CN104188655A - 一种基于电流的位置传感器 - Google Patents

一种基于电流的位置传感器 Download PDF

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CN104188655A
CN104188655A CN201410470242.7A CN201410470242A CN104188655A CN 104188655 A CN104188655 A CN 104188655A CN 201410470242 A CN201410470242 A CN 201410470242A CN 104188655 A CN104188655 A CN 104188655A
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probe
electrode
body surface
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surface electrodes
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CN104188655B (zh
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A.戈瓦里
A.C.阿尔特曼
Y.埃夫拉思
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Biosense Webster Inc
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    • 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
    • A61B5/061—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
    • A61B5/063—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 impedance measurements
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A61B2034/2053—Tracking an applied voltage gradient

Abstract

一种位置探测装置，包括：探头，包括至少一个探测电极，适合插入客体的身体中；多个身体表面电极，适合固定到身体表面的相应位置；和控制器，适合连接到所述探头和身体表面电极，并适于使电流通过至少一个探头电极和多个身体表面电极之间的身体，并通过测量通过多个身体表面电极的电流的各自特征，确定探头的位置坐标，其中，所述控制器适合测量多个位置和至少一个电极之间的电阻抗，并且，所述控制器适于保持各位置和至少一个电极之间的恒定电压，并适于通过测量恒定电压下的电流来测量各阻抗。

Description

一种基于电流的位置传感器
技术领域
本发明大体上涉及一种测定置于生物体内物体的位置，具体地，涉及通过阻抗测量进行位置探测。
背景技术
范围广泛的医疗程序涉及到在身体内置入物体，如传感器、管子、导管、分配机构和植入片。实时成像方法时常用于这些程序帮助医生观察物体和其周围。在许多情况下，还不可能或不希望实现实时三维成像，而是采用可得到实时内部物体空间坐标的的系统。
许多这种位置探测系统现有技术已经开发出来或预计会出现。一些系统涉及连接传感器到内部物体上，传感器具有发送器或天线的形式，可探测到身体外面产生的磁、电或超声波场。例如，Wittkampf的美国专利5, 697, 377和5, 983,126公开了一种系统，其内容在本文中参考引用，其中三个基本正交的交变信号施加到物体。导管设置了至少一个测量电极，检测导管端部和基准电极之间的电压。电压信号的分量对应于三个相互正交施加的电流信号，据此可进行计算并确定身体内的导管端部的三维坐标。
Pfeiffer的美国专利 No. 5,899,860、Panescu的美国专利No. 6.095,150、Swanson的美国专利 No. 6,456,864、Nardella的美国专利No. 6.050,267和Nardella的美国专利5,944, 022公开了一种在电极之间探测压差的类似方法，其内容也在本文参考引用。
发明内容
   本发明的实施例提供了一种有效的装置和方法，可实时确定置入生物体内的探头位置。在这些实施例中，电流在一个或多个探头上的电极和置于身体表面的电极之间流动。通过这种方式，测量出探头和身体表面各电极之间的阻抗。根据这些阻抗测量值确定探头的三维位置坐标。这样的装置和方法尤其适用医疗程序，如对心脏作图或进行组织去除，以治疗心律不齐。
与现有技术已知的位置探测的方法比较，本发明相对简单，可在医院条件下使用，只要求一个内部探头，其可以是标准导管，和最多三个身体表面探头。现有技术的基于阻抗的位置探测系统，如上述Wittkampf的专利所介绍的，则要求连接至少6个或7个导电片到客体的身体上，相关电线连接测量和控制仪器。
因此，根据本发明的实施例，提出了一种位置探测的方法，其包括：插入探头到客体的身体中，所述探头包括至少一个电极；电流通过至少一个电极和身体表面上的多个位置之间的身体；测量通过多个位置的电流的各自特征；根据测得的特征确定探头的位置坐标。
一般地，至少一个电极包括多个电极，电流通过包括通过多个电极中的一个和身体表面的多个位置中的一个之间的各电流。在公开的实施例中，电流通过包括固定导电片到身体的多个位置，使电流通过这些导电片。
一般地，多个位置包括至少三个位置。在一个实施例中，多个位置只包括三个位置。
在所公开的实施例中，各特征表示多个位置和至少一个电极之间的电阻抗。在一个实施例中，电流通过包括保持各位置和至少一个电极之间的恒定电压，测量各自特征包括测量恒定电压下的电流。或者，电流通过包括各位置和至少一个电极之间保持恒定电流，测量各特征包括测量各位置和至少一个电极之间的各个电压。
在一些实施例中, 插入探头包括用探头对客体进行诊断处理。
在这些实施例中的一个，所述探头包括导管，进行诊断处理包括对客体的心脏作图。对心脏作图包括使用至少一个电极测定心脏组织的电位。
在另外的实施例中，插入探头包括用探头对客体进行治疗处理。
在这些实施例中的一个, 所述探头包括导管，进行治疗处理包括使用导管去除心脏组织。
根据本发明的实施例，还提供了一种位置探测装置，其包括：探头，包括至少一个探测电极，适合插入客体的身体中；多个身体表面电极，适合固定到身体表面的不同位置；和控制器，适合连接到所述探头和身体表面电极，可使电流通过至少一个探头电极和多个身体表面电极之间的身体，并通过测量通过多个身体表面电极的各电流特征，确定探头的位置坐标。
 根据本发明，还提供了一种位置探测装置，包括：探头，包括至少一个探测电极，适合插入客体的身体中；多个身体表面电极，适合固定到身体表面的相应位置；和控制器，适合连接到所述探头和身体表面电极，并适于使电流通过至少一个探头电极和多个身体表面电极之间的身体，并通过测量通过多个身体表面电极的电流的各自特征，确定探头的位置坐标，其中，所述控制器适合测量多个位置和至少一个电极之间的电阻抗，并且，所述控制器适于保持各位置和至少一个电极之间的恒定电压，并适于通过测量恒定电压下的电流来测量各阻抗。
根据本发明，还提供了一种位置探测装置，包括：探头，包括至少一个探测电极，适合插入客体的身体中；多个身体表面电极，适合固定到身体表面的相应位置；和控制器，适合连接到所述探头和身体表面电极，并适于使电流通过至少一个探头电极和多个身体表面电极之间的身体，并通过测量通过多个身体表面电极的电流的各自特征，确定探头的位置坐标，其中，所述控制器适于保持各位置和至少一个电极之间的恒定电流，并适于通过测量恒定电流下的电压来测量各位置和至少一个电极之间的各阻抗。
附图说明
通过下面参考附图对本发明实施例的详细介绍，可对本发明有更充分的了解，附图中：
图1用图片示意性地显示了根据本发明实施例的用于心导管插入法的位置探测系统；
图2示意地详细显示了根据本发明实施例的导管和身体表面电极之间的相互作用，用于确定导管位置；
图3示意性地显示了根据本发明实施例的位置探测系统的电路。
具体实施方式
图1显示了根据本发明实施例的位置探测系统20。系统20用于确定探头的位置，如导管22的位置，探头插入身体内部空腔，如客体26的心脏24的腔室。一般地，导管用于诊断或治疗处理，如绘出心脏的电位图或去除心脏组织。导管或其他体内装置本身或与其他处理装置结合可用于其他目的。
导管22的远端包括一个或多个电极（在图2下方显示）。这些电极通过电线穿过导管22的插入管连接到控制单元28的驱动电路，如下面所示。控制单元通过电缆30的电线连接到身体表面电极，表面电极一般包括粘着皮肤的导电片32，34和36。在本发明的可选择的实施例中，身体表面的电极的数量可变化，可具有其他形式，如皮下探针或医疗专业人员38操作的手提机构。
导电片32，34和36可设置在身体表面的任何方便位置，置于探头的附近。例如，用于心脏的导电片32，34，36一般设置在客体26的胸部周围。对于导电片相互之间的位置或相对身体的位置没有特别的要求。尽管如果导电片间隔开设置而不是聚在一个位置可使精度更高。对导电片沿固定轴线设置也没有特别要求，所以导电片位置应尽可能少地干扰医疗程序。
控制单元28根据测得的导管和导电片32，34和36之间的阻抗确定心脏24内导管22的位置坐标，如下面所作介绍。控制单元驱动显示器40，显示出身体内的导管的位置。导管可用于形成心脏的图形42（如电子图形，导管上的电极还可以交替用于位置探测和测量心脏组织产生的电位）。导管位置可叠加到图形上或叠加到心脏的另外图形上。
图2是根据本发明实施例的导管22的示意性详图，显示了导管上的电极44，46和48与导电片32，34，36之间的相互作用。电极44，46和48可具有任何适当的形状和尺寸，可用于其他目的，如电生理学的传感或清除。在图示的实施例中，三个电极44，46，48分别与三个导电片32，34和36连接。控制单元28驱动各导管电极和对应身体表面电极之间的电流，通过电流测出两个电极之间的阻抗。根据测量的阻抗，控制单元确定导管相对身体表面电极的位置。或者，可采用多些或少些数量的电极。例如，控制单元28可设定一个导管电极和多个身体表面电极之间的多路电流。在另一实施例中，可使用多于三个身体表面电极来提高精度。
图3是显示根据本发明实施例的系统20的器件的框图。上面介绍的控制单元28包括驱动电流和测量阻抗的电路。各电路50，52，54驱动电流通过闭环电路，其包括导管电极和身体表面电极。具体地，电路50驱动电流通过身体组织58，其位于电极44和导电片32之间；电路52驱动电流通过身体组织60，其位于电极46和导电片34之间；电路54驱动电流通过身体组织62，其位于电极48和导电片36之间。驱动电路产生的电流分别被置位电路50，52，54区分，以不同的频率操作。
各电路50，52，54测量通过身体组织的各回路的电阻抗。这些阻抗读数传递到处理单元56，其利用读数计算导管相对身体表面电极的位置坐标，根据这些位置坐标，处理单元56在显示器40上产生实时信息，如上面所介绍的。
在本发明的一个实施例中，电路50，52，54产生恒定的电压信号。对于恒定电压，各闭环电路中的导管电极和身体表面电极之间的阻抗反比于流过电路的电流。电路50，52，54测量流过各环路的电流，确定阻抗，其然后用于计算位置坐标。
在本发明的第二实施例中，电路50，52，54产生恒定电流信号。对于恒定电流，在闭环电路的导管电极和身体表面电极之间的阻抗正比于两者之间的电压。因此可通过单元56测量电流驱动器两端的电压，确定阻抗，其用于计算位置坐标。
在所介绍的这两个实施例中，测量得到的阻抗正比于电极和导电片之间的距离。该距离可用于三角测定导管22的端部位置。通过位于已知解剖位置（即心脏的标志物）的导管的初始基准测量或通过使用单独的位于已知位置的基准导管来校正阻抗精度，可进一步提高测量精度。
系统20代表了本发明的实施例，因为其可用于基于导管的程序，进行诊断或处理心脏疾病，如心律不齐。系统20还可以用于诊断或治疗血管疾病，涉及血管成形术或atherectomy。系统20的原理还可以，通过进一步的必要修正，用于位置探测系统，诊断或治疗其他身体结构的疾病，如脑子、脊骨、骨骼关节、膀胱、胃肠道、前列腺和子宫。
应当理解上面介绍的实施例是示例性的，本发明不限于上面特别显示的和介绍的实施例。而是，本发明的范围包括上面介绍各种特征的组合和分组，以及阅读了前面介绍的所属领域的技术人员所进行的改进和变化，这些变化尚未在现有技术中公开。

Claims (20)

1.一种位置探测装置，包括：
探头，包括至少一个探测电极，适合插入客体的身体中；
多个身体表面电极，适合固定到身体表面的相应位置；和
控制器，适合连接到所述探头和身体表面电极，并适于使电流通过至少一个探头电极和多个身体表面电极之间的身体，并通过测量通过多个身体表面电极的电流的各自特征，确定探头的位置坐标，其中，所述控制器适合测量多个位置和至少一个电极之间的电阻抗，并且，所述控制器适于保持各位置和至少一个电极之间的恒定电压，并适于通过测量恒定电压下的电流来测量各阻抗。
2.根据权利要求1的装置，其特征在于，所述至少一个探头电极包括多个探头电极，其中所述控制器适于接通所述多个电极中的一个和所述多个身体表面电极中一个电极之间的电流。
3.根据权利要求1的装置，其特征在于，所述身体表面电极包括粘性导电片。
4.根据权利要求1的装置，其特征在于，所述多个位置包括至少三个位置。
5.根据权利要求4的装置，其特征在于，所述多个位置只包括三个位置。
6.根据权利要求1的装置，其特征在于，所述探头适合对客体进行诊断处理。
7.根据权利要求6的装置，其特征在于，所述探头包括导管，适合对客体的心脏作图。
8.根据权利要求7的装置，其特征在于，所述导管适合通过至少一个电极探测心脏组织的电位。
9.根据权利要求1的装置，其特征在于，所述探头适合对客体进行治疗处理。
10.根据权利要求9的装置，其特征在于，所述探头包括导管，适合去除心脏组织，治疗心律不齐。
11.一种位置探测装置，包括：
探头，包括至少一个探测电极，适合插入客体的身体中；
多个身体表面电极，适合固定到身体表面的相应位置；和
控制器，适合连接到所述探头和身体表面电极，并适于使电流通过至少一个探头电极和多个身体表面电极之间的身体，并通过测量通过多个身体表面电极的电流的各自特征，确定探头的位置坐标，其中，所述控制器适于保持各位置和至少一个电极之间的恒定电流，并适于通过测量恒定电流下的电压来测量各位置和至少一个电极之间的各阻抗。
12.根据权利要求11的装置，其特征在于，所述至少一个探头电极包括多个探头电极，其中所述控制器适于接通所述多个电极中的一个和所述多个身体表面电极中一个电极之间的电流。
13.根据权利要求11的装置，其特征在于，所述身体表面电极包括粘性导电片。
14.根据权利要求11的装置，其特征在于，所述多个位置包括至少三个位置。
15.根据权利要求14的装置，其特征在于，所述多个位置只包括三个位置。
16.根据权利要求11的装置，其特征在于，所述探头适合对客体进行诊断处理。
17.根据权利要求16的装置，其特征在于，所述探头包括导管，适合对客体的心脏作图。
18.根据权利要求17的装置，其特征在于，所述导管适合通过至少一个电极探测心脏组织的电位。
19.根据权利要求11的装置，其特征在于，所述探头适合对客体进行治疗处理。
20.根据权利要求19的装置，其特征在于，所述探头包括导管，适合去除心脏组织，治疗心律不齐。
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