DE102006045175A1 - Medical examination and/or treatment device for e.g. patient`s heart, has x-ray device with x-ray detector and x-ray source that is attached to support, where support includes two arms that are flexibly connected with each other - Google Patents
Medical examination and/or treatment device for e.g. patient`s heart, has x-ray device with x-ray detector and x-ray source that is attached to support, where support includes two arms that are flexibly connected with each other Download PDFInfo
- Publication number
- DE102006045175A1 DE102006045175A1 DE102006045175A DE102006045175A DE102006045175A1 DE 102006045175 A1 DE102006045175 A1 DE 102006045175A1 DE 102006045175 A DE102006045175 A DE 102006045175A DE 102006045175 A DE102006045175 A DE 102006045175A DE 102006045175 A1 DE102006045175 A1 DE 102006045175A1
- Authority
- DE
- Germany
- Prior art keywords
- ray
- medical examination
- treatment device
- support
- patient
- 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.)
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Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
-
- 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
- A61B2034/731—Arrangement of the coils or magnets
- A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
Abstract
Description
Die Erfindung betrifft eine medizinische Untersuchungs- und/oder Behandlungseinrichtung, umfassend eine Vorrichtung zum Erzeugen eines Magnetfelds zur Navigation eines medizinischen Instruments und ein Röntgengerät mit einer an einer Halterung angebrachten Röntgenquelle und einem Röntgendetektor zur Sichtkontrolle während der Navigation.The Invention relates to a medical examination and / or treatment device, comprising a device for generating a magnetic field for navigation a medical instrument and an x-ray device with one on a holder attached X-ray source and an X-ray detector for visual inspection during the navigation.
Es ist bekannt, ein medizinisches Instrument, beispielsweise einen Katheter, mittels eines extern erzeugten Magnetfelds, das auf das Instrument einwirkt, durch Hohlorgane zu bewegen oder zu navigieren. Entsprechende Katheterprozeduren werden zur Untersuchung oder Behandlung des Herzens oder in anderen verzweigten Hohlorganen durchgeführt. Durch die externe Navigation der Katheterspitze, in der sich das mit dem externen Magnetfeld wechselwirkende Element, beispielsweise ein kleiner Permanentmagnet, befindet, wird eine Bewegung und exakte Führung der Katheterspitze und des Katheters um enge Kurven oder in Verzweigungen ermöglicht. Durch das Zusammenwirken des externen, gerichteten Magnetfelds mit dem damit wechselwirkenden an der Spitze des medizinischen Instruments angeordneten Element kann die Ausrichtung der Katheterspitze durch die Steuerung des Magnetfelds variiert und der Katheter geführt und navigiert werden.It is known, a medical instrument, such as a Catheter, by means of an externally generated magnetic field applied to the Instrument acts to move or navigate through hollow organs. Appropriate catheter procedures become for examination or treatment of the heart or in other branched hollow organs. By the external navigation of the catheter tip, in which the with the external magnetic field interacting element, for example a small permanent magnet, located, will be a movement and accurate guide catheter tip and catheter around tight bends or ramifications allows. By the interaction of the external, directed magnetic field with the interacting arranged at the top of the medical instrument Element may be the orientation of the catheter tip by the controller of the magnetic field varies and the catheter is guided and navigated.
Eine
derartige Vorrichtung zur Navigation eines medizinischen Instruments
ist aus der
Bei herkömmlichen Anordnungen befinden sich die beiden Magnete der Vorrichtung zum Erzeugen des Magnetfelds links und rechts von dem Patienten, der auf einem Patientenlagerungstisch liegt, das Röntgengerät befindet sich hinter dem Kopfbereich des Patientenlagerungstisches. Mit dieser herkömmlichen Vorrichtung ist es möglich, Interventionen im Kopfbereich des Patienten oder im Herz durchzuführen. Um die Zugänglichkeit zu verbessern, ist es bereits bekannt, einen verschiebbaren Patientenlagerungstisch zu verwenden. Die Eintauchtiefe des Patientenlagerungstisches ist allerdings problematisch, wenn tiefer liegende Organe wie der Uterus oder die Beine für eine Intervention ins Isozentrum des Röntgengeräts gebracht werden müssen. Bei herkömmlichen Vorrichtungen würde in diesen Fällen der Patientenlagerungstisch mit der Halterung des Röntgengeräts kollidieren bzw. die zur Verfügung stehende Eintauchtiefe reicht unter Umständen nicht aus, um das entsprechende Körperteil in das Isozentrum zu bewegen.at usual Arrangements are the two magnets of the device for Generating the magnetic field left and right of the patient, the is on a patient table, the X-ray machine is behind the Head area of the patient table. With this conventional Device is it possible Perform interventions in the head area of the patient or in the heart. Around the accessibility To improve, it is already known, a sliding patient table to use. The immersion depth of the patient table is However, problematic if lower-lying organs such as the uterus or the legs for an intervention in the isocenter of the X-ray machine must be brought. at usual Devices would in these cases collide the patient table with the holder of the X-ray machine or the available standing immersion may not be sufficient to the appropriate Body part in to move the isocenter.
Der Erfindung liegt somit die Aufgabe zugrunde, eine Untersuchungs- und/oder Behandlungseinrichtung zu schaffen, die auch bei Interventionen tiefer liegender Organe eine ausreichende Zugänglichkeit aufweist.Of the The invention is thus based on the object of and / or treatment facility, which is also used in interventions deeper lying organs has sufficient accessibility.
Zur Lösung dieser Aufgabe ist bei einer medizinischen Untersuchung- und/oder Behandlungseinrichtung der eingangs genannten Art erfindungsgemäß vorgesehen, dass die Halterung wenigstens zwei gelenkig miteinander verbundene Abschnitte aufweist.to solution this task is in a medical examination and / or Treatment device of the type mentioned provided according to the invention, in that the holder has at least two hinged interconnected Has sections.
Die wenigstens zwei gelenkig miteinander verbundenen Abschnitte ermöglichen ähnlich wie bei einem Roboterarm wesentlich verbesserte Einstell- und Bewegungsmöglichkeiten im Vergleich zu einer herkömmlichen Halterung, die etwa als bodenmontiertes Stativ ausgebildet ist. Durch die beiden gelenkig miteinander verbundenen Abschnitte ergeben sich insbesondere ein weiterer Bewegungsfreiheitsgrad parallel zum Patientenlagerungstisch und eine Positioniermöglichkeit der Halterung zwischen den Magneten. Aufgrund der gelenkigen Verbindung der einzelnen Abschnitte kann die Halterung, die die Röntgenquelle und den Röntgendetektor trägt, auch neben den Patientenlagerungstisch bewegt werden, sodass auch tiefer liegende Organe oder die Beine eines Patienten in das Isozentrum gebracht werden können, sodass während der magnetischen Navigation eine Durchleuchtung der entsprechenden Organe und damit eine Überwachung der Navigation möglich ist.The at least two articulated sections allow similar as in a robotic arm significantly improved adjustment and movement options compared to a conventional one Bracket, which is designed approximately as a floor-mounted stand. Through the two hinged interconnected sections arise in particular a further degree of freedom of movement parallel to the patient table and a positioning facility the holder between the magnets. Due to the articulated connection The individual sections can be the holder that contains the X-ray source and the X-ray detector wearing, also be moved next to the patient table, so too lower-lying organs or the legs of a patient in the isocenter can be brought so while the magnetic navigation a fluoroscopy of the corresponding Organs and thus monitoring navigation possible is.
Es wird besonders bevorzugt, dass die Halterung einen die Röntgenquelle und den Röntgendetektor tragenden C-Bogen aufweist. Ein derartiger an sich bekannter C-Bogen weist den Vorteil auf, dass er das durch die Magnetfelderzeugungsvorrichtung erzeugte Magnetfeld praktisch nicht stört, sodass sich die Röntgendurchleuchtung nicht nachteilig auf die magnetische Navigation auswirkt.It It is particularly preferred that the holder is an X-ray source and the X-ray detector having carrying C-arm. Such a known C-arm has the advantage of being able to do so through the magnetic field generating device generated magnetic field practically does not interfere, so that the fluoroscopy does not adversely affect magnetic navigation.
Um eine noch bessere Beweglichkeit und weitergehende Einstellmöglichkeiten zu erzielen, kann der C-Bogen gelenkig mit einem der Abschnitte der Halterung verbunden sein. Insbesondere wird damit die Möglichkeit geschaffen, den C-Bogen neben dem Patientenlagerungstisch zu bewegen.Around an even better mobility and advanced settings To achieve the C-arm can be articulated with one of the sections of the Be connected bracket. In particular, this will be the possibility created to move the C-arm next to the patient table.
Bei der erfindungsgemäßen medizinischen Untersuchungs- und/oder Behandlungseinrichtung kann die Halterung am Boden oder an der Decke angebracht werden. Eine am Boden angebrachte Halterung kann ähnlich wie ein Roboter aufgebaut sein und aus einem Grundkörper und mehreren daran gelenkig angeordneten Abschnitten bestehen.In the medical examination and / or treatment device according to the invention the bracket can be mounted on the floor or on the ceiling. A floor-mounted bracket may be constructed similar to a robot and may consist of a base body and a plurality of sections hinged thereto.
Die erfindungsgemäße medizinische Untersuchungs- und/oder Behandlungseinrichtung kann einen vorzugsweise verstellbaren Patientenlagerungstisch umfassen, der so angeordnet ist, dass das Magnetfeld an jedem Punkt oberhalb des Patientenlagerungstisches erzeugt werden kann. Alternativ oder zusätzlich kann die erfindungsgemäße medizinische Untersuchungs- und/ oder Behandlungseinrichtung einen oder den vorzugsweise verstellbaren Patientenlagerungstisch umfassen, der so angeordnet ist, dass mit dem Röntgengerät von jedem Punkt oberhalb des Patientenlagerungstisches Röntgenbilder zur Sichtkontrolle erstellt werden können.The according to the invention medical Examination and / or treatment device may preferably one include adjustable patient table, which arranged so is that the magnetic field at every point above the patient table can be generated. Alternatively or additionally, the inventive medical Examination and / or treatment device one or preferably include adjustable patient table, which arranged so is that with the x-ray machine of each Point above the patient table X-ray images for visual inspection can be created.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand eines Ausführungsbeispiels unter Bezugnahme auf die Figuren erläutert. Die Figuren sind schematische Darstellungen und zeigen:Further Advantages and details of the invention will become apparent from an embodiment explained with reference to the figures. The figures are schematic Representations and show:
Die
medizinische Untersuchungs- und/oder Behandlungseinrichtung
Die Überwachung
der magnetische Navigation erfolgt unter Röntgendurchleuchtung, zu diesem Zweck
ist ein Röntgengerät mit einer
Röntgenquelle
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006045175A DE102006045175A1 (en) | 2006-09-25 | 2006-09-25 | Medical examination and/or treatment device for e.g. patient`s heart, has x-ray device with x-ray detector and x-ray source that is attached to support, where support includes two arms that are flexibly connected with each other |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006045175A DE102006045175A1 (en) | 2006-09-25 | 2006-09-25 | Medical examination and/or treatment device for e.g. patient`s heart, has x-ray device with x-ray detector and x-ray source that is attached to support, where support includes two arms that are flexibly connected with each other |
Publications (1)
Publication Number | Publication Date |
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DE102006045175A1 true DE102006045175A1 (en) | 2008-04-03 |
Family
ID=39134100
Family Applications (1)
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DE102006045175A Withdrawn DE102006045175A1 (en) | 2006-09-25 | 2006-09-25 | Medical examination and/or treatment device for e.g. patient`s heart, has x-ray device with x-ray detector and x-ray source that is attached to support, where support includes two arms that are flexibly connected with each other |
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DE (1) | DE102006045175A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109702767A (en) * | 2018-12-14 | 2019-05-03 | 佛山市鑫锦龙机械科技有限公司 | A kind of portable mechanism arm |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5549439A (en) * | 1992-02-17 | 1996-08-27 | Ploem; Sven | Collision-Free control system for a multi-axially controllable manipulator |
DE19958864A1 (en) * | 1999-12-07 | 2001-06-13 | Philips Corp Intellectual Pty | X-ray device |
EP1547540A1 (en) * | 2003-11-28 | 2005-06-29 | Siemens Aktiengesellschaft | Apparatus for directing a magnetic element in a body of a patient |
US20060114088A1 (en) * | 2002-07-16 | 2006-06-01 | Yehoshua Shachar | Apparatus and method for generating a magnetic field |
-
2006
- 2006-09-25 DE DE102006045175A patent/DE102006045175A1/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5549439A (en) * | 1992-02-17 | 1996-08-27 | Ploem; Sven | Collision-Free control system for a multi-axially controllable manipulator |
DE19958864A1 (en) * | 1999-12-07 | 2001-06-13 | Philips Corp Intellectual Pty | X-ray device |
US20060114088A1 (en) * | 2002-07-16 | 2006-06-01 | Yehoshua Shachar | Apparatus and method for generating a magnetic field |
EP1547540A1 (en) * | 2003-11-28 | 2005-06-29 | Siemens Aktiengesellschaft | Apparatus for directing a magnetic element in a body of a patient |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109702767A (en) * | 2018-12-14 | 2019-05-03 | 佛山市鑫锦龙机械科技有限公司 | A kind of portable mechanism arm |
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OP8 | Request for examination as to paragraph 44 patent law | ||
8120 | Willingness to grant licenses paragraph 23 | ||
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Effective date: 20130403 |