WO2009138766A1 - Équipement de navigation et procédés pour déterminer la position et l'orientation d'une sonde autonome - Google Patents

Équipement de navigation et procédés pour déterminer la position et l'orientation d'une sonde autonome Download PDF

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Publication number
WO2009138766A1
WO2009138766A1 PCT/GB2009/050210 GB2009050210W WO2009138766A1 WO 2009138766 A1 WO2009138766 A1 WO 2009138766A1 GB 2009050210 W GB2009050210 W GB 2009050210W WO 2009138766 A1 WO2009138766 A1 WO 2009138766A1
Authority
WO
WIPO (PCT)
Prior art keywords
probe
flux density
magnetic flux
coils
wireless probe
Prior art date
Application number
PCT/GB2009/050210
Other languages
English (en)
Inventor
Marcel Jan Marie Kruip
Original Assignee
Siemens Plc
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 Plc filed Critical Siemens Plc
Publication of WO2009138766A1 publication Critical patent/WO2009138766A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—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
    • 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
    • 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
    • A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • 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
    • A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A61B1/2736—Gastroscopes
    • 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
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports

Definitions

  • Endoscopy by a capsule style probe is highly preferable to traditional endoscopy where an optical endoscope is inserted through the oesophagus.
  • the latter is a highly unpleasant experience for the patient and awkward for both practitioner and patient.
  • a system is being developed where a probe of ⁇ 35 mm length, ⁇ 12 mm diameter, with hemispherical end caps, is swallowed by a patient.
  • the probe contains a battery, camera(s) and an RF or other wireless transmitter and transmits images to the outside world.
  • the probe would normally float on the surface of water in the patient's stomach.
  • Moving and manipulating the probe inside the patient's body may be accomplished as follows.
  • the probe contains a small permanent magnet.
  • a system of externally positioned coils provides a magnetic field gradient which will result in a force on the probe and a magnetic field, which will result in a force urging the magnet in the probe to align with the magnetic field.
  • the probe Whilst the probe can be manipulated and pointed and moved in any desired direction in such an arrangement, the position and orientation in space of the probe is not known.
  • the present invention provides an improved method and apparatus for navigation of such a probe.
  • Fig. 1 shows an embodiment of the present invention comprising three orthogonal coil pairs; and Fig. 2 illutrates the variation of the magnitude of magnetic flux density
  • the present invention provides improved navigation equipment for a self-contained probe, which comprises at least three coils located outside the patient.
  • the transmitting coils are preferably, although not necessarily, planar and are preferably, although not necessarily, arranged in a mutually orthogonal orientation. Instead of three single coils, three coil pairs may be used.
  • the coils of the navigation equipment are preferably also used for steering the orientation and trajectory of the probe, and may also be used as transmitting coils.
  • Figure 1 shows a preferred embodiment comprising three orthogonal pairs of planar coils.
  • one coil pair has its normal aligned parallel to the X-axis, and substantially lies in a plane parallel to the YZ plane. This will be referred to as the X coil pair.
  • one coil pair has its normal aligned parallel to the Y-axis, substantially lies in a plane parallel to the XZ plane, and will be referred to as the Y coil pair.
  • one coil pair has its normal aligned parallel to the Z-axis, substantially lies in a plane parallel to the XY plane, and will be referred to as the Z coil pair.
  • Each coil is powered by a time varying current, with a frequency selected so as to avoid any substantial attenuation by the human body and/or water present near the probe; for example radio frequencies up to about IMHz.
  • Each coil pair will produce a magnetic flux density which consists of a constant magnetic flux density plus a gradient which is approximately linear across the region of interest, such that the field is nowhere zero across the region of interest.
  • Figure 2 shows a representation of the relative magnitude of magnetic flux density
  • magnetic flux density
  • the frequency of the driving signal for each coil pair is different.
  • the respective frequencies are selected such that the signals can be separated during decoding without significant cross-over. For instance 21 kHz for the X coil, 22 kHz for the Y coil and 23 kHz for the Z coil.
  • the signal strength is the same for the three coil pairs in the preferred embodiment.
  • the probe contains three orthogonal magnetic field sensors, each with a directional sensitivity, for example a cosine distribution.
  • sensors are Hall sensors, or planar coils.
  • the signals of each of these sensors is suitably decoded and added to the data stream of the camera(s), which is then transmitted to a receiver outside the patient.
  • the normals of the orthogonal magnetic field sensors of the probe coincide with a local coordinate frame which may be referred to as XYZ'.
  • the local magnetic field acting on the orthogonal magnetic field sensors is a vector which may be represented as B'.
  • the signals of each of the coils are decoded by the receiver.
  • the method of derivation of the position of the probe will be explained by reference to an example calculation of the x position of the probe.
  • the X coil pair generates a magnetic field and a magnetic field gradient which varies at 2IkHz, in the described example.
  • an initial guess of the x position of the probe may be calculated.
  • Initial guesses of the y and z positions of the probe may be established by similar methods, using 22kHz and 23kHz signals, respectively.
  • produced by the X coil pair as a function of x,y,z may be known from calculation and/or from mapping. Using this known variation, a refined approximation of the x position of the probe may be obtained by iteration. Similarly, improved approximation of the y and z positions may be obtained. Such iteration may not be necessary, however, if the linearity of the field gradient of the respective X, Y and Z coil pairs is adequate.
  • the preceding paragraph describes a method for deriving a position of the probe.
  • the method and apparatus of the present invention also allows the orientation of the probe to be calculated.
  • Euler's angles are a set of three angles, commonly represented as co, ⁇ , ⁇ which are useful in describing the orientation or motion of a body about a known point, combining local reference axes X'Y'Z' with reference axes XYZ.
  • the Euler angles of the probe, at the approximate x,y,z position derived as described above and referred to the reference axes X,Y,Z, may be calculated by comparing the strength of the magnetic field generated by each of the X, Y and Z coil pairs detected in each of the orthogonal magnetic field sensors of the probe.

Landscapes

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

Abstract

L'invention porte sur une sonde sans fil et un appareil pour déterminer la position et/ou l'orientation de la sonde sans fil. Ledit appareil comprend au moins trois bobines situées à distance de la sonde dans des orientations mutuelles connues ; la sonde sans fil comprend un ou plusieurs détecteurs, sensibles aux champs magnétiques orientés dans des orientations mutuelles connues, et comprenant en outre des moyens pour communiquer des mesures à partir du ou des détecteurs à un récepteur. L'invention porte également sur des procédés de calcul de la position et de l'orientation d'une sonde sans fil.
PCT/GB2009/050210 2008-05-16 2009-03-02 Équipement de navigation et procédés pour déterminer la position et l'orientation d'une sonde autonome WO2009138766A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0808932.8 2008-05-16
GB0808932A GB2460082A (en) 2008-05-16 2008-05-16 Navigation equipment and methods for determining the position and orientation of a wireless probe

Publications (1)

Publication Number Publication Date
WO2009138766A1 true WO2009138766A1 (fr) 2009-11-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2009/050210 WO2009138766A1 (fr) 2008-05-16 2009-03-02 Équipement de navigation et procédés pour déterminer la position et l'orientation d'une sonde autonome

Country Status (2)

Country Link
GB (1) GB2460082A (fr)
WO (1) WO2009138766A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020069402A (ja) * 2018-11-02 2020-05-07 バイオセンス・ウエブスター・（イスラエル）・リミテッドＢｉｏｓｅｎｓｅ Ｗｅｂｓｔｅｒ （Ｉｓｒａｅｌ）， Ｌｔｄ． 磁気追跡システム用磁気送信機
CN115153412A (zh) * 2022-09-09 2022-10-11 北京华信佳音医疗科技发展有限责任公司 结肠镜系统及其控制方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5600330A (en) * 1994-07-12 1997-02-04 Ascension Technology Corporation Device for measuring position and orientation using non-dipole magnet IC fields
WO2006097423A1 (fr) * 2005-03-17 2006-09-21 Siemens Aktiengesellschaft Dispositif pour determiner la position et/ou l'orientation d'un objet pouvant naviguer
WO2007074445A2 (fr) * 2005-12-29 2007-07-05 Given Imaging Ltd. Systeme et procede de determination de position magnetique in vivo

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006014040B4 (de) * 2006-03-27 2012-04-05 Siemens Ag Verfahren und Einrichtung zur drahtlosen Fernsteuerung der Kapselfunktionen einer Arbeitskapsel eines Magnetspulensystems
KR100735863B1 (ko) * 2006-10-16 2007-07-06 한국항공대학교산학협력단 캡슐형 내시경 위치 측정 시스템

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5600330A (en) * 1994-07-12 1997-02-04 Ascension Technology Corporation Device for measuring position and orientation using non-dipole magnet IC fields
WO2006097423A1 (fr) * 2005-03-17 2006-09-21 Siemens Aktiengesellschaft Dispositif pour determiner la position et/ou l'orientation d'un objet pouvant naviguer
WO2007074445A2 (fr) * 2005-12-29 2007-07-05 Given Imaging Ltd. Systeme et procede de determination de position magnetique in vivo

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020069402A (ja) * 2018-11-02 2020-05-07 バイオセンス・ウエブスター・（イスラエル）・リミテッドＢｉｏｓｅｎｓｅ Ｗｅｂｓｔｅｒ （Ｉｓｒａｅｌ）， Ｌｔｄ． 磁気追跡システム用磁気送信機
CN115153412A (zh) * 2022-09-09 2022-10-11 北京华信佳音医疗科技发展有限责任公司 结肠镜系统及其控制方法
CN115153412B (zh) * 2022-09-09 2022-11-04 北京华信佳音医疗科技发展有限责任公司 结肠镜系统及其控制方法

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Publication number Publication date
GB0808932D0 (en) 2008-06-25
GB2460082A (en) 2009-11-18

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