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WO2008138962A1 - Appareil miniaturisé - Google Patents

Appareil miniaturisé Download PDF

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Publication number
WO2008138962A1
WO2008138962A1 PCT/EP2008/055946 EP2008055946W WO2008138962A1 WO 2008138962 A1 WO2008138962 A1 WO 2008138962A1 EP 2008055946 W EP2008055946 W EP 2008055946W WO 2008138962 A1 WO2008138962 A1 WO 2008138962A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
miniaturized device
miniaturized
designed
position information
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2008/055946
Other languages
German (de)
English (en)
Inventor
Rainer Kuth
Horst Siebold
Rainer Graumann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens 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 Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of WO2008138962A1 publication Critical patent/WO2008138962A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • 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 diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices 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
    • A61B5/067—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe using accelerometers or gyroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes

Definitions

  • the invention relates to a miniaturized device.
  • Such a miniaturized device is e.g. As a technical endoscope (cavity viewing device) executed and allows, for example, the technical testing of difficult to access cavities or components in engines, machinery and vehicles and aircraft, equipment and structures, without having to perform elaborate disassembly or demolition.
  • a technical endoscope cavity viewing device
  • a miniaturized device which is designed as a medical endoscope.
  • the known endoscope is used to treat internal bleeding or to close open cuts in the body of a living organism and is equipped with a clip.
  • the clip has a pair of pliers which is mounted in a guide associated with the medical endoscope. To clamp the internal bleeding or to close the incision, the clip is moved out of the guide of the medical endoscope, wherein after activation of the clip, the tissue enclosed by the forceps clamped and the bleeding is stopped or the incisional wound is closed.
  • DE 100 12 560 A1 discloses a miniaturized device designed as a robotic endoscope for performing medical endoscopy.
  • the known robot endoscope has a plurality of segments which are interconnected via a flexible link connections.
  • a plurality of flexible linear drive elements which are mounted obliquely laterally in the circumferential direction around each segment with respect to the longitudinal axis of the robot endoscope and which are pneumatically or hydraulically pressure-driven, the robot endoscope is moved within a human or animal hollow organ.
  • a miniaturized medical device is known which is designed as a magnetically navigable endoscopy capsule (endorobot).
  • a bar magnet is arranged in the housing of the known endo-robot and interacts with defined magnetic fields from an external magnet coil system, which also includes a magnetic field control system, whereby the endorobot can be navigated in the cavity of a patient.
  • the magnetic force acting on the endorobot depends on the position of the magnetic dipole to the external magnetic field. Only if this is known, the magnetic force can be optimally dosed.
  • the endo-robot known from DE 101 42 253 C1 can not be held in a predetermined position with the aid of magnetic fields in a freely suspended manner.
  • the reason for this is that according to the Earnshaw Theorem (see Transactions of the Cambridge Philosophical Society, Vol. 7, 1842, pages 97 to 120) any such configuration is unstable in at least one direction. Free-floating is thus never stable, but requires constant stabilization and application of correction forces that can not be applied without knowing the position of the miniaturized medical device (endoscopy capsule, catheter).
  • EP 1 543 766 A1 a system for the in-vivo position determination of an endoscopy capsule is known, which can also be designed as a magnetically navigable endorobot.
  • this system the assignment of an image recording of a capsule-internal camera to the respective spatial position (location and orientation) of the endoscopy capsule or endo-robot during this image acquisition
  • the system according to EP 1 543 766 A1 comprises a magnetic field generator, which is located outside a body and generates a strongly varying alternating magnetic field in the region in which the endoscopy capsule or the endorobot and moves images (gradient field, Quadrupole field).
  • the frequency of this alternating magnetic field is of the order of a few kHz, so that this alternating field penetrates the human body almost without interference.
  • the endoscopy capsule or the endorobot is equipped with a sensor coil which is dimensioned such that the magnetic alternating field is detected by this sensor coil.
  • the sensor coil has five or six degrees of freedom, which are measured as a function of the spatially strongly varying alternating field.
  • the measurement defines the location and the orientation of the capsule-internal sensor coil in the alternating field and thus the position of the endoscopy capsule or the endo-robot relative to the body or relative to the surrounding space.
  • the unique relationship between the position (location and orientation) of the sensor coil and the anatomy of the patient is established by a conventional registration procedure.
  • the user selects anatomical landmarks (bones, organs) on the patient that are included in the anatomical images of different imaging modalities that support the measurement (for example computed tomography, C-arm,
  • Ultrasound, magnetic resonance imaging can also be identified.
  • An external navigation unit computationally links the signal of the capsule-internal sensor coil with the coordinate system defined by the registration.
  • the registration method on which this system is based is relatively complicated because of the necessary anatomical landmarks in the body of the patient.
  • the theoretical accuracy of the positioning of about 1 mm in a coordinate system defined by the registration is practically impossible to achieve. Practically, only an orienting accuracy (depending on the patient and examination area) of a few centimeters is given because there is a time-dependent deviation between the anatomy at the time of registration and the time of the current sensor coil measurement because of the always given organ movement.
  • DE 10 2005 032 577 A1 describes a method for determining the position of an endo-robot which can be navigated in a magnetic field which is generated by an external magnet system that can be controlled by a magnetic field control system.
  • the known method comprises the following method steps:
  • the RU 2 278 356 Cl provides an arrangement for determining angular positions of moving objects (submarines, ships, aircraft).
  • the known arrangement comprises a 3D magnetometer (magnetic field strength meter) with a magnetic sensor and four 3D accelerometers (accelerometers).
  • the position sensing system includes a sensor coil that detects the induced magnetic field generated by a magnetic induction coil.
  • the position detection system further comprises a control coil, by which the magnetization is controlled in an induction coil such that the magnetic field in the operating area from at least three different directions acts on the capsule endoscope.
  • WO 2006/064972 A1 discloses a position detection system for a capsule endoscope.
  • the position detecting system includes a magnetic induction coil, a control coil generating an alternating magnetic field, magnetic sensors, a frequency detection unit and a position analysis unit.
  • the capsular medical device comprises a main body insertable into a living body.
  • a coil (capsule coil) is arranged, which generates a resonant circuit.
  • coils control coils
  • the position detecting system includes a plurality of coils that detect the magnitude of an induced magnetic field generated in the capsule coil by the control coil.
  • the relationship between the eddy current phase of the first position signal and the eddy current phase of the second position signal is determined. This method can be used to improve the magnetic location in image-based medical applications, since the position determination determines the eddy current generated by the electrically conductive object.
  • a method for detecting errors in a magnetic position determination (location, orientation) of a probe in an external magnetic field includes a number of measured values of magnetic field intensity that depend on the location and orientation of a probe inserted in a human body.
  • the position (location, orientation) of the probe is determined from an extremum of an optimization function.
  • the optimization function depends on the differences between the measured magnetic field strength and the magnetic field strength determined from a model. If the determined difference lies within a preselected value range for which a disturbance of the magnetic field is defined, then this disturbance of the magnetic field is eliminated by appropriate measures.
  • the object of the present invention is to provide a miniaturized device whose probe can be exactly determined in its position.
  • the miniaturized device comprises a probe and a first sensor, which determines a first position information, and a second sensor, which determines a second position information, wherein the first sensor and the second sensor are independent of each other.
  • a position information can be determined by two independent sensors. From these two independently determined position information then the exact position of the probe can be determined.
  • the two independent sensors can be arranged spatially at different locations both within the miniaturized device and on the outside or in the outer wall of the miniaturized device, with sensors arranged within the miniaturized device being the preferred variant.
  • the miniaturized device can be, for example, a technical device, for example a technical endoscope, or a medical device, e.g. Endoscope, endoscopy capsule or endorobot, act.
  • An endoscopy capsule is passively, so transported by their ingestion solely because of peristalsis through the gastrointestinal tract.
  • an endorobot is a miniaturized medical device that can be actively navigated via an internal magnetic element by means of an external magnetic field.
  • the term "endorobot" is thus understood to mean a magnetic endoscopy capsule, which is also referred to as a magnetic capsule endoscope.
  • the first position information preferably comprises information about the location of the probe. de (eg in Cartesian coordinates) and the second position information preferably information about the solid angle of the probe (orientation in 3D space). With the location of the probe and the solid angle of the probe at this location, complete information about the position of the probe is available.
  • the first sensor and the second sensor can detect according to the same physical principle. Furthermore, the invention also includes embodiments in which the first sensor and the second sensor detect according to different physical principles.
  • the first sensor is designed as a 3D Hall sensor and the second sensor as a 3D gravity direction sensor.
  • the 3D Hall sensor measures the flux density of a basic magnetic field which is used to determine, with the known amplitude of the magnetic flux, the location of the probe (first position information) in a cavity (eg in a hollow organ of a mammal or in a cavity of a plant).
  • the 3D gravitational direction sensor measures the direction of gravity relative to an axis fixed to the probe (for example, the longitudinal, transverse or vertical axis), whereby the solid angle of the probe (second position information) can be determined.
  • the 3D gravitational direction sensor may in this case have various configurations.
  • the 3D gravity direction sensor may comprise at least one hollow sphere with a liquid which is freely movable and optically detectable therein and at least one optical detector for detecting the position of the optically detectable liquid. Furthermore, it is possible to execute the 3D gravity direction sensor as an acceleration sensor.
  • the 3D gravity direction sensor comprises at least one mechanical element in which a deformation occurs under the influence of gravity, which is detectable.
  • the 3D gravity direction sensor calculates its required information from data of an analytical model and / or determines its required information from a punctual detection of amplitude and flux density of a magnetic background field.
  • the first sensor is designed as a 3D Hall sensor and the second sensor as a gyroscope.
  • the arrangement of a gyroscope in a miniaturized medical device which is preferably designed as an endoscopy capsule or as an endo-robot, is known from DE 10 2005 031 652 A1.
  • the 3D Hall sensor first sensor
  • the gyroscope provides information about changes in the solid angle of the probe (second position information) in the miniaturized device. Due to the precise positioning of an endoscopy capsule, which is moved solely by the peristalsis, thereby movements in the stomach and intestine or missing movements in the gastrointestinal tract are reliably detected. Thus, for example, diarrhea, constipation, obstruction or obturation can be reliably detected.
  • the information recorded here by the gyroscope can be stored, for example, in at least one device-internal memory unit and / or via at least one device-internal memory unit. ne transmitting unit to a device external evaluation are transmitted.
  • the rotations or small translations detected by the gyroscope can additionally be used to record the absolute position in the gastrointestinal tract, making it even more precisely possible to correct the position if necessary.
  • the endorobot is to be kept free-floating in the external magnetic field without "wobbling", the constant stabilization which requires the application of correction forces can be performed much more accurately.
  • the information of the gyroscope are thus used to correct the position of the miniaturized medical device. This can be done either in the miniaturized medical device itself, if this has internal options (own drive) for the position correction. Alternatively, the position of the miniaturized medical device can be corrected externally, for example via an external magnetic field generated by a navigation magnet.
  • the position change be displayed by a suitable visual and / or acoustical signal. If the movement of the miniaturized medical device is initiated by an operator, then this can cause corresponding correction movements of the miniaturized medical device.
  • the preferably three-axis gyroscope can be embodied, for example, as a gyro gyroscope, as a CVG (Coriolis Vibratory Gyroscope) or as an optical gyroscope, for example a laser gyroscope.
  • a laser gyroscope a laser beam is split by a mirror arrangement into two sub-beams, both of which pass through a ring and are detected by a detector. As the system rotates, the path lengths of the two sub-beams change as far as the detector, which results in a phase shift of the two sub-beams relative to one another ("Sagnac effect"). From this phase shift, the rotational speed of the gyroscope and, in turn, the solid angle of the probe can be determined.
  • Such miniaturized gyroscopes can be realized, for example, as MEMS (microelectromechanical systems).
  • MEMS microelectromechanical systems
  • the SIGEM project is concerned with the production of gyroscopes on the surface of conventional CMOS chips.
  • the gyroscope functionality can be integrated into the already existing electronics (for example, for image processing).
  • the first sensor and the second sensor are each designed as a 3D Hall sensor, wherein the two independent 3D Hall sensors are spatially arranged at different locations of the miniaturized device.
  • the two 3D Hall sensors thereby also detect the 3D magnetic flux gradient from which the second position information is determined.
  • Endorobot 1 shows an embodiment of a magnetically navigable endoscopy capsule (magnetic capsule endoscope, endorobot) which is possible within the scope of the invention. records.
  • Endorobot 1 has a housing 2 made of biocompatible material resistant to digestive secretions occurring in the gastrointestinal tract.
  • the endorobot 1 further comprises a magnetic element 3, which is designed in the illustrated embodiment as perpendicular to the longitudinal axis of the housing 2 magnetized permanent magnet.
  • a magnetic element 3 which is designed in the illustrated embodiment as perpendicular to the longitudinal axis of the housing 2 magnetized permanent magnet.
  • magnetic flux densities of up to 100 mT are typical
  • the values of the flux density gradients are currently approximately a factor of 10 above the typical values for a magnetic resonance tomography system.
  • the endorobot 1 comprises a first sensor S1, which determines a first position information, and a second sensor S2, which determines a second position information.
  • the first sensor Sl and the second sensor S2 are independent of each other.
  • the first sensor Sl is designed as a 3D Hall sensor and the second sensor S2 as a 3D gravity direction sensor.
  • the SD Hall sensor S1 measures the flux density of a basic magnetic field which is used to determine, with the known amplitude of the magnetic flux, the location of the endo-robot 1 (first position information) in a hollow organ of a mammal.
  • the 3D gravity direction sensor S2 measures relative to an axis fixed with respect to the probe (for example Longitudinal, transverse or vertical axis) the direction of gravity, whereby the solid angle of the endorobot 1 (second position information) can be determined.
  • the 3D gravity direction sensor S2 comprises at least one mechanical element 4, in which under the influence of gravity occurs a deformation that is detectable.
  • the endorobot 1 shown in FIG. 1 further comprises a detector device 5 for acquiring medically relevant data.
  • the detector device 5 comprises an objective 6 with a CCD chip 7 located behind it. Images are absorbed by the objective 6 and the CCD chip 7 from the environment, that is to say from the inner wall of the human or animal hollow organ.
  • the endo robot 1 has a transparent dome 8 on its front side.
  • a CMOS component instead of the CCD chip 7, a CMOS component can also be used.
  • Sensor devices having a pH sensor, a pressure sensor or a sensor for detecting the electrolyte concentration may be present.
  • the medically relevant data detected by the sensor device 5 are stored in an in-capsule memory unit 9, optionally processed in an in-capsule processor unit 10 and if required via an RF transmitter / receiver 11 with an antenna 12 to a not shown in the drawing given external receiver.
  • the first position information of the first sensor S 1 and the second position information of the second sensor S 2 are also transmitted to the external receiver via the antenna 12
  • External information and control commands can also be given to the processor unit 10 arranged in the endoscopy capsule 1 via the antenna 12 and the RF transmitter / HF receiver 11.
  • the data exchange within the endorobot 1 and with external devices takes place via an I / O interface 13, which is assigned to the processor unit 10 in the exemplary embodiment shown.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)

Abstract

Appareil miniaturisé (1) qui comporte une sonde (5) pourvue d'un premier capteur (S1) qui produit une première information de position et d'un second capteur (S2) qui produit une seconde information de position, le premier capteur (S1) et le second capteur (S2) étant indépendants l'un de l'autre.
PCT/EP2008/055946 2007-05-16 2008-05-15 Appareil miniaturisé Ceased WO2008138962A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007023059A DE102007023059A1 (de) 2007-05-16 2007-05-16 Miniaturisiertes Gerät
DE102007023059.3 2007-05-16

Publications (1)

Publication Number Publication Date
WO2008138962A1 true WO2008138962A1 (fr) 2008-11-20

Family

ID=39767204

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/055946 Ceased WO2008138962A1 (fr) 2007-05-16 2008-05-15 Appareil miniaturisé

Country Status (2)

Country Link
DE (1) DE102007023059A1 (fr)
WO (1) WO2008138962A1 (fr)

Cited By (3)

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ITPI20120071A1 (it) * 2012-06-22 2013-12-23 Scuola Superiore Di Studi Universit Ari E Di Perfe Metodo per la localizzazione di dispositivi guidati magneticamente e relativo dispositivo magnetico.
CN108042094A (zh) * 2017-12-22 2018-05-18 宜宾学院 无线胶囊内窥镜5自由度的定位系统及其定位方法
CN118319570A (zh) * 2024-06-14 2024-07-12 浙江强脑科技有限公司 基于振动胶囊的胃部迷走神经刺激方法及装置

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DE102009043652A1 (de) * 2009-09-29 2011-03-31 Richard Wolf Gmbh Endoskopisches Instrument
DE102010040580B4 (de) * 2010-09-10 2017-04-13 Siemens Healthcare Gmbh Verfahren zum Navigieren einer magnetgeführten Endoskopiekapsel im Verdauungstrakt eines Patienten und nach diesem Verfahren arbeitende Endoskopieeinrichtung

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WO2006025400A1 (fr) * 2004-08-30 2006-03-09 Olympus Corporation Détecteur de position et système d’introduction-dans-un-sujet
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITPI20120071A1 (it) * 2012-06-22 2013-12-23 Scuola Superiore Di Studi Universit Ari E Di Perfe Metodo per la localizzazione di dispositivi guidati magneticamente e relativo dispositivo magnetico.
CN108042094A (zh) * 2017-12-22 2018-05-18 宜宾学院 无线胶囊内窥镜5自由度的定位系统及其定位方法
CN108042094B (zh) * 2017-12-22 2024-02-13 宜宾学院 无线胶囊内窥镜5自由度的定位系统及其定位方法
CN118319570A (zh) * 2024-06-14 2024-07-12 浙江强脑科技有限公司 基于振动胶囊的胃部迷走神经刺激方法及装置

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