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21. 发明申请

US20040249263A1 Magnetic navigation system and magnet system therefor 有权
标题翻译：磁导航系统及磁铁系统
公开(公告)号：US20040249263A1
公开(公告)日：2004-12-09
申请号：US10801062
申请日：2004-03-15
发明人： Francis M. Creighton IV
IPC分类号： A61B005/05
CPC分类号： A61B90/10 , A61B34/73 , A61B90/361 , A61B2034/732
摘要： A magnetic navigation system for orienting a magnetically responsive medical device in a selected direction within an operating region in a subject's body. The system includes a support for supporting the subject, a magnet system a magnetic field to the operating region, and an imaging system. The magnet system includes at least two magnets disposed on opposite sides of the operating region for applying a magnetic field of at least 0.08 Tesla in any selected direction in the operating region by a change of the position and/or orientation of the magnets within an exclusion zone volume. The imaging system includes an imaging beam source and an imaging beam detector disposed on opposite sides of the operating region. The source and the detector being carried on a C-arm which can pivot about an axis generally parallel to the longitudinal axis of the subject to change the imaging angle. The magnets of the magnet system being configured and positioned so that the C-arm can pivot through at least about 60null without impinging upon the exclusion zone of the magnets.
摘要翻译：一种磁性导航系统，用于在受试者的身体的操作区域内沿着选定的方向定向磁响应医疗装置。该系统包括用于支撑被摄体的支撑件，磁体系统到操作区域的磁场以及成像系统。磁体系统包括设置在操作区域的相对侧上的至少两个磁体，用于通过在排除物内的磁体的位置和/或取向的改变来施加在操作区域中的任何所选方向上至少0.08特斯拉的磁场区域卷。成像系统包括成像束源和设置在操作区域的相对侧上的成像束检测器。源和检测器被携带在C形臂上，该C形臂可围绕大致平行于被检体的纵向轴线的轴线转动以改变成像角度。磁体系统的磁体被构造和定位成使得C形臂能够枢转至少约60°而不会撞击到磁体的排除区域。

22. 发明申请

US20040068173A1 Remote control of medical devices using a virtual device interface 有权
标题翻译：使用虚拟设备接口远程控制医疗设备
公开(公告)号：US20040068173A1
公开(公告)日：2004-04-08
申请号：US10448273
申请日：2003-05-29
发明人： Raju R. Viswanathan
IPC分类号： A61B005/05
CPC分类号： A61B34/73 , A61B1/005 , A61B34/70 , A61B2034/301 , A61B2034/732 , A61B2034/742 , A61B2090/376
摘要： An interface system and method for controlling a magnetic surgery system by displaying a virtual image of the device, adjusting the configuration of the device or the actuation controls to be applied to the device until the configuration of the displayed device assumes the configuration desired by the user, or selecting a desired target location for the tip, and causing a set of actuation controls to be applied to the actual device to cause the actual device to assume the configuration of the virtual device or to steer the device tip to the desired location.
摘要翻译：一种用于通过显示设备的虚拟图像来调整磁性手术系统的接口系统和方法，调整要施加到设备的设备的配置或启动控制，直到所显示的设备的配置呈现用户期望的配置或者选择所需尖端的目标位置，并且使一组致动控制被施加到实际设备，以使实际设备承担虚拟设备的配置或将设备尖端引导到所需位置。

23. 发明申请

US20040019447A1 Apparatus and method for catheter guidance control and imaging 有权
标题翻译：导管引导控制和成像的装置和方法
公开(公告)号：US20040019447A1
公开(公告)日：2004-01-29
申请号：US10621196
申请日：2003-07-15
发明人： Yehoshua Shachar
IPC分类号： G01L025/00
CPC分类号： A61B5/06 , A61B5/062 , A61B5/7455 , A61B17/22 , A61B34/20 , A61B34/70 , A61B34/73 , A61B34/76 , A61B2017/00084 , A61B2017/003 , A61B2017/00703 , A61B2034/102 , A61B2034/2051 , A61B2034/301 , A61B2034/732 , A61B2034/742 , A61B2090/365 , A61B2090/376 , A61B2090/3954 , A61M25/0158
摘要： A system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed rapidly, accurately, simply, and intuitively is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons, in addition biopsy needles, endoscopy probes, and similar devices. The magnetic tip allows the position and orientation of the tip to be determined without the use of x-rays by analyzing a magnetic field. The magnetic tip further allows the tool tip to be pulled, pushed, turned, and forcefully held in the desired position by applying an appropriate magnetic field external to the patient's body. A Virtual Tip serves as an operator control. Movement of the operator control produces corresponding movement of the magnetic tip inside the patient's body. Additionally, the control provides tactile feedback to the operator's hand in the appropriate axis or axes if the magnetic tip encounters an obstacle. The output of the control combined with the magnetic tip position and orientation feedback allows a servo system to control the external magnetic field by pulse width modulating the positioning electromagnet. Data concerning the dynamic position of a moving body part such as a beating heart offsets the servo systems response in such a way that the magnetic tip, and hence the secondary tool is caused to move in unison with the moving body part. The tip position and orientation information and the dynamic body part position information are also utilized to provide a display that allows three dimensional viewing of the magnetic tip position and orientation relative to the body part.
摘要翻译：一种系统，其中检测，显示和影响外科手术工具的磁性尖端，以便能够快速，准确，简单，直观地执行诊断和治疗过程。可以配备的工具包括导管，导线和辅助工具，例如激光和气球，还有活检针，内窥镜探针和类似装置。磁头允许通过分析磁场而不使用x射线来确定尖端的位置和取向。磁头还允许通过在患者身体外部施加适当的磁场来将工具尖端拉动，推动，转动并强制地保持在所需位置。虚拟提示用作操作员控件。操作员控制的运动产生磁头在病人体内的相应运动。此外，如果磁头遇到障碍物，则该控制器以合适的轴或轴为操作者的手提供触觉反馈。控制输出与磁头位置和方向反馈相结合，可以使伺服系统通过对定位电磁铁进行脉宽调制来控制外部磁场。关于诸如跳动心脏的移动体部分的动态位置的数据以伺服系统响应的方式抵消，使得磁头和因此辅助工具与移动体部分一致地移动。尖端位置和姿势信息以及动态身体部位位置信息也用于提供允许相对于身体部分三维观察磁头位置和取向的显示器。

24. 发明授权

US06594517B1 Method and apparatus for generating controlled torques on objects particularly objects inside a living body 失效
标题翻译：用于在物体上产生受控扭矩的方法和装置，特别是生物体内的物体
公开(公告)号：US06594517B1
公开(公告)日：2003-07-15
申请号：US09700312
申请日：2000-11-14
申请人： Erez Nevo
发明人： Erez Nevo
IPC分类号： A61B5055
CPC分类号： A61B1/00147 , A61B1/00158 , A61B1/005 , A61B5/055 , A61B5/06 , A61B5/062 , A61B5/065 , A61B5/4839 , A61B34/73 , A61B2034/732 , H02K41/03 , H02K99/20 , H02K2201/18
摘要： A method and apparatus for generating a controlled torque of a desired direction and magnitude in an object within a body, particularly in order to steer the object through the body, such as a catheter through a blood vessel in a living body, by producing an external magnetic field of known magnitude and direction within the body, applying to the object a coil assembly including preferably three coils of known orientation with respect to each other, preferably orthogonal to each other, and controlling the electrical current through the coils to cause the coil assembly to generate a resultant magnetic dipole interacting with the external magnetic field to produce a torque of the desired direction and magnitude.
摘要翻译：一种用于在身体内产生所需方向和大小的受控扭矩的方法和装置，特别是为了通过生物体中的血管将物体导引通过诸如导管的身体引导，通过产生外部在体内已知的幅度和方向的磁场，向物体施加线圈组件，线圈组件优选地包括彼此相对于彼此优选地已知取向的三个线圈，优选地彼此正交，并且控制通过线圈的电流以使线圈组件以产生与外部磁场相互作用的合成磁偶极以产生所需方向和幅度的扭矩。

25. 发明授权

US06304769B1 Magnetically directable remote guidance systems, and methods of use thereof 失效
标题翻译：易磁导向远程引导系统及其使用方法
公开(公告)号：US06304769B1
公开(公告)日：2001-10-16
申请号：US08951620
申请日：1997-10-16
申请人： Ronald L. Arenson , William V. Hassenzahl , Timothy Roberts
发明人： Ronald L. Arenson , William V. Hassenzahl , Timothy Roberts
IPC分类号： A61B505
CPC分类号： A61B5/06 , A61B1/00158 , A61B5/055 , A61B5/062 , A61B8/12 , A61B34/73 , A61B2034/732 , A61M25/0127 , G01R33/285
摘要： A magnetically directable guidance system useful in, for example, medical magnetic resonance imaging is provided, as well as methods of directing the traverse of a device directable by the remote guidance system to a remote destination. A directable device and methods of use thereof are also disclosed. In one embodiment, the device is a catheter directable using a magnetic resonance imaging system. In another embodiment, the method includes interventional radiological diagnostic and therapeutic procedures.
摘要翻译：提供了一种可用于例如医学磁共振成像的磁性可定向引导系统，以及将远程引导系统可指导的设备的横越引导到远程目的地的方法。还公开了一种可直接装置及其使用方法。在一个实施例中，该装置是使用磁共振成像系统可引导的导管。在另一个实施方案中，该方法包括介入放射学诊断和治疗程序。

26. 发明授权

US5931818A Method of and apparatus for intraparenchymal positioning of medical devices 失效
标题翻译：医疗器械实时定位的方法和装置
公开(公告)号：US5931818A
公开(公告)日：1999-08-03
申请号：US969165
申请日：1997-11-12
申请人： Peter R. Werp , Rogers C. Ritter , Walter M. Blume
发明人： Peter R. Werp , Rogers C. Ritter , Walter M. Blume
IPC分类号： A61B5/06 , A61B6/12 , A61B19/00 , A61M25/00 , A61M25/01 , A61M25/095 , A61M31/00
CPC分类号： A61M25/0127 , A61B34/73 , A61B90/10 , A61M25/01 , A61B2034/732 , A61B2090/374 , A61B6/12
摘要： A catheter and magnet combination adapted for intraparenchymal positioning of the catheter in the body with a magnetic field. The catheter has a proximal and distal ends and a lumen therebetween. A magnet is disposed in the distal end of the lumen so that the distal end of the catheter can be positioned within the body with the aid of an externally applied magnetic field. A tether is attached to the magnet and extends through the lumen and out the proximal end so that the magnet can be removed from the catheter through the lumen once the distal end of the catheter is properly positioned. In one embodiment of the invention, the tether is sufficiently stiff to be able to push the catheter through the tissue. With this embodiment, the magnetic field orients the magnet and thus the tip of the catheter, and some or all of the force for moving the catheter is applied via the tether.
摘要翻译：一种导管和磁体组合，其适于用导管在体内实时磁场定位。导管具有近端和远端以及其间的内腔。磁体设置在内腔的远端，使得导管的远端借助于外部施加的磁场可以位于身体内。系绳附接到磁体并延伸穿过内腔并离开近端，使得一旦导管的远端被适当定位，磁体可以通过内腔从导管中移除。在本发明的一个实施例中，系链足够坚固以能够推动导管穿过组织。利用该实施例，使磁体和导管的尖端定向的磁场以及用于移动导管的力的一些或全部通过系绳施加。

27. 发明授权

US09681859B2 Magnetic navigation system with soft magnetic core electromagnets for operation in the non-linear regime 有权
公开(公告)号：US09681859B2
公开(公告)日：2017-06-20
申请号：US14381723
申请日：2013-02-26
申请人： ETH ZURICH
发明人： Simon Muntwyler , Bradley Kratochvil , Bradley Nelson , Dominic Frutiger , Dominik Bell , Jonas Baumann
IPC分类号： A61B17/00 , A61F9/007 , A61B19/00 , H01F7/20 , A61B34/30 , A61B34/00
CPC分类号： A61B17/00234 , A61B34/30 , A61B34/70 , A61B2017/00039 , A61B2017/00137 , A61B2017/00345 , A61B2017/00876 , A61B2034/732 , A61B2034/733 , A61F9/007 , H01F7/206
摘要： A magnetic manipulation and navigation system for moving a magnetic element through a body comprising at least six electromagnets with soft-magnetic cores arranged in a predetermined position to the body. One or more of the electromagnets operate in the non-linear regime of the magnetization curve of the cores. At least one magnetic field sensor is at one or more predetermined positions outside of the operating region. In the linear region, no feedback is required to set the magnetic field strength. In the non-linear region, feedback from the magnetic field sensors is used for closed-loop control. The system has an open loop mode operation in the linear regime for fast control signals, for stabilization during displacement of the magnetic element, and a closed-loop operation in the non-linear regime for higher field strengths, to apply forces and moments on the magnetic element while it is in contact with a surface.

28. 发明申请

US20170165020A1 METHODS AND APPARATUS FOR DIPOLE FIELD NAVIGATION FOR DIRECT TARGETTING OF THERAPEUTIC AGENTS 审中-公开
公开(公告)号：US20170165020A1
公开(公告)日：2017-06-15
申请号：US15118354
申请日：2015-02-16
申请人： POLYVALOR, LIMITED PARTNERSHIP
发明人： Sylvain MARTEL
IPC分类号： A61B34/00 , A61N2/00 , A61B5/00 , G01R33/38 , A61B8/08 , A61M31/00 , A61K49/18 , A61K41/00 , A61B5/055 , A61B6/00
CPC分类号： A61B34/73 , A61B5/055 , A61B5/4839 , A61B6/4258 , A61B6/504 , A61B8/0891 , A61B2034/732 , A61B2560/063 , A61K41/00 , A61K49/1827 , A61M31/005 , A61N2/004 , G01R33/38
摘要： A method for navigating therapeutic, diagnostic or imaging agents in a vascular network or body cavity is introduced. The method is characterized by high directional gradients and a high magnetic field strength. The latter is used to saturate the magnetization of magnetic therapeutic agents such that when combined with high directional gradients, improved navigation of the magnetic therapeutic agents can be provided at various depths within a patient's body.

29. 发明申请

US20160331470A1 Location control system 审中-公开
标题翻译：位置控制系统
公开(公告)号：US20160331470A1
公开(公告)日：2016-11-17
申请号：US15111814
申请日：2015-01-09
申请人： Hiroshi Sato
发明人： Hiroshi Sato
IPC分类号： A61B34/20 , A61M1/00 , A61B90/11 , A61M5/158 , A61B17/3209 , A61B34/00
CPC分类号： A61B34/20 , A61B5/062 , A61B17/32093 , A61B34/30 , A61B34/35 , A61B34/73 , A61B90/11 , A61B2017/320052 , A61B2034/2051 , A61B2034/2059 , A61B2034/2065 , A61B2034/2072 , A61B2034/732 , A61B2090/061 , A61B2090/062 , A61B2090/374 , A61B2090/376 , A61B2090/3762 , A61B2090/378 , A61B2090/392 , A61B2090/3954 , A61B2090/3966 , A61B2218/002 , A61B2218/007 , A61M1/008 , A61M5/158 , A61M2005/1585 , G01B15/00
摘要： The embodiment of the present invention provides a position control system having a movement apparatus including an electromagnet capable of applying a magnetic field to a head and a movement control unit; and a position detection apparatus being capable of determining a position of a mark existing on the head or in a tip end side position of a pipe which is attached to the head with a tip end thereof open and through which a liquid can be injected or suctioned via an opening portion in the tip end, the position detection apparatus being capable of detecting a position of the head on the basis of the position of the mark, the movement control unit of the movement apparatus is capable of controlling an advancement direction of the head so that the pipe is inserted substantially linearly into a target position.
摘要翻译：本发明的实施例提供了一种位置控制系统，其具有包括能够向磁头施加磁场的电磁体和移动控制单元的移动装置; 以及位置检测装置，其能够确定存在于头部的标记的位置或附接到头部的管的前端侧位置，其顶端开口，并且可以通过该顶端喷射或吸引液体通过前端的开口部，位置检测装置能够根据标记的位置检测头部的位置，移动装置的移动控制单元能够控制头部的前进方向使得管道基本线性地插入目标位置。

30. 发明授权

US09339170B2 Medical device including self-propelled capsule endoscope 有权
标题翻译：医疗器械包括自行式胶囊内窥镜
公开(公告)号：US09339170B2
公开(公告)日：2016-05-17
申请号：US14237183
申请日：2012-09-03
申请人： Hironori Nishihara , Naotake Ohtsuka , Yasunori Shindo , Kazuhide Higuchi
发明人： Hironori Nishihara , Naotake Ohtsuka , Yasunori Shindo , Kazuhide Higuchi
IPC分类号： A61B1/00 , A61B1/01 , A61B1/04
CPC分类号： A61B1/00156 , A61B1/00158 , A61B1/041 , A61B2034/732 , F04C2270/041
摘要： A medical device includes a capsule endoscope in which a magnet having a magnetization direction in an axial direction is mounted and a fin portion is provided at a rear end of an endoscope main body, and which can be self-propelled through the inside of a body; and a capsule controller which controls self-propulsion of the capsule endoscope from the outside of the body by generating a static magnetic field whose direction is controlled three-dimensionally, and an alternating magnetic field orthogonal to the static magnetic field. The capsule endoscope rotates upon receiving the static magnetic field so that the magnetization direction of the magnet is parallel to the direction of the static magnetic field and the fin portion vibrates by bending with movement of the magnet in response to the alternating magnetic field.
摘要翻译：医疗装置包括胶囊型内窥镜，其中安装有沿轴向方向的磁化方向的磁体，并且在内窥镜主体的后端设置有翅片部，并且能够通过主体的内部自行推进 ; 以及胶囊控制器，其通过产生三维控制其方向的静磁场和与静磁场正交的交变磁场来控制胶囊型内窥镜从身体外部的自推进。胶囊型内窥镜在接收到静磁场时旋转，使得磁体的磁化方向平行于静磁场的方向，并且通过响应于交变磁场的磁体的移动而通过弯曲而使翅片部分振动。

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