公开(公告)号：US20070016005A1

公开(公告)日：2007-01-18

申请号：US10556444

申请日：2004-05-06

申请人： Holger Timinger ,  Sascha Kruger ,  Hans-Aloy Wischmann ,  Jorn Borgert ,  Jorg Sabczynski ,  Volker Rasche

发明人： Holger Timinger ,  Sascha Kruger ,  Hans-Aloy Wischmann ,  Jorn Borgert ,  Jorg Sabczynski ,  Volker Rasche

IPC分类号： A61B5/05

CPC分类号： A61B8/0841 ,  A61B5/1135 ,  A61B6/12 ,  A61B8/0833

摘要： The invention relates to an apparatus and a method for recording the movement, caused in particular by breathing, of organs of the body such as the heart (9) for example. A part (3) of the diaphragm (10) is recorded by means of an X-ray device or an ultrasound device and the current position of the diaphragm is detected in the resulting image. Information about the associated position of other internal organs can be obtained from the position of the diaphragm with the aid of a model. This information can in turn be used, in a navigation system for a catheter, to set the spatial coordinates of the latter relative to the vascular system.

摘要翻译： 本发明涉及用于记录诸如心脏（9）的身体器官的特别是通过呼吸引起的运动的装置和方法。 通过X射线装置或超声波装置记录隔膜（10）的一部分（3），并在所得到的图像中检测膜片的当前位置。 借助于模型，可以从隔膜的位置获得关于其他内脏器官相关位置的信息。 在导管的导航系统中，该信息又可以用于设置后者相对于血管系统的空间坐标。

公开(公告)号：US07652468B2

公开(公告)日：2010-01-26

申请号：US10598013

申请日：2005-02-11

申请人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

发明人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

IPC分类号： G01B7/0004 ,  G01B7/14 ,  A61B5/05

CPC分类号： A61B5/06 ,  A61B5/062 ,  A61B34/20 ,  A61B90/36 ,  A61B2034/2051

摘要： The invention relates to a device and a method for correction of the position (x) of a field sensor (4) measured by means of a magnetic localization device. External field distortions, such as caused for example by the rotating components (1a, 1b) of a computer tomograph (1), are then determined with the help of reference sensor (3) placed at a known position. It is possible to deduce, for example, the current angle of rotation (Φ) of the computer tomograph (1) from the measurement signals of the reference sensor (3). Based on an empirically determined correction (δ(x, Φ)), the uncorrected determined positions (x) of the field sensor (4) can then be converted to corrected positions (x′) in relation to the field distortions. The field generator (2) and the reference sensor (3) are preferably fastened to the gantry in order to eliminate the dependency of the field distortions on an inclination of the gantry.

摘要翻译： 本发明涉及用于校正通过磁定位装置测量的场传感器（4）的位置（x）的装置和方法。 然后借助放置在已知位置的参考传感器（3）来确定诸如由计算机断层摄影机（1）的旋转部件（1a，1b）引起的外部场失真。 例如，可以从参考传感器（3）的测量信号推断计算机断层摄影机（1）的当前旋转角度（Phi）。 基于经验确定的校正（delta（x，Phi）），场传感器（4）的未校正的确定位置（x）可随后被转换为与场失真相关的校正位置（x'）。 场发生器（2）和参考传感器（3）优选地紧固到台架，以消除场失真对台架倾斜的依赖性。

公开(公告)号：US20080157755A1

公开(公告)日：2008-07-03

申请号：US10598013

申请日：2005-02-11

申请人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

发明人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

IPC分类号： G01B7/004

CPC分类号： A61B5/06 ,  A61B5/062 ,  A61B34/20 ,  A61B90/36 ,  A61B2034/2051

摘要： The invention relates to a device and a method for correction of the position (x) of a field sensor (4) measured by means of a magnetic localization device. External field distortions, such as caused for example by the rotating components (1a, 1b) of a computer tomograph (1), are then determined with the help of reference sensor (3) placed at a known position. It is possible to deduce, for example, the current angle of rotation (Φ) of the computer tomograph (1) from the measurement signals of the reference sensor (3). Based on an empirically determined correction (δ(x, Φ)), the uncorrected determined positions (x) of the field sensor (4) can then be converted to corrected positions (x′) in relation to the field distortions. The field generator (2) and the reference sensor (3) are preferably fastened to the gantry in order to eliminate the dependency of the field distortions on an inclination of the gantry.

摘要翻译： 本发明涉及用于校正通过磁定位装置测量的场传感器（4）的位置（x）的装置和方法。 然后借助放置在已知位置的参考传感器（3）来确定诸如由计算机断层摄影机（1）的旋转部件（1a，1b）引起的外部场失真。 例如，可以从参考传感器（3）的测量信号推断计算机断层摄影机（1）的当前旋转角度（Phi）。 基于经验确定的校正（delta（x，Phi）），场传感器（4）的未校正的确定位置（x）可随后被转换为与场失真相关的校正位置（x'）。 场发生器（2）和参考传感器（3）优选地紧固到台架，以消除场失真对台架倾斜的依赖性。

公开(公告)号：US20070197905A1

公开(公告)日：2007-08-23

申请号：US10557970

申请日：2004-05-06

申请人： Holger Timinger ,  Jorn Borgert ,  Sascha Kruger

发明人： Holger Timinger ,  Jorn Borgert ,  Sascha Kruger

IPC分类号： A61B5/05

CPC分类号： A61B5/7207 ,  A61B5/06 ,  A61B5/062 ,  A61B34/20 ,  A61B2017/00699 ,  A61B2017/00703 ,  A61B2034/107 ,  A61B2034/2051

摘要： The invention relates to a navigation system for navigating a catheter (3) in a vascular system (10), in which the current spatial position of the catheter (3) is continually measured by a locating device (2). The temporal sequence of the position signals obtained in this way is subjected to a filtering operation in order to compensate for cyclic intrinsic movements of the vascular system which are caused for example by the heartbeat. The filtering may comprise the suppression of amplitude maxima in the frequency spectrum at the heartbeat frequency. Furthermore, the filtering may comprise the calculation of a center of the trajectory in time windows of the length of the heartbeat.

摘要翻译： 本发明涉及用于导航血管系统（10）中的导管（3）的导航系统，其中导管（3）的当前空间位置由定位装置（2）连续测量。 以这种方式获得的位置信号的时间序列经过过滤操作，以补偿例如由心跳引起的血管系统的循环固有运动。 滤波可以包括在心跳频率处抑制频谱中的振幅最大值。 此外，滤波可以包括在心跳长度的时间窗口中的轨迹的中心的计算。

公开(公告)号：US20070135713A1

公开(公告)日：2007-06-14

申请号：US10597980

申请日：2005-02-10

申请人： Jorn Borgert ,  Sascha Kruger ,  Holger Timinger

发明人： Jorn Borgert ,  Sascha Kruger ,  Holger Timinger

IPC分类号： A61M25/00

CPC分类号： A61M25/09 ,  A61B5/06 ,  A61M25/0127 ,  A61M25/04 ,  A61M25/10

摘要： The invention relates to a catheter system comprising a first, outer catheter (1) and a second catheter element contained in it, which can particularly be a guide wire (2). A respective active localizer (4, 5) is placed on the first and on the second catheter element (1, 2), for example sensors of a magnetic tracking system. The first catheter element (1) preferably has a fixing device (3), by means of which it can be fixed relative to the vascular system (7). If the guide wire (2) is, for example, to be navigated through a stenosis (6), the position of its localizer (5) relative to the localizer (4) is measured on the catheter element at rest (1), so that its position relative to the vessel (7) is known. Since interference factors such as organ movement balance each other during the measurement of the relative position of the localizers (4, 5), the navigation can be carried out with very high accuracy.

摘要翻译： 本发明涉及一种包括第一外导管（1）和容纳在其中的第二导管元件的导管系统，其特别可以是导丝（2）。 相应的主动定位器（4,5）被放置在第一和第二导管元件（1,2）上，例如磁跟踪系统的传感器。 第一导管元件（1）优选地具有固定装置（3），通过该装置可以相对于血管系统（7）固定。 如果导丝（2）例如通过狭窄（6）导航，则其定位器（5）相对于定位器（4）的位置在静止（1）处的导管元件上测量，因此 其相对于容器（7）的位置是已知的。 由于诸如器官运动之类的干扰因素在测位定位器（4,5）的相对位置期间彼此平衡，所以导航可以非常高的准确度进行。

公开(公告)号：US20070167738A1

公开(公告)日：2007-07-19

申请号：US10586177

申请日：2005-01-07

申请人： Holger Timinger ,  Sascha Kruger ,  Jorn Borgert

发明人： Holger Timinger ,  Sascha Kruger ,  Jorn Borgert

IPC分类号： A61B5/05 ,  A61B17/00

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B2017/00243 ,  A61B2017/00292 ,  A61B2017/00699 ,  A61B2017/00703 ,  A61B2034/2051 ,  A61B2090/3958

摘要： The invention relates to a device and a method for navigating a catheter in the vessel system or an intervention needle in an organ of a patient that is subject to a spontaneous movement due to heartbeat and/or respiration. In this connection, a movement model (11) that describes the displacement of points in the vessel system with respect to a reference phase (E0) of the spontaneous movement is kept ready in the memory of a data processing device (10). The spatial positions and orientations of the instrument (4) measured by a locating device (2) in the vessel system of the patient (3) and also the ECG values (E) recorded in parallel therewith are converted by the data processing device (10) with the aid of the movement model (11) into a movement-compensated position (r+Δ) of the instrument that can then be displayed in a static vessel or organ map (12). The movement model (11) can be obtained from a series of three-dimensional recordings of the vessel system. In addition or alternatively, measured positions and orientations of the instrument (4) can be used during times at which the instrument does not travel forwards.

摘要翻译： 本发明涉及一种用于导航血管系统中的导管或患者的器官中的介入针的装置和方法，所述器官由于心跳和/或呼吸而经受自发运动。 在这方面，描述相对于自发运动的参考相位（E> 0 ）的血管系统中的点的位移的运动模型（11）在数据的存储器中保持准备 处理装置（10）。 由患者（3）的血管系统中的定位装置（2）测量的仪器（4）的空间位置和取向以及与其并行记录的ECG值（E）由数据处理装置（10 ），借助于运动模型（11）到仪器的运动补偿位置（r + Delta），然后可以将其显示在静态血管或器官图中（12）。 运动模型（11）可以从容器系统的一系列三维记录中获得。 另外或替代地，仪器（4）的测量位置和取向可以在仪器不向前行进的时间期间使用。

公开(公告)号：US20070055141A1

公开(公告)日：2007-03-08

申请号：US10557968

申请日：2004-05-06

申请人： Sascha Kruger ,  Jorn Borgert ,  Holger Timinger

发明人： Sascha Kruger ,  Jorn Borgert ,  Holger Timinger

IPC分类号： A61B5/05

CPC分类号： A61B5/721 ,  A61B5/06 ,  A61B5/062 ,  A61B5/066 ,  A61B2017/00703

摘要： The invention relates to a navigation system for guiding a catheter in a patient's vascular system, where the spatial position of the catheter and its orientation are continually measured by a locating device. The resulting trajectory (T0) of the catheter contains movement artefacts on account of the heartbeat. In order to suppress said movement artefacts, the electrocardiogram (ECG) is recorded in parallel, and the position and orientation signals are suppressed during phases of strong heart movement (QRS peak). Preferably, extrapolation of the compensated trajectory (Tc) is carried out in the gaps arising as a result of signal suppression.

摘要翻译： 本发明涉及一种用于在患者血管系统中引导导管的导航系统，其中导管的空间位置及其取向由定位装置连续测量。 由于心跳，导管的结果轨迹（T <0> 0 ）包含运动假象。 为了抑制所述运动伪影，心电图（ECG）被并行记录，并且在强心脏运动（QRS峰值）的阶段期间抑制位置和取向信号。 优选地，在由于信号抑制而产生的间隙中执行补偿轨迹（T SUB）的外推。

公开(公告)号：US20080058647A1

公开(公告)日：2008-03-06

申请号：US10565933

申请日：2004-07-13

申请人： Sascha Kruger ,  Jorn Borgert

发明人： Sascha Kruger ,  Jorn Borgert

IPC分类号： A61B8/06 ,  A61B5/026 ,  A61B8/12

CPC分类号： A61B8/06 ,  A61B5/0261 ,  A61B5/0275 ,  A61B8/12 ,  G01F1/661 ,  G01F1/667 ,  G01F1/704 ,  G01P5/24 ,  G01P5/241 ,  G01P5/26 ,  G01S7/4813 ,  G01S7/4818 ,  G01S17/58

摘要： The invention relates to a facility that can be used, in particular, to measure the flow conditions in a blood vessel. The facility comprises a catheter (16) having a bundle (15) of optical waveguides that connects control and measurement facilities (20) outside the body with an optical unit (10) at the catheter tip. The light (λK) generated by a cavitation light laser source (30) is beamed via the catheter (16) and the optical unit (10) into a focus region (2) in the vessel lumen, where it generates cavitation bubbles (3). The movement of the cavitation bubbles (3) with the blood flow is determined by the particle-measuring unit (20) that is based, for example, on phase-Doppler anemometry and/or the Doppler shift. As a result of suitable design of the optical unit (10), the focus region (2) can be displaced as desired radially and rotationally inside the vessel so that a vessel cross section can be scanned in a spatially resolved way. Furthermore, a spectral analysis of the light arriving from the focus region (2) is possible in order, for example, to analyze the chemical composition in this region. The reaching of the vessel wall (1) can be detected by the moving focus region (2) and used for a vessel measurement and/or to switch off the cavitation light laser (30).

摘要翻译： 本发明涉及一种能够特别用于测量血管中的流动状况的设备。 该设备包括具有光导管束（15）的导管（16），该导管将主体外部的控制和测量设备（20）与导管末端处的光学单元（10）连接。 通过空穴光激光源（30）产生的光（λN K）经由导管（16）和光学单元（10）射入血管内腔中的聚焦区域（2） 在那里它产生气蚀气泡（3）。 气蚀气泡（3）与血液流动的运动由例如基于相位多普勒血流计和/或多普勒频移的粒子测量单元（20）确定。 作为光学单元（10）的适当设计的结果，聚焦区域（2）可以根据需要在容器内径向和旋转地移位，使得可以以空间分辨的方式扫描容器横截面。 此外，从聚焦区域（2）到达的光的光谱分析是可能的，以便例如分析该区域中的化学成分。 血管壁（1）的到达可以由移动聚焦区域（2）检测并用于血管测量和/或关闭空化光激光器（30）。

公开(公告)号：US20060241395A1

公开(公告)日：2006-10-26

申请号：US10548334

申请日：2004-03-03

申请人： Sascha Kruger ,  Jorn Borgert

发明人： Sascha Kruger ,  Jorn Borgert

IPC分类号： A61B5/05

CPC分类号： A61B5/0059

摘要： The invention relates to a device and a method for locating an instrument, such as a catheter (104) for example, within a body (106). The catheter (104) has a number of light guides into which there is passed an NIR radiation pulse (102) from a laser (101). The NIR radiation is emitted by scattering end sections (105) of the light guides into the body volume (106) and detected outside the body by means of cameras (107a, 107b, 107c). Scattered photons are preferably excluded by means of a temporally selective amplification. The location of the catheter (104) can be reconstructed stereoscopically on the basis of the camera images.

摘要翻译： 本发明涉及一种用于定位仪器的装置和方法，例如在主体（106）内的导管（104）。 导管（104）具有多个光导，通过来自激光（101）的NIR辐射脉冲（102）。 NIR辐射通过将导光体的末端部分（105）散射到体积（106）中并通过照相机（107a，107b，107c）在体外检测。 散射光子优选通过时间选择性扩增排除。 可以基于相机图像立体地重建导管（104）的位置。

公开(公告)号：US20060165270A1

公开(公告)日：2006-07-27

申请号：US10546397

申请日：2004-02-11

申请人： Jorn Borgert ,  Jorg Sabcrynski

发明人： Jorn Borgert ,  Jorg Sabcrynski

IPC分类号： G06K9/00

CPC分类号： A61B6/481 ,  A61B5/06 ,  A61B5/062 ,  A61B5/065 ,  A61B6/504 ,  A61B6/5247 ,  A61B8/12 ,  A61B8/5238

摘要： The invention relates to a method of interventional angiography, in which intravascular image signals are recorded by means of a first image recording device (1) inserted into a blood vessel (7) of a patient (8), the intravascular position of which image recording device is determined during the recording of the images, where the intravascular image signals are visualized by means of a display unit (4) taking account of the intravascular position of the first image recording device (1). To provide such a method, by means of which the recorded image information is processed and displayed in a manner that is particularly clear and convenient for the physician, the invention proposes that for visualization purposes a two-dimensional representation of the intravascular image signals is superposed on a representation of a two-dimensional projection image (9, 10) of the blood vessel (7) that is generated by means of a second image recording device (3), in accordance with the intravascular position of the first image recording device (1).

摘要翻译： 本发明涉及一种介入血管造影的方法，其中通过插入患者（8）的血管（7）中的第一图像记录装置（1）记录血管内图像信号，其中图像记录的血管内位置 在记录图像期间确定装置，其中通过考虑到第一图像记录装置（1）的血管内位置的显示单元（4）可视化血管内图像信号。 为了提供这样的方法，通过这种方法，以对医生特别清楚和方便的方式对记录的图像信息进行处理和显示，本发明提出为了可视化目的，将血管内图像信号的二维表示叠加 在通过第二图像记录装置（3）产生的血管（7）的二维投影图像（9,10）的表示上，根据第一图像记录装置的血管内位置（ 1）。