WO2009041524A1 - 位置検出装置 - Google Patents

位置検出装置 Download PDF

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Publication number
WO2009041524A1
WO2009041524A1 PCT/JP2008/067330 JP2008067330W WO2009041524A1 WO 2009041524 A1 WO2009041524 A1 WO 2009041524A1 JP 2008067330 W JP2008067330 W JP 2008067330W WO 2009041524 A1 WO2009041524 A1 WO 2009041524A1
Authority
WO
WIPO (PCT)
Prior art keywords
optimization
magnetic field
convergent
information
result
Prior art date
Application number
PCT/JP2008/067330
Other languages
English (en)
French (fr)
Inventor
Atsushi Kimura
Akio Uchiyama
Atsushi Chiba
Ryoji Sato
Original Assignee
Olympus Medical Systems Corp.
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 Olympus Medical Systems Corp. filed Critical Olympus Medical Systems Corp.
Priority to JP2009534374A priority Critical patent/JP5361729B2/ja
Priority to CN2008801085442A priority patent/CN101808566B/zh
Priority to EP08833622.7A priority patent/EP2191769B1/en
Publication of WO2009041524A1 publication Critical patent/WO2009041524A1/ja
Priority to US12/729,370 priority patent/US8095330B2/en

Links

Classifications

    • 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
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • 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
    • 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
    • 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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127—Magnetic means; Magnetic markers

Landscapes

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

Abstract

　本発明は、検知体の位置情報および方向情報を算出する最適化収束計算の誤差値が発散した際に、この最適化収束計算の誤差値の収束状態を短時間に復帰できることを目的とする。本発明にかかる位置検出装置１０は、カプセル型内視鏡２内部の磁界発生部２ｂによる磁界を検出する磁界検出部１１と、磁界検出部１１が検出した磁界情報の測定値と理論値との誤差を表す評価関数を用いて最適化収束計算を実行してカプセル型内視鏡２の位置方向情報を算出する位置算出部１３と、最適化収束計算の最終収束結果を含む収束結果情報１５ａを記憶する記憶部１５と、これらを制御する制御部１６とを備える。制御部１６は、最適化収束計算の結果が収束したか否かを判定し、収束していない場合に位置算出部１３を停止させ、所定の時間が経過した後、最終収束結果を用いた最適化収束計算を位置算出部１３に開始させる。
PCT/JP2008/067330 2007-09-25 2008-09-25 位置検出装置 WO2009041524A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2009534374A JP5361729B2 (ja) 2007-09-25 2008-09-25 位置検出装置
CN2008801085442A CN101808566B (zh) 2007-09-25 2008-09-25 位置检测装置
EP08833622.7A EP2191769B1 (en) 2007-09-25 2008-09-25 Position sensor
US12/729,370 US8095330B2 (en) 2007-09-25 2010-03-23 Position detecting device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007247922 2007-09-25
JP2007-247922 2007-09-25

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/729,370 Continuation US8095330B2 (en) 2007-09-25 2010-03-23 Position detecting device

Publications (1)

Publication Number Publication Date
WO2009041524A1 true WO2009041524A1 (ja) 2009-04-02

Family

ID=40511406

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/067330 WO2009041524A1 (ja) 2007-09-25 2008-09-25 位置検出装置

Country Status (5)

Country Link
US (1) US8095330B2 (ja)
EP (2) EP2959824A1 (ja)
JP (1) JP5361729B2 (ja)
CN (2) CN102440779B (ja)
WO (1) WO2009041524A1 (ja)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011102161A1 (ja) * 2010-02-18 2011-08-25 オリンパスメディカルシステムズ株式会社 位置検出システムおよび位置検出方法
WO2012114811A1 (ja) * 2011-02-23 2012-08-30 オリンパスメディカルシステムズ株式会社 位置情報推定システム
JP2016505813A (ja) * 2012-11-20 2016-02-25 コミサリア ア レネルジ アトミクエ オウ エネルジ アルタナティヴ 移動可能な磁性物体の自動認識のための方法
WO2016098818A1 (ja) * 2014-12-18 2016-06-23 株式会社パイオラックス カプセル内視鏡及びカプセル内視鏡検査方法並びにカプセル内視鏡検査装置
WO2016151914A1 (ja) * 2015-03-25 2016-09-29 オリンパス株式会社 位置検出システム及び誘導システム
WO2016151915A1 (ja) * 2015-03-25 2016-09-29 オリンパス株式会社 位置検出システム及び誘導システム
US9526080B2 (en) 2011-03-22 2016-12-20 Given Imaging Ltd. Systems and methods for synchronizing between an in-vivo device and a localization system

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DE102008049198B4 (de) * 2008-09-26 2017-03-02 Siemens Healthcare Gmbh Spulensystem, medizinisches Gerät und Verfahren zur berührungslosen magnetischen Navigation eines magnetischen Körpers in einem Arbeitsraum
US8808170B2 (en) * 2010-03-10 2014-08-19 Mark A. Stern Multiple-channel endoscopic biopsy sheath
JP5242852B2 (ja) * 2010-09-28 2013-07-24 オリンパスメディカルシステムズ株式会社 画像表示装置及びカプセル型内視鏡システム
US9230320B2 (en) * 2012-03-30 2016-01-05 University Of Louisville Research Foundation, Inc. Computer aided diagnostic system incorporating shape analysis for diagnosing malignant lung nodules
US10278593B2 (en) 2012-06-21 2019-05-07 Siemens Healthcare Gmbh Adaptive control of monitoring devices
US10736492B2 (en) * 2013-06-27 2020-08-11 Given Imaging Ltd. Method and system for moving an in-vivo device in the gastrointestinal tract
JP6278848B2 (ja) * 2014-06-26 2018-02-14 オリンパス株式会社 形状推定装置、それを備えた内視鏡システム及び形状推定のためのプログラム
WO2016027518A1 (ja) * 2014-08-20 2016-02-25 オリンパス株式会社 誘導装置及びカプセル型医療装置誘導システム
US10104482B2 (en) 2016-05-27 2018-10-16 Cochlear Limited Magnet positioning in an external device
US11272299B2 (en) * 2016-07-19 2022-03-08 Cochlear Limited Battery positioning in an external device
CN107886503A (zh) * 2017-10-27 2018-04-06 重庆金山医疗器械有限公司 一种消化道解剖位置识别方法及装置
AU2018366119B2 (en) 2017-11-08 2021-03-04 Teleflex Medical Incorporated Wireless medical device navigation systems and methods
CN108827282B (zh) * 2018-06-08 2022-02-01 哈尔滨工业大学 一种基于模拟退火算法旋转磁信标数字定位方法
WO2020012440A1 (en) * 2018-07-12 2020-01-16 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Sensitive system for increased proximity detection
US11944388B2 (en) 2018-09-28 2024-04-02 Covidien Lp Systems and methods for magnetic interference correction
CN113194818B (zh) * 2018-10-30 2024-10-15 波士顿科学国际有限公司 用于体腔治疗的装置和方法
CN109717821B (zh) * 2018-12-18 2021-01-26 江南大学 一种多旋转永磁体驱动微磁器件的系统及方法
CN114052621A (zh) * 2019-06-17 2022-02-18 深圳硅基智控科技有限公司 改善胶囊内窥镜的移动路径的磁控装置
CN114469058A (zh) * 2022-04-18 2022-05-13 深圳市资福医疗技术有限公司 一种胶囊内窥镜的定位方法、系统、设备及存储介质
WO2024010530A1 (en) * 2022-07-08 2024-01-11 Singapore University Of Technology And Design Apparatus and method for tracking a device having a magnet

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JPH05197767A (ja) * 1991-08-09 1993-08-06 Fujitsu Ltd 生体磁気計測装置
JPH0898824A (ja) * 1994-09-09 1996-04-16 Ctf Syst Inc 微弱磁界測定装置
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JPH0898824A (ja) * 1994-09-09 1996-04-16 Ctf Syst Inc 微弱磁界測定装置
JPH08103420A (ja) * 1994-09-09 1996-04-23 Ctf Syst Inc 微弱磁界測定装置
JP2000337811A (ja) * 1999-05-27 2000-12-08 Japan Science & Technology Corp 磁気マーカ位置検出方法および装置
JP2001179700A (ja) * 1999-12-28 2001-07-03 Tohoku Techno Arch Co Ltd 移動可能なマイクロマシンおよびその移動制御システム
JP2002186675A (ja) * 2000-12-20 2002-07-02 Japan Science & Technology Corp 追尾型照射システム
JP2004295443A (ja) * 2003-03-27 2004-10-21 Japan Science & Technology Agency 物体追跡装置

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8421445B2 (en) 2010-02-18 2013-04-16 Olympus Medical Systems Corp. Position detecting system and position detecting method
JP4961510B2 (ja) * 2010-02-18 2012-06-27 オリンパスメディカルシステムズ株式会社 位置検出システムおよび位置検出システムの作動方法
WO2011102161A1 (ja) * 2010-02-18 2011-08-25 オリンパスメディカルシステムズ株式会社 位置検出システムおよび位置検出方法
US8740772B2 (en) 2011-02-23 2014-06-03 Olympus Medical Systems Corp. Position information estimation system
JP5165161B2 (ja) * 2011-02-23 2013-03-21 オリンパスメディカルシステムズ株式会社 位置情報推定システム
CN103079452A (zh) * 2011-02-23 2013-05-01 奥林巴斯医疗株式会社 位置信息估计系统
WO2012114811A1 (ja) * 2011-02-23 2012-08-30 オリンパスメディカルシステムズ株式会社 位置情報推定システム
CN103079452B (zh) * 2011-02-23 2015-06-17 奥林巴斯医疗株式会社 位置信息估计系统
US9526080B2 (en) 2011-03-22 2016-12-20 Given Imaging Ltd. Systems and methods for synchronizing between an in-vivo device and a localization system
JP2016505813A (ja) * 2012-11-20 2016-02-25 コミサリア ア レネルジ アトミクエ オウ エネルジ アルタナティヴ 移動可能な磁性物体の自動認識のための方法
WO2016098818A1 (ja) * 2014-12-18 2016-06-23 株式会社パイオラックス カプセル内視鏡及びカプセル内視鏡検査方法並びにカプセル内視鏡検査装置
WO2016151914A1 (ja) * 2015-03-25 2016-09-29 オリンパス株式会社 位置検出システム及び誘導システム
WO2016151915A1 (ja) * 2015-03-25 2016-09-29 オリンパス株式会社 位置検出システム及び誘導システム
JP6022132B1 (ja) * 2015-03-25 2016-11-09 オリンパス株式会社 位置検出システム及び誘導システム
JP6058236B1 (ja) * 2015-03-25 2017-01-11 オリンパス株式会社 位置検出システム及び誘導システム

Also Published As

Publication number Publication date
EP2191769B1 (en) 2015-10-28
CN102440779B (zh) 2014-04-09
CN101808566B (zh) 2012-02-29
JPWO2009041524A1 (ja) 2011-01-27
CN102440779A (zh) 2012-05-09
EP2191769A1 (en) 2010-06-02
US8095330B2 (en) 2012-01-10
JP5361729B2 (ja) 2013-12-04
US20100179782A1 (en) 2010-07-15
CN101808566A (zh) 2010-08-18
EP2191769A4 (en) 2012-03-14
EP2959824A1 (en) 2015-12-30

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