tube is fastened by means of screws to the flange, which is arranged running around the hollow cylindrical opening of the position measuring tube. Other positioning pins are for placement on an end plate of the guide unit to which the flange is fastened by screws.

The assembly can be carried out by first fastening a flange to the position measuring tube, whereupon receiving and transmitting coils are connected to a connector and an assembly template adapted to the cross section of the position measuring tube in the hollow cylindrical interior space on the other side not the flange is attached, arranged, in particular, is inserted into the tube. This mounting template (assembly jig) can be formed corresponding disk-shaped in a round tube. Thereafter, the position measuring tube is arranged in the interior of the guide unit, that is inserted into this and fixed on the side on which the flange is already attached to the guide unit. On the other side, a corresponding flange, optionally with additional spacers, are attached. Thereafter, the mounting template, which ensures that the position measuring tube until the final fastening tion on a guide magnet or another guide unit retains its shape, be removed again.

The mounting template may have flange or threaded holes to indicate a direction of rotation or to allow the removal of the template after completion of the assembly. By means of pins between the position measuring tube and the mounting template, an axial movement can be prevented. Grooves make it possible to carry out assembly work with respect to the position measuring tube and a guide magnet or a guide unit based on another operating principle.

If the positioning of the position measuring tube on the guide system via fasteners, which are composed of, for example, three carriages, wherein the carriage positions are adjusted by adjusting screws, the adjustment can be carried out appropriately using a laser triangulometer or other measuring device.

Further advantages, features and details of the invention will become apparent from the following embodiments and from the drawings. Showing:

1 shows a cross section through a position measuring and guide device according to the invention with a rail system of a patient bed, wherein only the inner tube is shown by the guide device,

2 is a side sectional view of the position measuring and guiding device of FIG. 1,

3 shows a sketch of an arrangement of transmitting coils of a position measuring and guiding device according to the invention with an electromagnetic position measuring unit, 4 shows a guide unit of a position measuring and guiding device according to the invention in the mounted state,

5 is a sketch for mounting a position measuring unit with respect to the guide unit of Fig. 4,

Fig. 6 is a sketch for mounting a position measuring unit in an inner tube of a guide unit.

7 shows a view from below of a fastening means in the form of a mounting block for fastening a position measuring unit to a guide unit,

Fig. 8 is a view of the fastening means of Fig. 7 from above and

9 is an exploded view of a fastener with a multi-part construction.

1 shows a cross section through a position measuring and guiding device 1 according to the invention with a rail system 2 for a patient bed. The rail system 2 is a free-floating rail system, so there is no direct mechanical connection or contact between the rail system 2 and the carrier body 3 of the position measuring unit, which is designed as a hollow cylindrical carrier body, in this case with a round cross section.

The position measuring unit or the carrier body 3 is arranged in the interior of a guide unit outlined here only by its inner tube 4, the circular cylindrical inner surface of which adjoins the exterior of the cylinder shell of the carrier body 3 at a distance of approximately 2 mm.

Furthermore, various housings 5, 6, 7 and 8 are provided for receiving coils or receiving coil arrays, in other embodiments, for example, the two housings 5 and 7 can be omitted in the lateral lower portion of the position measuring unit. In this case, only the housing 6 and 8 above or below in the hollow cylindrical support body 3 of the position measuring unit 3 are present.

In other embodiments, not shown here, the housing 6 on the underside of the support body 3 instead of a flat surface having a surface with steps, in particular with two steps in the lateral edge region. The position measuring and guiding device can also be used in other embodiments for various medical instruments or multiple instruments.

FIGS. 1 and 2 further indicate by way of example that a circular-cylindrical work area 9 is available for carrying out the medical examination or treatment with the medical instrument guided or position-monitored by means of the position measuring and guiding unit.

2 shows a side sectional view of the position measuring and guiding device 1 of FIG. 1. Shown in turn is the circular-cylindrical working area 9 and the rail system 2, which furthermore has rib-like cross-linking 10. Here are two narrow ribs shown by way of example. But are also possible designs with a variety and possibly with wide ribs and / or with one or more cover plates, which may leave only a space for the housing 6, if necessary. As already mentioned, the rail system 2 does not touch the position measuring unit, i. H. neither the carrier body 3, nor the housing 5, 6 and 7 and 8 for the receiving coils of the based on an electromagnetic principle of action position measuring system.

The inner tube 4 of the guide unit surrounds the hollow cylindrical carrier body 3 as a body with a circular cylindrical opening or inner surface at a small distance, so that during assembly, a slight insertion of the carrier body. 3 the position measuring unit is possible in this opening of the guide unit.

Through the use of nested tubes as a position measuring or guide unit for the invention

Position measuring and guiding device 1 creates a maximum working area 9 or space for the patient without blockages within the combined position measuring and guiding system. The components of the carrier body 3 and the guide unit can each be positioned exactly to each other.

3 shows a sketch of an arrangement of transmitting coils 11 of a position measuring and guiding device according to the invention, for example according to FIGS. 1 and 2, with an electromagnetic position measuring unit with a carrier body 12. The position measuring unit has different grooves 13 for receiving the transmitting coils 11 on, in which the transmitting coils 11 are glued. For this purpose, the grooves 13 are formed in the form of the transmitting coils 11.

The carrier body 12 consists of a glass fiber reinforced plastic, that is a non-magnetic and non-conductive material.

The grooves 13 on the outside of the support body 12 are sealed after the gluing of the coils 11, this seal is not shown here, so as to obtain a smooth surface of the position measuring tube. The transmitting coils 11 consist of a single coil layer with several turns of a round painted copper wire.

At a small distance from the outer surface of the support body 12 of the position measuring unit, the inner tube 14 of the guide unit is arranged, the details of which are not shown here for reasons of clarity. 4, a guide unit 17 is shown in the assembled state. The guide unit 17 is held together by means of various support members 18, 19, and besides the coil units 20 required for the magnetic guide, has end plates 21 at the respective ends which have openings 22 with the inner cylindrical surface 23 of the guide magnet of the guide unit 17.

In the interior of the guide unit 17, a position measuring unit is inserted, which is not shown here in detail.

At the end plates 21 of the guide unit 17 are each three threaded holes for having holes 24, on the block in conjunction with not shown here mounting the attachment of a position measuring unit on the

Guide unit 17 such that an adjustability for Jus- days is given is realized.

FIG. 5 shows a sketch for mounting a carrier body 27 of a position-measuring unit with respect to the guide unit 17 of FIG. 4. Shown again are two end plates 21 on which mounting blocks 25 are arranged. The connection takes place via the threaded opening of the holes 24 in cooperation with oblong holes 26 of the mounting blocks 25, wherein the elongated hole 26 extends in the vertical direction, whereby a radial adjustability of the position measuring unit with respect to a cylindrical guide magnet of the guide unit 17 is achieved.

Furthermore, the carrier body 27 of the position measuring unit of the device is shown, which in turn has a slot 28 with a screw 29 received therein, wherein the slot 28 extends in the circumferential direction. Through the slot 28 thus an adjustability in the azimuthal direction is possible. Spacers 30 are provided below the mounting blocks 25, which have a suitable thickness, so that an axial adjustability of the carrier body 27 is made possible. Furthermore, in the field of management unit 17 cooling tubes 32 on the inner tube 33 with the inner cylindrical surface 23 shown in FIG. 4. Between the inner tube 33 and the carrier body 27 there is a gap of 1 mm.

In the case shown here, the carrier body 27 of the position measuring unit has a hollow inner tube of 585 mm and an outer diameter of 593 mm. This is followed by the inner tube 33 of the guide unit with an inner diameter of 595 mm. Of course, other sizes may be present in other embodiments. For example, a position measuring tube may also require a thickness of 6 mm.

Fig. 6 shows a sketch for mounting a position measuring unit in an inner tube 66 of a guide unit of a position measuring and guiding device 67 (of which not all components are shown here, of course). Here, the carrier body 68 of the position measuring unit, which is designed as a circular cylindrical hollow body, inserted into the inner tube 66, as indicated here by the arrows.

In advance, a mounting flange 69 has been attached to one end of the carrier body 68. This mounting flange 69 is as

Ring, which runs in a circle around the support body 68, formed. Also shown are receiving coil arrays 70 on the carrier body 68, which serve for position measurement. These receiving coil arrays are formed by the receiving coils 15, 16, which are each housed in housings. Thus, both a transmitting coil and receiving coils 15, 16 are arranged on a hollow cylindrical carrier body as an integrated component, so that with this one component a defined position of the respective coils is given to each other and also easy installation of the device by inserting the carrier body 68 in an inner Area of a leadership unit is made possible. On the side to which the mounting flange 69 is not fastened, the carrier body 68 is stabilized in its shape by a mounting template 71 designed as a circular disk, which has a stepped construction for this purpose, with the inner area of the mounting template 71 having the same diameter is formed so that it can be inserted into the carrier body 68, while the outer step of the mounting template 71 with a larger diameter forms a conclusion.

After complete insertion of the carrier body 68 into the inner tube 66, a mounting flange can also be mounted on the other side of the carrier body 68, optionally with additional spacers, whereupon the mounting template 71 can be removed again. The positioning of the mounting flange 69 or a flange on the other side and the mounting template 71 via positioning pins and screws, of course, in other embodiments, other positioning or fastening means can be used.

FIG. 7 shows a bottom view of a fastening means 34 in the form of a mounting block for fastening a carrier body 35 of a position measuring unit to an end plate 36 of a guide unit. In addition, a further fastening means 37 can be seen, which is constructed like the fastening means 34. The fastening means 34 is arranged in a lower region of the carrier body 35, in the cylindrical interior of which the freely suspended rail system 38 of the patient bed is located, which rests on a stand arrangement outside the carrier body 35 of the position measuring unit.

The fastening means 34 and 37 shown here, which enclose an angle of approximately 90 degrees with a symmetrical arrangement to a vertical system axis, are replaced by a further fastening means, not shown here, at the top of the tube of the carrier body 35 on the vertical axis itself supplemented, so that overall results in a star-shaped arrangement of the fasteners.

The fastening means 34, 37 each have a multi-part construction with an axial slide element 39, an azimuthal slide element 40 and a radial slide element 41. The axial slide element 39 engages on the carrier body 35 and, like the radial slide element 41, has a structure consisting essentially of two plates 42, 43, 44 and 45 arranged perpendicular to one another. The sole plate of the azimuthal carriage member 40 is designated by reference numeral 46. About the carriage 47, 48 and 49, the adjustability in the respective axis for the individual carriage elements 39, 40 and 41 is made possible with the help of the corresponding screw elements. This makes it possible to optimally position the carrier body 35 with respect to the end plate 36 of the guide unit and thus onto the guide unit, so that the interference effect of the navigation coils of the magnetically formed guide unit can be calculated out in software of the position measuring system without complex calibration measurements , With the illustrated fasteners 34, 37 an adjustment with an accuracy in the range of about 0.1 mm is easily possible.

FIG. 8 shows a view of the fastening means 34 of FIG. 7 from above. In turn, the axial slide element 39 and the azimuthal slide element 40 and the radial slide element 41 with the plates 42, 43, 46, 44 and 45 can be seen

To see slides 47, 48 and 49 of the carriage elements 39, 40 and 41 with their respective (adjusting) screw elements. The other elements of the position measuring and guiding device are no longer shown for reasons of clarity.

In Fig. 9 is an exploded view of a fastener 50 having a multi-part structure according to the structure of the fastening means of Figs. 7 and 8 is shown. The Fastener 50 includes an axial carriage member 51, an azimuthal carriage member 52 and a radial carriage member 53, each consisting of plates 54a, 54, 55, 56 and 57 and 58 and the carriage with sliding guides 59, 60 and 61. The mounting of the carriage with the sliding guides 59, 60 and 61 on the respective plates 54, 56 and 57 takes place with the aid of screws 62, of which only a few are provided with reference numerals by way of example. Likewise, screws 62 are used for mounting the adjusting screw holders 65a. The three-axis adjustability of the fastener 50 is achieved by the set screws 63, 64a, 64b and 65 respectively for the axial, azimuthal and radial directions. By the adjusting screw 64a, b in the azimuthal direction, a movement of the plate 55 is generated perpendicular to the radial direction. Characterized in that the plate 55 is guided over two dowel pins 64 c in circular arc tracks 64 d of the plate 56 and a third dowel pin in the slide 60 in a slot in the plate 55 is guided in the radial direction, the rectilinear movement of the adjusting screw 64 a, b in a rotational movement of the plate 55 around the center of rotation of the position measuring tube and thus implemented a rotation of the position tube. In this case, the directions in each case relate to a cylindrical position measuring unit or a correspondingly shaped magnet of a (magnetic) guide unit. With the fastener 50 is thus a simple installation of a hollow tube of a position measuring unit z. B. in a magnetic guidance system possible.

The fastening means of FIGS. 7 to 9 can, of course, be used not only in position measuring and guiding devices, but also in the assembly of other elements in the medical and non-medical fields.

Claims

claims

1. Position measuring and guide device (1, 67) with a position measuring unit for determining the position and a guide unit (17) for contactless guidance of a medical instrument in the body of a patient, in particular a capsule endoscope in the context of a capsule endoscopy, characterized in that the position measuring unit of Position measuring and guide device (1, 67) has a, at least substantially, hollow cylindrical, in particular tubular gene, carrier body (3, 12, 27, 35) for at least a portion of the position measuring unit, which carrier body (3, 12, 27, 35 ) is arranged in an inner region of the guide unit (17).

Second position measuring and guiding device (1, 67) according to claim 1, characterized in that the position measuring unit as an electromagnetic position measuring unit and / or the guide unit (17) is designed as a magnetic guide unit (17).

3. Position measuring and guide device (1, 67) according to any one of the preceding claims, characterized in that the hollow cylindrical carrier body (3, 12, 27, 35) of the position measuring unit, at least substantially, consists of a glass fiber reinforced plastic and / or a thickness of a few millimeters, in particular in the range from 2 mm to 10 mm, in particular from 4 mm to 6 mm, and / or has an inner diameter in the range from 590 mm to 710 mm, in particular in the region of 600 mm.

4. position measuring and guiding device (1, 67) according to one of the preceding claims, characterized in that in an electromagnetic position measuring unit on the inside of the hollow cylindrical carrier body (3, 12,

27, 35) of the position-measuring unit, at least one receiver coil (15, 16) is arranged as a further component of the position-measuring unit, in particular in at least one of the position-measuring units. Enclosed housing (5, 6, 7, 8), optionally in two on opposite sides of the hollow cylindrical support body (3, 12, 27, 35) fixed housings (6, 8).

5. position measuring and guiding device (1, 67) according to any one of the preceding claims, characterized in that in an electromagnetic position measuring unit of the hollow cylindrical carrier body (3, 12, 27, 35) of the position measuring unit on its outer surface at least one groove (13 ) for receiving at least one transmitting coil (11) as part of the position measuring unit, in particular a to the shape of the transmitting coil (11) adapted groove (13).

6. Positionsmess- and guide device (1, 67) according to claim 4, characterized in that at least one transmitting coil (11) in a groove (13) is glued and / or at least one groove (13) with at least one received coil therein (11 ) is sealed.

7. position measuring and guiding device (1, 67) according to any one of the preceding claims, characterized in that in an electromagnetic position measuring unit at least one transmitting coil (11) with a single conductor layer or with two conductor layers with at least one, in particular with some turns is formed, in particular with turns of a copper wire and / or a painted and / or a round cross-section having wire.

8. Positionsmess- and guide device (1, 67) according to any one of the preceding claims, characterized in that the guide unit (17) with a, at least substantially, cylindrical opening (22), in particular in a magnetic guide unit (17) as a magnet a cylindrical inner tube (33), for receiving the position measuring unit (3, 12, 27, 35) is formed.

9. position measuring and guide device (1, 67) according to claim 8, characterized in that the cylindrical opening (22) of the guide unit (17) formed larger than the outer diameter of the hollow cylindrical carrier body (3, 12, 27, 35) of the position measuring unit is, in particular by a few millimeters larger, and / or that the hollow cylindrical carrier body (3, 12, 27, 35) of the position measuring unit is formed longer than the cylindrical opening (22) of the guide unit (17), in particular by a few centimeters longer.

10. position measuring and guiding device (1, 67) according to one of the preceding claims, characterized in that the cross section of the hollow cylindrical carrier body (3, 12, 27, 35) and / or a cylindrical opening of the guide unit (17), at least is substantially circular or elliptical or rectangular.

11. position measuring and guiding device (1, 67) according to any one of the preceding claims, characterized in that the guide unit (17) with at least one end plate (21, 36) is formed.

12. Positionsmess- and guide device (1, 67) according to any one of the preceding claims, characterized in that at least one fastening means (34, 37, 50) for fixing the position measuring unit, in particular of the carrier body (3, 12, 27, 35) on the Guide unit (17) is provided, in particular for attachment to at least one end plate (21, 36) of the guide unit (17).

13. position measuring and guiding device (1, 67) according to claim 12, characterized in that at least one fastening means (34, 37, 50) is a mounting block (25), in particular a mounting block, which on the hollow cylindrical carrier body (3, 12, 27, 35) of the position measuring unit and on an end plate (21, 36) of the guide unit (17) engages.

14. Positionsmess- and guide device (1, 67) according to claim 12 or 13, characterized in that at least one fastening means (34, 37, 50) in mounting ring and / or flange, in particular a mounting ring and / or flange, which externally surrounds the hollow cylindrical carrier body of the position measuring unit and / or stabilizes the carrier body (3, 12, 27, 35) in its shape.

15. position measuring and guiding device (1, 67) according to one of claims 12 to 16, characterized in that the position measuring unit, in particular the carrier body (3, 12, 27, 35), with respect to the guide unit (17) by means of at least one elongated hole (26, 28) of at least one fastening means and / or the position measuring unit and / or at least one spacer (30) is adjustable.

16. position measuring and guiding device (1, 67) according to one of claims 12 to 14, characterized in that at least one fastening means (34, 37, 50) is formed such that the position measuring unit, in particular the carrier body (3, 12 , 27, 35), with respect to the guide unit (17) in the axial and / or radial and / or azimuthal direction is adjustable, in particular by means of at least one adjusting screw (63, 64a, 64b, 65).

17. position measuring and guiding device (1, 67) according to claim 15, characterized in that the position measuring unit, in particular the carrier body (3, 12, 27, 35), with respect to the guide unit (17) with a setting tolerance of less than 0.1 mm is adjustable.

18 position measuring and guiding device (1, 67) according to one of claims 12 to 17, characterized in that at least one fastening means (34, 37, 50) for adjusting the position measuring unit, in particular of the carrier body (3, 12, 27, 35), with respect to the guide unit (17) is designed in several parts, in particular with an axial and / or an azimuthal and / or a radial slide element (39, 40, 41, 51, 52, 53) for enabling adjustability in the respective directions.

19. Position measuring and guiding device (1, 67) according to claim 18, characterized in that at least one

Slide element at least one plate (42, 43, 44, 45, 46,

54, 54a, 55, 56, 57, 58), in particular two mutually perpendicular plates (42, 43, 44, 45, 54, 54a,

55, 57, 58), and / or that an axial slide element (39, 51) on the hollow cylindrical carrier body (3, 12, 27, 35) of the

Position measuring unit and / or a radial slide member (41, 53) on the guide unit (17) engages and / or an azimuthal slide member (40, 52) between an axial and a radial slide member (39, 51, 41, 53) is arranged net ,

20. Positionsmess- and guide device (1, 67) according to any one of claims 12 to 19, characterized in that at the two ends of the hollow cylindrical carrier body (3, 12, 27, 35) of the position measuring unit in each case three fastening means (34, 37, 50 ) are provided, in particular such that two in the lower region of the hollow cylindrical support body (3, 12, 27, 35) arranged symmetrically to the vertical axis fastening means (34, 37, 50) enclose an angle of substantially 90 degrees and one in the upper region arranged fastener (34, 37, 50) is located substantially on the vertical axis.

21 position measuring and guiding device (1, 67) according to one of the preceding claims, characterized in that the position measuring unit is designed as a preassembled single element for arrangement within the guide unit, in particular in an electromagnetic position measuring unit with on the hollow cylindrical carrier body (3, 12, 27, 35) preassembled transmitting and receiving coils (11, 15, 16).

22. Positionsmess- and guide device (1, 67) according to any one of the preceding claims, characterized in that the position measuring and guide means (1, 67) comprises at least one computing device and / or is connected to a computing device by means of at least one program means for Consideration of interference in the determination of the position and / or the guidance of the medical instrument by and / or on the position measuring unit and / or the guide unit (17) is formed, in particular for consideration of electromagnetic interference in an algorithm at least one program means for determining position the position measuring unit (3, 12, 27, 35).

23 position measuring and guiding device (1, 67) according to claim 22, characterized in that the and / or a computing device for the consideration of eddy currents, in particular by transmitting coils (11) in the guide unit (17) are induced, and associated interference in the determination of the position, in particular for the calculation and compensation of the disturbing influences in dependence on a known and exactly adjusted position of the position measuring unit, in particular of the carrier body (3, 12, 27, 35) is formed.

24. Positionsmess- and guide device (1, 67) according to any one of the preceding claims, characterized in that a patient bed for supporting the patient on a free-floating rail system (2, 38) without mechanical or direct mechanical connection to the hollow cylindrical

Carrier body (3, 12, 27, 35) of the position measuring unit is guided.

25. Position measuring and guiding device (1, 67) according to one of the preceding claims, characterized in that a patient bed for supporting the patient on a rail system (2, 38) with two rails and at least a, in particular mechanical stiffening, cross-connection (10) is guided between the rails.

26. Position measuring unit, in particular for a position measuring and guiding device (1, 67) according to one of the preceding claims, which has an at least substantially, hollow cylindrical carrier body (3, 12, 27, 35).

27. A method for determining the position and for guiding a medical instrument in the body of a patient, in particular a capsule endoscope in the context of a capsule endoscopy, by means of a position measuring and guiding device (1, 67) according to one of claims 1 to 25 and / or by means of a position measuring unit according to claim 26.

28. A method for arranging a position measuring unit, in particular according to claim 26, a position measuring and guiding device (1, 67), in particular according to one of claims 1 to 25, wherein the position measuring unit comprises a, at least substantially, hollow cylindrical carrier body (3, 12, 27 , 35), in an inner region of a guide unit (17) of the position measuring and guiding device (1, 67), wherein the position measuring unit by means of at least one mounting ring and / or flange on the guide unit (17), in particular an end plate ( 21, 36) is fastened and / or in which for stabilizing the hollow cylindrical carrier body (3, 12, 27, 35) at least one mounting template which, at least partially, in the cylinder cavity of the carrier body (3, 12, 27, 35) is inserted , is used.