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公开(公告)号：US20140350462A1
公开(公告)日：2014-11-27
申请号：US14236797
申请日：2012-08-01
CPC分类号： A61M25/0138 , A61B1/00073 , A61B1/0056 , A61B1/0057 , A61B1/3132 , A61M25/0147
摘要： Embodiments of the present invention provide a continuum manipulator that can be used, for example, as a steerable catheter tip. The manipulator of the embodiments comprises a plurality of segments arranged in a stack, which is then able to bend in a range of directions away from the long axis of the stack. In one embodiment the segments include a helical portion which winds in the direction of the long axis of the stack, and can thus bend away from the long axis in any direction. In another embodiment the segments include a backbone portion with cantilevered rings extending from the backbone portion, separated by bending gaps which allow the segment to bend in a range of directions away from the backbone portion so that the bending gap between the rings closes. In some embodiments a carbon fibre rod is included as a backbone for the stack, to minimise hysteresis and improve repeatability of bending. In addition, in embodiments of the invention tendon control channels are provided formed within the segments, through which tendon control wires extend to apply compression and/or bending forces to the stack Having the control channels formed internally to the stack strengthens the stack and makes the stacked structure conform to the channel(s). In particular unwanted twisting of the tip of the stack can be prevented and torquability can be improved.
摘要翻译： 本发明的实施例提供了可以用作例如导向导管尖端的连续统一机械手。 实施例的操纵器包括布置成堆叠的多个段，其然后能够在远离堆叠的长轴的方向范围内弯曲。 在一个实施例中，段包括在堆叠的长轴的方向上卷绕的螺旋部分，并且因此可以在任何方向上远离长轴弯曲。 在另一个实施例中，段包括具有从骨架部分延伸的悬臂环的骨架部分，其通过弯曲间隙分开，弯曲间隙允许该部分在远离骨架部分的一个方向上弯曲，使得环之间的弯曲间隙闭合。 在一些实施例中，碳纤维棒被包括作为堆叠的骨架，以最小化滞后并提高弯曲的重复性。 另外，在本发明的实施例中，提供了腱控制通道，其形成在段内，腱控制线通过该沟槽延伸以向堆叠施加压缩和/或弯曲力。将内部形成的控制通道加强到堆叠，并使 堆叠结构符合通道。 特别是可以防止堆叠的尖端的不期望的扭转，并且可以提高扭矩。
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公开(公告)号：US09675781B2
公开(公告)日：2017-06-13
申请号：US14236797
申请日：2012-08-01
CPC分类号： A61M25/0138 , A61B1/00073 , A61B1/0056 , A61B1/0057 , A61B1/3132 , A61M25/0147
摘要： Embodiments of the present invention provide a continuum manipulator that can be used, for example, as a steerable catheter tip. The manipulator of the embodiments comprises a plurality of segments arranged in a stack, which is then able to bend in a range of directions away from the long axis of the stack. In one embodiment the segments include a helical portion which winds in the direction of the long axis of the stack, and can thus bend away from the long axis in any direction. In some embodiments a carbon fiber rod is included as a backbone for the stack, to minimize hysteresis and improve repeatability of bending. In addition, in embodiments of the invention tendon control channels are provided formed within the segments, through which tendon control wires extend to apply compression and/or bending forces to the stack.
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公开(公告)号：US09507000B2
公开(公告)日：2016-11-29
申请号：US13123128
申请日：2009-10-05
申请人： Christian Stehning , Jurgen Erwin Rahmer , Stefanie Remmele , Ulrike Blume , Tobias Richard Schaeffter
发明人： Christian Stehning , Jurgen Erwin Rahmer , Stefanie Remmele , Ulrike Blume , Tobias Richard Schaeffter
CPC分类号： G01R33/50 , A61B5/055 , G01R33/4828 , G01R33/5602
摘要： A magnetic resonance system comprises a magnetic resonance scanner (10) including a main magnet (12) generating a static magnetic field biasing nuclear spins toward aligning along a direction of the static magnetic field, magnetic field gradient coils (14), a radio frequency coil (16), and a controller (20, 22) configured to: (a) drive the radio frequency coil to selectively tip spins predominantly of short T2* out of the direction of the static magnetic field; (b) drive at least one of the magnetic field gradient coils and the radio frequency coil to dephase said spins predominantly of short T2* tipped out of the direction of the static magnetic field; and (c) drive the magnetic field gradient coils and the radio frequency coil to acquire magnetic resonance data that is predominantly T2* weighted due to preceding operations (a) and (b).
摘要翻译： 磁共振系统包括磁共振扫描器（10），该磁共振扫描器（10）包括主磁体（12），该主磁体产生静磁场，该静磁场偏置核自旋以沿着静磁场的方向排列，磁场梯度线圈（14），射频线圈 （16），以及控制器（20,22），其被配置为：（a）驱动所述射频线圈以选择性地从所述静态磁场的方向上引导主要具有短T2 *的自旋; （b）驱动所述磁场梯度线圈和所述射频线圈中的至少一个，以使所述自旋以主要从所述静态磁场方向倾斜的短T2 *去除; 和（c）驱动磁场梯度线圈和射频线圈以获得由于先前操作（a）和（b）而主要为T2 *加权的磁共振数据。
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公开(公告)号：US20100142785A1
公开(公告)日：2010-06-10
申请号：US12597750
申请日：2008-04-30
CPC分类号： G01R33/48 , G01R33/281 , G01R33/286 , G01R33/5601 , G01R33/5608
摘要： A method for generating an image comprises: acquiring a magnetic resonance image (DI); generating a magnetic susceptibility gradient vector map (DΔχ) from the magnetic resonance image; and filtering the magnetic susceptibility gradient vector map to generate a magnetic susceptibility gradient image (96, 110) depicting magnetic susceptibility gradient information including at least some magnetic susceptibility gradient directional information.
摘要翻译： 一种用于产生图像的方法包括：获取磁共振图像（DI）; 从磁共振图像生成磁化率梯度矢量图（D＆Dgr;χ）; 以及过滤所述磁化率梯度矢量图以产生描绘包括至少一些磁化率梯度方向信息的磁化率梯度信息的磁化率梯度图像（96,110）。
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公开(公告)号：US20090080750A1
公开(公告)日：2009-03-26
申请号：US12297649
申请日：2007-04-17
IPC分类号： G06K9/00
CPC分类号： G01R33/286
摘要： The invention relates to a device for magnetic resonance imaging of a body (7), wherein the device (1) is arranged to a) generate a series of MR echo signals (20) by subjecting at least a portion of the body (7) to an MR imaging sequence comprising RF pulses and switched magnetic field gradients, b) acquire the MR echo signals for reconstructing an MR image (21) therefrom, c) calculate a susceptibility gradient map (22) from the MR echo signals or from the MR image (21), the susceptibility gradient map (22) indicating local susceptibility induced magnetic field gradients, d) determine the position of an interventional instrument (16) having paramagnetic or ferromagnetic properties from the susceptibility gradient map (22).
摘要翻译： 本发明涉及一种用于身体（7）的磁共振成像的装置，其中所述装置（1）被布置成：a）通过对所述主体（7）的至少一部分进行承受来产生一系列MR回波信号（20） 涉及包括RF脉冲和切换磁场梯度的MR成像序列，b）获取用于重构MR图像（21）的MR回波信号，c）从MR回波信号或从MR回波信号计算磁敏度梯度图（22） 图像（21），表示局部敏感性感应磁场梯度的磁敏度梯度图（22），d）从磁敏度梯度图（22）确定具有顺磁性或铁磁性质的介入仪器（16）的位置。
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6.发明授权Apparatus, methods, and devices for magnetic resonance imaging controlled by the position of a moveable RF coil 失效用于由可移动RF线圈的位置控制的磁共振成像的装置，方法和装置公开(公告)号：US06317619B1
公开(公告)日：2001-11-13
申请号：US09363349
申请日：1999-07-29
IPC分类号： A61B5055
CPC分类号： G01R33/341 , G01R33/34007 , G01R33/3806 , G01R33/543 , G01R33/546 , G01R33/58
摘要： Objects of this invention include provision of magnetic resonance (MR) imaging methods, MR apparatus, and radio-frequency (RF) receiving coil devices permitting interactive MR examination of a patient. In particular, this invention includes means for generating MR images by a moveable RF coil which can be moved across a patient during an MR examination. The MR apparatus includes a position detection system which detects the current position and orientation of the moveable RF coil. The coil can be hand held for manual movement or can be attached to mechanical manipulators for controlled movement. The imaging methods determine and generate magnetic gradient and RF pulse sequences to excite nuclear magnetization in a 3D region determined with respect to the current 3D position and 3D orientation of the moveable RF coil. The invention also includes moveable RF coils for receiving and transmitting which are configured and sized for convenient manipulation by an operator. A preferable moveable RF coil assembly includes markers necessary to interact with a particular position detection system, display means for displaying reconstructed images in real-time, and control means for operator entry of signals controlling the MR apparatus. This invention also includes a carrier medium with recorded program instructions for controlling a programmable MR apparatus to perform the disclosed methods.
摘要翻译： 本发明的目的包括提供磁共振（MR）成像方法，MR装置和允许患者的交互式MR检查的射频（RF）接收线圈装置。 具体地，本发明包括用于通过可移动RF线圈产生MR图像的装置，其可以在MR检查期间跨越患者移动。 MR装置包括检测可动RF线圈的当前位置和方向的位置检测系统。 线圈可以手持进行手动运动，也可以连接到机械操纵器上以进行控制运动。 成像方法确定并产生磁梯度和RF脉冲序列，以在相对于可移动RF线圈的当前3D位置和3D取向确定的3D区域中激发核磁化。 本发明还包括用于接收和发送的可移动RF线圈，其被配置和大小以便操作者方便操作。 优选的可动RF线圈组件包括与特定位置检测系统相互作用所需的标记，用于实时显示重建图像的显示装置和用于操作者输入控制该MR装置的信号的控制装置。 本发明还包括具有用于控制可编程MR装置以执行所公开的方法的记录的程序指令的载体介质。
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公开(公告)号：US20110196224A1
公开(公告)日：2011-08-11
申请号：US13123128
申请日：2009-10-05
申请人： Christian Stehing , Jurgen Erwin Rahmer , Stefanie Remmele , Ulrike Blume , Tobias Richard Schaeffter
发明人： Christian Stehing , Jurgen Erwin Rahmer , Stefanie Remmele , Ulrike Blume , Tobias Richard Schaeffter
IPC分类号： A61B5/055
CPC分类号： G01R33/50 , A61B5/055 , G01R33/4828 , G01R33/5602
摘要： A magnetic resonance system comprises a magnetic resonance scanner (10) including a main magnet (12) generating a static magnetic field biasing nuclear spins toward aligning along a direction of the static magnetic field, magnetic field gradient coils (14), a radio frequency coil (16), and a controller (20, 22) configured to: (a) drive the radio frequency coil to selectively tip spins predominantly of short T2* out of the direction of the static magnetic field; (b) drive at least one of the magnetic field gradient coils and the radio frequency coil to dephase said spins predominantly of short T2* tipped out of the direction of the static magnetic field; and (c) drive the magnetic field gradient coils and the radio frequency coil to acquire magnetic resonance data that is predominantly T2* weighted due to preceding operations (a) and (b).
摘要翻译： 磁共振系统包括磁共振扫描器（10），该磁共振扫描器（10）包括主磁体（12），该主磁体产生静磁场，该静磁场偏置核自旋以沿着静磁场的方向排列，磁场梯度线圈（14），射频线圈 （16），以及控制器（20,22），其被配置为：（a）驱动所述射频线圈以选择性地从所述静态磁场的方向上引导主要具有短T2 *的自旋; （b）驱动所述磁场梯度线圈和所述射频线圈中的至少一个，以使所述自旋以主要从所述静态磁场方向倾斜的短T2 *去除; 和（c）驱动磁场梯度线圈和射频线圈以获得由于先前操作（a）和（b）而主要为T2 *加权的磁共振数据。
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