WO2011076497A1 - Coil system and method for contactless magnetic navigation of a magnetic body in a workspace - Google Patents

Coil system and method for contactless magnetic navigation of a magnetic body in a workspace Download PDF

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Publication number
WO2011076497A1
WO2011076497A1 PCT/EP2010/067796 EP2010067796W WO2011076497A1 WO 2011076497 A1 WO2011076497 A1 WO 2011076497A1 EP 2010067796 W EP2010067796 W EP 2010067796W WO 2011076497 A1 WO2011076497 A1 WO 2011076497A1
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WO
WIPO (PCT)
Prior art keywords
coil system
magnetic body
characterized
magnetic
force vector
Prior art date
Application number
PCT/EP2010/067796
Other languages
German (de)
French (fr)
Inventor
Henrik Keller
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE102009060514.2 priority Critical
Priority to DE102009060514A priority patent/DE102009060514A1/en
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2011076497A1 publication Critical patent/WO2011076497A1/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/04Instruments 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
    • A61B1/041Capsule endoscopes for imaging
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00158Holding or positioning arrangements using magnetic field
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/273Instruments 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
    • A61B1/2736Gastroscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/73Manipulators for magnetic surgery

Abstract

The invention relates to a coil system for contactless magnetic navigation of a magnetic body (1) in a workspace (2) filled by a fluid, wherein the coil system comprises a plurality of coils and a current control for controlling the respective currents in the plurality of coils, wherein the current control is designed such that at least one variably specifiable force vector (12, 13), which runs parallel to a longitudinal axis of the magnetic body (1), has effect on the magnetic body (1) as a result of the magnetic field generated by the at least one coil. The invention further relates to a method for contactless magnetic navigation of a magnetic body (1) in a workspace (2) filled by a fluid by means of a coil system, wherein at least one variably specifiable force vector (12, 13), which runs parallel to a longitudinal axis of the magnetic body (1), has effect on the magnetic body (1). A magnetic body (1) can be easily navigated to a desired position in a workspace (2) in a contactless manner by means of said coil system or method.

Description

description

Coil system and method for non-contact magnetic navigation of a magnetic body in a working space

The invention relates to a coil system and a method for non-contact magnetic navigation of a magnetic body in a working space.

In a coil system for non-contact magnetic navigation of a magnetic body, a magnetic field is generated with a plurality of coils, which interacts with the magnetic body, whereby magnetic forces and Drehmo ¬ elements are generated, which cause movement of the magnetic body. Can be appropriately set on the respective currents in the individual coils of the coil system while the magneti ¬ thermal power and the magnetic torque acting on the magnetic body.

Coil systems of the aforementioned type are used in particular in me ¬ dizinischen area. In this case, the magnetic body as endoscopic capsule (designated as a capsule endoscope ¬ net) is executed. This endoscopy capsule is used to examine a patient in the working space of the coil system. In this Ar ¬ beitsraum which is accessible from the outside, the magnetic forces of the coil system acting on the magnetic body. To carry out the study of the magnetic body, which is located in the patient, as well as the to be examined part of the patient's body to be introduced into the working space of the Spu ¬ cell system. The magnetic body (endoscopy ¬ capsule, capsule endoscope) thereby represents a probe with the measurements on - especially images of - internal organs of the patient can be made.

The endoscopy capsule has a biocompatible housing in which at least one magnetic element for navigation by means of a magnetic field that can be generated by an external magnet system and at least one sensor device for detecting medical nisch relevant data and / or at least one therapy device for administering a therapeutic agent are arranged. Such an endoscopy capsule, which is also referred to as a capsule endoscope, is known for example from DE 101 42 253 C1 and from the corresponding US 2003/0060702 AI, where it is referred to as "endo-robot" or "endo-robot". 101 42 253 Cl known from DE endorobot can with- means of a magnetic field (arranged ie except ¬ half of the patient) of an external magnet system (coil system) is generated in a hollow organ (such as the gastrointestinal tract) ei ¬ navigate a patient. About an integrated system for position control, which includes a position measurement of Endoroboters and automatic control of the magnetic field or the Spu ¬ lenströme, changes in the position of the Endoroboters can be automatically detected in the hollow organ of the patient and compensated. Furthermore, the endorobot can be specifically navigated to desired regions of the hollow organ. This type of capsule endoscopy is therefore also referred to as MGCE (Magnetically Guided Capsule Endoscopy - magnetically guided Kapselendosko ¬ pie).

In a gastroscopy (endoscopic examination of the human or animal stomach), the endoscopy capsule is administered orally to the patient and passes through the esophagus into the stomach. During gastroscopy different sizes, measurements or samples are taken inside the Ma ¬ gens and made available processing a doctor or wizard for evaluation. For example, content ¬ materials or concentrations of the stomach contents measured, determines the chemical composition of the gastric juice or collected image ¬ data of the gastric mucosa. For transmission of measurement data from the interior of the stomach, the endoscopy capsule is connected, for example via a radio link, to a transmission station set up in the vicinity of the patient. For targeted recording of measurement and / or image data from certain regions of the stomach, the endoscopy capsule is correspondingly magnetically navigable. In Ge ¬ contrast to conventional gastroscopy the stomach when capsule endoscopy is not expanded with a gas, but with the aid of a supplied liquid (drinking solution, eg, water) spent optionally with a gastric tube into the stomach of the patient or the patient to independently Admission is administered. The housing of the endoscopy capsule is formed, for example, either ellipsoidal or cylindrical. A cylinder-shaped housing has a semi-spherical Cape ¬ pe in at least one of its two end areas. Preferably, both end-side regions of the housing each have a hemispherical cap made of an optically transparent material. Such an endoscopy capsule can then have an optical sensor device (eg CMOS camera or CCD chip) on both end regions.

Object of the present invention is to provide a coil system with which a magnetic body can be navigated in a simple way in a work space without contact in a desired position.

The invention is further based on the object of specifying a method with which a magnetic body in a working space can be navigated in a simple manner without contact in a ge ¬ desired position.

The object is achieved by a coil system according to claim 1 or by a method according to claim 6. Advantageous embodiments of the invention are the subject of further claims.

The coil system according to the invention according to claim 1 is used for non-contact magnetic navigation of a magnetic body in a working space filled with a liquid and includes a plurality of coils and a current controller for controlling the respective currents in the plurality of coils. According to the invention, the power control is such ausgebil ¬ det that, due to the signal produced by at least one coil magnetic field to the magnetic body is a variable vorgeb ¬ Barer force vector acts, which runs parallel to a longitudinal axis of the magnetic body.

The inventive method according to claim 6 is used for contactless ¬ magnetic navigation of a magnetic body in a filled with a liquid working space using a coil system. According to the invention acts on the magnetic body a variably predeterminable force vector ver ¬ runs parallel to a longitudinal axis of the magnetic body.

In the inventive solution is applied to the magnetic body force vector, which is generated by at least one magnetic coil (coil of the external coil system), va ¬ riabel adjustable. This allows a user the force vector to a desired direction and a desired distance for the movement of the magnetic body einzustel ¬ len. The adjustment of the force vector takes place here taking into account the buoyancy force that exerts the liquid present in the working space on the magnetic body. The adjustment of the force vector takes place additionally taking into account the flow behavior of the liquid ent ¬ long of the moving magnetic body. In addition, a torque is applied to the magnetic body, which predetermines the orientation of the magnetic body and keeps the magnetic body stable. Thus, a targeted ¬ te movement of the endoscopic capsule in the stomach is easily possible.

In an advantageous embodiment according to claim 2 (coil system) or according to claim 7 (method), the force vector is interactively influenced In a further advantageous embodiment according to claim 3 (coil system) or according to claim 8 (method), the force vector is rotatable about a rotation axis about a variably predefinable rotation angle, wherein the rotation axis is parallel to a transverse axis of the magnetic body (claim 4 or claim 9) ).

The invention and further advantageous embodiments will be explained in more detail below with reference to a schematically illustrated embodiment in the drawing without ever ¬ limited to the illustrated embodiment. Show it:

1 shows a targeted movement of a magnetic

Body in the form of a capsule endoscopy for me ¬ dizinische applications

2 shows a movement of the endoscopy capsule according to FIG 1 at a slope and

3 shows a movement of the endoscopy capsule according to FIG. 1 on a gradient.

The invention will be explained below with reference to a gastroscopy in a patient. Gastroscopy is an endoscopic examination of a human or animal stomach.

The proposed in the inventive solution magnetic body is executed in the illustrated embodiment as Endosko ¬ piekapsel 1. Such an endoscopy capsule, which is also referred to as a capsule endoscope, is known, for example, from DE 101 42 253 C1 and from the corresponding US 2003/0060702 A1, where it is referred to as "endo-robot" or "endo-robot".

The endoscopy capsule 1 is in this case the patient orally verab ¬ reaches and passes through the esophagus into the stomach 2. currency During gastroscopy, various variables or measured values are recorded in the interior of the stomach 2 and made available to a doctor or an assistant for evaluation. In the illustrated embodiment, image data is collected from the walls 3a and 3b of the stomach 2.

The endoscopy capsule 1 has a biocompatible housing, in which at least one magnetic element for non-contact navigation is arranged by means of a magnetic field generated by an external coil system. In the following, the coils of the external coil system not shown in the drawing are also referred to as "magnetic coils". The arranged in the Endo ¬ skopiekapsel 1 magnetic element is also not shown for reasons of clarity.

The housing of the endoscopic capsule 1 is cylindrical and has been forms ¬ respectively a hemispherical cap 4, or 5 of an optically transparent material at its two end areas. Is in each case in two end areas of an optical sensor device (for example, CMOS camera or CCD chip, also shown in FIGS 1 and 2 do not Darge ¬ represents) is arranged, which receives the image data via the transparent cap 4 and / or via the transparent cap 5 , In a gastroscopy using MGCE (Magnetically Guided

Capsule Endoscopy) in the stomach 2 is obtained by means of the swallowed by the patien ¬ th endoscopic capsule 1 image material (from the wall of the stomach 3 2 stomach wall). The endoscopy capsule 1 is for this purpose moved in a liquid drunk by the patient. In order to be able to record good image data from all areas of the stomach 2 during the endoscopy performed in this way, suitable control methods for the swimming behavior of the endoscopy capsule 1 are necessary in order to reach places that are difficult to access and, on the other hand, an optimal position of the endoscopy capsule 1 and thus to obtain an opti ¬ paint camera angle for the best possible image data of all the walls 3a and 3b of the stomach 2 (stomach inner side). According to the invention of at least one magnetic coil (coil of the external coil system) is generated at least one suitable force ¬ vector, which is variably predetermined by the user and is parallel with a longitudinal axis of the endoscopic capsule. 1

This allows a user to adjust the force vector to a desired direction and a desired distance for loading ¬ motion of the endoscopic capsule. 1 The adjustment of the force vector takes place here taking into account the

Buoyancy force exerted on the endoscopy capsule 1 by the liquid present in the stomach 2. The setting of the Kraftvek ¬ sector is additionally taking into account the flow behavior of the liquid along the moving endoscopy capsule 1. On the endoscopy capsule 1, a torque is additionally applied, which sets the orientation of the endoscopy ¬ capsule 1 and the endoscopy capsule 1 holds stable. Since ¬ with a targeted movement of the endoscopy capsule 1 in the stomach 2 is easily possible.

As can be seen from FIG. 1, the endoscopy capsule 1 is moved in a first example of movement by a surface 11 of the fluid in a targeted manner to the stomach wall 3 a. In a second example of movement, the endoscopy capsule 1 is moved from a lower stomach wall 3a to an upper stomach wall 3b. The direction of movement is hereby denoted by 6, wherein the endoscopy capsule 1 is dashed in its initial position and shown in its target position by solid lines. This illustration of the endoscopy capsule 1 was also selected in FIGS. 2 and 3. The endoscopy capsule 1 in this case moves forward with one of its ends. In the example shown in FIG 1 this movement process, respectively the semi-spherical Cape ¬ pe 4. In Figure 2, the movement of the endoscopic capsule 1 is shown occurring at a steep slope. In order to reliably guide the endoscopy capsule 1 along such an incline Because of, the force vector generated by at least one coil of the external Spu ¬ lensystems is interactively influenced.

The direction desired by the user of the endoscopy capsule 1 is changed by changing the direction of the force vector 12

(lower stomach wall 3a) or by a change in the direction of the force vector 13 (upper stomach wall 3b) achieved.

In the case of the endoscopy capsule 1, which touches the lower stomach wall 3 a, the original direction of the force vector 12 is denoted by 12 a and the new direction of the force vector 12 by 12 b. The change in direction of the force vector 12 from 12a to 12b is achieved in that the force vector 12 about a Rota ¬ tion axis, which runs parallel to a transverse axis of the Endoskopie- kapsei 1, by a variably predetermined rotation ¬ angle 15 is rotated.

In the endoscopic capsule 1, be stirred ¬ the upper stomach wall 3b, the original direction of the force vector 13 at 13a, and the new direction of the force vector 13 is designated 13b. The change in direction of the force vector 13 from 13a to 13b is achieved in that the force vector 13 is rotated about a Rota ¬ tion axis, which runs parallel to a transverse axis of the endoscopy ¬ capsule 1, by a variably predeterminable rotation angle 16.

In FIG. 3, the movement of the endoscopy capsule 1 is shown when a steep gradient occurs. In order to designate the endoscopy ¬ capsule 1 along such a gap accurately because of that generated by at least one coil of the external force vector Spu ¬ cell system is in turn influenced interactively.

The direction desired by the user of the endoscopy capsule 1 is changed by changing the direction of the force vector 12

(lower stomach wall 3a) or by a change in the direction of the force vector 13 (upper stomach wall 3b) achieved. In the capsule endoscope 1, which touches the lower stomach wall 3a be ¬, the original direction of the force vector 12, with 12a, and the new direction of the force vector 12 is denoted by 12b. The change of direction of the force vector 12 of 12a to 12b is achieved in that the force vector 12 to a Rota ¬ tion axis which is parallel to a transverse axis of endoscopy ¬ capsule 1 to a variably predeterminable rotational ¬ angle is rotated 15 °. In the endoscopic capsule 1, be stirred ¬ the upper stomach wall 3b, the original direction of the force vector 13 at 13a, and the new direction of the force vector 13 is designated 13b. The change of direction of the force vector 13 of 13a to 13b is achieved that the force vector 13 by a rotation-axis which is parallel to a transverse axis of endoscopy ¬ capsule 1 to a variably predeterminable rotational ¬ angle is rotated sixteenth

By the proposed control methodology can be achieved with the endoscopy capsule 1 on the one hand anatomically narrow and thus difficult to reach areas in the stomach 2 and on the other hand, the endoscopy capsule 1 can be easily navigated with the above solution on stomach walls 3a and 3b with steep gradients or steep gradients. At the same camera angle can be adjusted by the proposed control methods that are optimal for taking pictures using the En ¬ doskopiekapsel 1 and full coverage of the stomach walls 3a and 3b allow.

Claims

claims
A coil system for non-contact magnetic navigation of a magnetic body (1) in a liquid filled working space (2), the coil system comprising a plurality of coils and a current controller for controlling the respective currents in the plurality of coils, characterized in that the current control is designed such that due to the magnetic field generated by at least one coil on the magnetic body (1) at least one variably predeterminable force vector (12, 13) which runs parallel to a longitudinal axis of the magnetic body (1).
2. Coil system according to claim 1, characterized in that the force vector (12, 13) can be interactively influenced.
3. Coil system according to claim 1 or 2, characterized in that the force vector (12, 13) about an axis of rotation about a variably predeterminable angle of rotation (15, 16) is rotatable.
4. Coil system according to claim 3, characterized in that the axis of rotation runs parallel to a transverse axis of the magneti ¬ 's body.
5. Coil system according to one of claims 1 to 4, characterized in that the magnetic body (1) is designed as endoscopy capsule and an organ of a patient Ar ¬ the work space (2).
6. A method for non-contact magnetic navigation of a magnetic body (1) in a liquid-filled working space (2) by means of a coil system according to one of the preceding claims, characterized in that on the magnetic body (1) at least one variable predeterminable force vector (12 , 13) which runs parallel to a longitudinal axis of the magnetic body (1).
7. The method according to claim 6, characterized in that the force vector (12, 13) is interactively influenced.
8. The method according to claim 6 or 7, characterized in that the force vector (12, 13) about an axis of rotation about a variably predeterminable angle of rotation (15, 16) is rotated.
9. The method according to claim 8, characterized in that the axis of rotation is parallel to a transverse axis of the magnetic see body (1).
10. Medical device, characterized by a Spulensys ¬ tem according to any one of the preceding claims, wherein the coil system is configured such that a patient in a working space of the coil system can be positioned and by the current control of the coil system, a magnetic body
(1) in the form of a probe for examining an organ (2) of the patient to a predeterminable position within the organ
(2) is navigable.
11. A medical device according to claim 10, characterized in that the probe is designed as endoscopy capsule (1), which is navigable by the current control of the coil system to a predeterminable position within a stomach (2).
PCT/EP2010/067796 2009-12-23 2010-11-19 Coil system and method for contactless magnetic navigation of a magnetic body in a workspace WO2011076497A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE102009060514.2 2009-12-23
DE102009060514A DE102009060514A1 (en) 2009-12-23 2009-12-23 Coil system and method for non-contact magnetic navigation of a magnetic body in a working space

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Publication Number Publication Date
WO2011076497A1 true WO2011076497A1 (en) 2011-06-30

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WO (1) WO2011076497A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011078501B4 (en) * 2011-07-01 2014-11-06 Siemens Aktiengesellschaft Method and device for controlling an endoscope capsule
DE102011078500B4 (en) * 2011-07-01 2015-01-15 Siemens Aktiengesellschaft Method and device for controlling an endoscope capsule

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002082979A2 (en) * 2001-04-18 2002-10-24 Bbms Ltd. Navigating and maneuvering of an in vivo vechicle by extracorporeal devices
US20030060702A1 (en) 2001-08-29 2003-03-27 Rainer Kuth Minimally invasive medical system employing a magnetically controlled endo-robot
DE10341092A1 (en) * 2003-09-05 2005-04-07 Siemens Ag Non-contact type probe device used in medical surgery, has fourteen coils for generating three magnetic field component and five magnetic field gradient from the diagonally symmetrical gradient matrices
EP1972253A1 (en) * 2005-12-27 2008-09-24 Olympus Medical Systems Corp. Encapsulated medical device guiding system and its control method
US20080300458A1 (en) * 2004-06-21 2008-12-04 Byung Kyu Kim Capsule Type Endoscope Control System
US20080300459A1 (en) * 2005-12-27 2008-12-04 Olympus Medical Systems Corp. Encapsulated medical device guidance system, and a method of controlling the same
DE102008009973A1 (en) * 2008-02-20 2009-08-27 Olympus Medical Systems Corp. Medical device i.e. endoscopic capsule, guiding method for diagnosing or treating patient, involves transmitting output signal to maneuvering device for adjusting guiding parameter of medical device by operating element

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008004871B4 (en) * 2008-01-17 2013-05-16 Siemens Aktiengesellschaft Coil arrangement for guiding a magnetic element in a working space

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002082979A2 (en) * 2001-04-18 2002-10-24 Bbms Ltd. Navigating and maneuvering of an in vivo vechicle by extracorporeal devices
US20030060702A1 (en) 2001-08-29 2003-03-27 Rainer Kuth Minimally invasive medical system employing a magnetically controlled endo-robot
DE10142253C1 (en) 2001-08-29 2003-04-24 Siemens Ag endorobot
DE10341092A1 (en) * 2003-09-05 2005-04-07 Siemens Ag Non-contact type probe device used in medical surgery, has fourteen coils for generating three magnetic field component and five magnetic field gradient from the diagonally symmetrical gradient matrices
US20080300458A1 (en) * 2004-06-21 2008-12-04 Byung Kyu Kim Capsule Type Endoscope Control System
EP1972253A1 (en) * 2005-12-27 2008-09-24 Olympus Medical Systems Corp. Encapsulated medical device guiding system and its control method
US20080300459A1 (en) * 2005-12-27 2008-12-04 Olympus Medical Systems Corp. Encapsulated medical device guidance system, and a method of controlling the same
DE102008009973A1 (en) * 2008-02-20 2009-08-27 Olympus Medical Systems Corp. Medical device i.e. endoscopic capsule, guiding method for diagnosing or treating patient, involves transmitting output signal to maneuvering device for adjusting guiding parameter of medical device by operating element

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