• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This system comprises means (9) for determining a position of a first portion of a medical instrument in the body of a subject at an instant of determination, and means (11) for displaying an image. of the first portion in the determined position. The determination means (9) comprise an imaging module (15) adapted to acquire, at an acquisition instant prior to said determination time, a position of the first portion, a detection module (17) of a moving a second portion of the medical instrument between said moment of acquisition and determination, and a module (19) for determining, from said position of the first portion to said instant of acquisition and said displacement of the second portion, of the position of the first portion (3d) at the instant of determination.
    公开号:FR3015883A1
    申请号:FR1363755
    申请日:2013-12-31
    公开日:2015-07-03
    发明作者:Lopez Mario Sanz；Stephane Cotin；Jeremie Dequidt；Christian Duriez
    申请人:Institut National de Recherche en Informatique et en Automatique INRIA；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a system for monitoring a first portion of a medical instrument, inserted into the body of a subject, during his or her training. displacement in the body of the subject, said system comprising means for determining a position of said first portion relative to the body of the subject in at least one determination instant, and display means, intended for a user, at said instant of determination, an image representative of at least a part of the body of the subject and of the first portion of the medical instrument in the position of the first portion determined by said determination means at this moment of determination. It is particularly applicable to the guidance of the movement of medical instruments such as catheters, guides, needles or endoscopes in the lumen of a blood vessel or a natural cavity of the body of a subject, during interventions medical. The success of these interventions depends in particular on the precision of the movement of the medical instruments in the body of the subject. The guidance of such an instrument is conventionally performed using scanner imaging techniques to visualize the movement of the instrument in the body of the subject.
    [0002] These techniques are for example implemented by acquiring an initial image of the vascular system of the subject, before the intervention, and by superimposing on this initial image successive images of the instrument during its displacement in the vascular system. These images are for example acquired at a frequency of 30 images per second.
    [0003] The initial image of the vascular system is generally acquired by means of angiographic CT, by previously injecting into the vascular system of the subject an X-ray contrast agent, for example an iodinated product. During the intervention, the successive images are also acquired by scanner, the instrument being opaque to X-rays.
    [0004] Such techniques require the repeated emission of X-rays to the body of the subject and therefore present a risk to his health. To minimize this risk, it is possible to reduce the acquisition rate of the images during the movement of the instrument, for example up to 15 or 7.5 frames per second. However, this solution leads to a degradation of the images provided to the practitioner, including a flicker of these images, and a degradation of the accuracy of the movement of the instrument.
    [0005] To overcome these drawbacks, it is known to replace the images obtained by scanning with images obtained by magnetic resonance (MRI). Nevertheless, this solution is very expensive. The object of the invention is therefore to solve the drawbacks mentioned above, in particular to provide a system making it possible to follow the movement of a medical instrument in the body of a subject with great precision, which minimizes the risks incurred by the subject, and reduced cost. For this purpose, the subject of the invention is a system of the aforementioned type, characterized in that the said determination means comprise: an imaging module, suitable for acquiring, at least one acquisition instant prior to the instant of determination; a position of the first portion of the medical instrument relative to the body of the subject, - a module for detecting a displacement of a second portion of the medical instrument relative to the body of the subject between said acquisition instant and said determination time, and - a determination module adapted to determine, from the position of the first portion at said instant of acquisition from said imaging module and said displacement of the second portion of the medical instrument between said instant of acquisition and said instant of determination, detected by said detection module, the position of the first portion of the medical instrument relative to the body of the subject at said insta determination. According to other aspects of the invention, the method comprises one or more of the following features: said detection module is able to detect a translation of said second portion of the medical instrument in its longitudinal direction and a rotation of said second portion of the medical instrument about its longitudinal direction relative to the body of the subject between said moment of acquisition and said instant of determination; said determination module is capable of determining the position of the first portion of the medical instrument relative to the body of the subject at each of a plurality of successive instants of determination comprised between a first and a second successive acquisition instants from the position of the first portion from said imaging module to said first acquisition instant and the displacement of the second portion of the medical instrument between said first acquisition instant and each instant of determination of said plurality of instants of determination, detected by said detection module; said detection module comprises at least one detector of a displacement of the second portion with respect to this detector; said detector is comprised in a housing comprising a conduit for the passage of the medical instrument; said housing comprises a first portion enclosing said detector and a second portion enclosing said passage duct; said second portion is sealed, said medical instrument circulating in said passage duct being sealed from said first portion; said second portion is removably mounted on said first portion; said detector is an optical detector; said optical detector comprises at least one light source, capable of emitting an incident light beam on an area of the second portion of the medical instrument and an optical receiver, able to detect a light beam reflected by the second portion of the instrument medical; said light source is adapted to emit the incident light beam onto an area of the second portion of the medical instrument during the passage of said second portion in said passage duct; said detector is movable relative to the body of the subject, and said detection module comprises means for detecting a movement of the detector relative to the body of the subject; said first portion of the medical instrument comprises at least one visible zone by optical imaging, and said imaging module comprises a transmitter capable of emitting optical rays towards the body of the subject, and a detector capable of receiving optical rays transmitted by said transmitter through the body of the subject; said second portion of said medical instrument is outside the body of the subject. The invention also relates to a method of monitoring a first portion of a medical instrument inserted into the body of a subject during his movement in the body of the subject, comprising: - determining a position of said first portion relative to the body of the subject in at least one instant of determination, and - displaying, to a user, at each instant of determination, an image representative of at least a part of the body of the subject and the first portion of the medical instrument in the position of the first portion determined by said determining means at this determination time, the method being characterized in that the determination of the position of said first portion comprises: acquisition in at least one acquisition moment prior to said determination time, of a position of the first portion of the medical instrument relative to the body of the subject, - the detection of a moving a second portion of the medical instrument relative to the body of the subject between said instant of acquisition and said instant of determination, and - determining, from the position of the first portion at said instant of acquisition and said moving the second portion of the medical instrument between said moment of acquisition and said moment of determination, the position of the first portion of the medical instrument relative to the body of the subject at said instant of determination. The invention will be better understood on reading the description which follows, given solely by way of example, and with reference to the appended drawings, in which: FIG. 1 is a block diagram of a tracking system according to one embodiment of the invention; Figure 2 is a diagram illustrating an exemplary implementation of the tracking system of Figure 1; Figure 3 is a perspective diagram of part of the system of Figure 2; FIG. 4 is an exemplary image provided by the system according to the invention; FIG. 5 is a block diagram of a monitoring method implemented by the system of FIG. 1. FIGS. 1 to 3 schematically show a system 1 for monitoring the movement of an instrument. 3 in the body of a subject 5 according to one embodiment of the invention. The medical instrument 3 is a flexible instrument of generally tubular shape, such as a catheter, microcatheter or guide. The medical instrument 3 is a flexible tube of substantially circular cross section, extending in a curvable longitudinal direction. The medical instrument 3 is rigid in torsion about its longitudinal direction. Thus, a rotation of a portion of this medical instrument 3 around its longitudinal direction causes a rotation of the whole of this medical instrument 3 around its longitudinal direction.
    [0006] Furthermore, a translation of a portion of the instrument 3 in its longitudinal direction causes a displacement of the entire instrument 3 In this embodiment, the medical instrument 3 considered is a catheter, and the system 1 according to the invention is used to monitor the displacement of a portion of this catheter 3 in the vascular system of the subject 5. The length of the catheter 3 is for example between a few tens of centimeters and 2 meters, and its diameter is between a few tenths of millimeters and a few millimeters, in particular between 0.5 mm and 5 mm. In the remainder of the description, the term "distal portion" 3d of the catheter 3 will be referred to as the part of this catheter 3 introduced and moved in the body of the subject 5, and by the "proximal portion" 3p of this catheter 3 as the portion of this catheter. remaining outside the body of the subject 5, this portion being manipulated by an operator to move the distal portion 3d in the body of the subject 5. The catheter 3 is in this case made from an X-ray opaque material, for example a plastic material such as a fluoropolymer. The distal portion 3d of the catheter 3 is for example introduced into an artery or a vein of the subject 5 through a trocar 58 fixed to the skin of the subject 5. The system 1 comprises means 9 for determining the position of the distal portion 3d of the catheter with respect to the vascular system of the subject 5 at a plurality of instants of determination td, as well as means 11 for displaying the displacement of the catheter 3 in the vascular system of the subject 5. Preferably, the instants of determination td are regularly spaced, the position of the distal portion 3d of the catheter 3 being determined by the means 9 and displayed by the display means 11 at a determination frequency fd for example between 20 and 40 images per second, in particular equal to 30 images per second. Note later td (k- /) and td (k) two successive instants of determination. The means 9 comprise an imaging module adapted to acquire, at a plurality of successive acquisition instants ta, the position of the distal portion 3d of the catheter 3 during its displacement in the vascular system of the subject 5.
    [0007] The instants of acquisition ta are moments such that at least one instant of determination td is between two instants of acquisition ta. Preferably, the acquisition instants ta are regularly spaced apart, the position of the distal portion 3d of the catheter 3 being acquired by the imaging module 15 at an acquisition frequency fa less than the determination frequency fd. acquisition fa is for example between 2 and 10 frames per second. The acquisition frequency fa is, for example, a sub-multiple of the determination frequency fd. Thereafter, ta (n1) and ta (n) will be noted two successive acquisition instants. The means 9 furthermore comprise a module 17 for detecting the displacement of the proximal portion 3p of the catheter 3 between two successive determination instants td, and a module 19 for determining the position of the distal portion 3d of the catheter 3 at each instant td determined from the positions of this distal portion 3d acquired by the imaging module 15 at each acquisition instant and displacements of the proximal portion 3p from the detection module 17.
    [0008] Thus, the instants td of determination at which the position of the distal portion 3d of the catheter is determined comprise, in addition to the moments of acquisition ta at which an image of this distal portion 3d is acquired, intermediate moments between two instants of acquisition ta successive, the position of the distal portion 3d of the catheter 3 at each intermediate instant being determined from the displacement of the proximal portion 3p of the catheter 3. The imaging module 15 comprises for example an X-ray imaging system, comprising an X-ray emitter 23, an X-ray detector and a control and processing unit 27, connected to the emitter 23 and to the detector 25. The X-ray emitter 23 is for example an X-ray tube. The transmitter 23 is positioned facing a support table 24 of the subject 5. It is able to emit at each instant of acquisition ta X-rays in the direction of an extended subject on this table. support, in particular of the zone of interest of the body of the subject 5, ie of the zone of its vascular system in which it is intended to displace the catheter 3. The X-ray detector 25 is arranged facing the emitter 23, the support table being placed between the emitter 23 and the detector 25. Thus, the x-ray detector X is adapted to receive X-rays emitted by the emitter 23 through the body of the subject 5. The catheter 3 is at the less partially X-ray opaque. Thus, when it is introduced into the vascular system of the subject 5, the catheter 3 does not transmit the X-rays it receives from the emitter 23 to the detector 25. The detector 25 is able to emit signals representative of X-rays detected to the control and processing unit 27. The unit 27 is able to control the emission of X-rays by the emitter 23 at each acquisition instant ta, to receive signals from the detector 25 representative of X-rays detected by this detector 25 at this moment of acquisition. ta, and to generate, from these signals, an X-ray image of the body of the subject 5. When the catheter 3 is present in the vascular system of the subject 5, this image generated by the control and treatment device 27 makes appear the catheter 3, and in particular its distal portion 3d. This image does not reveal the vascular system of the subject 5, because it is not opaque to X-rays. The control and treatment unit 27 is able to reconstitute an image of the vascular system of the subject 5 making it apparent both this vascular system and the catheter 3, by superimposing each X-ray image on an initial image of the vascular system of the subject 5. This initial image is, for example, an image previously acquired by the imaging module after introduction into the vascular system of the subject of an X-ray contrast agent. The control and processing unit 27 is further adapted to determine from this reconstructed image the position of the catheter 3, particularly its distal portion 3d, at the moment of acquisition ta, in a reference frame R linked to the vascular system of the subject 5. The detection module 17 is able to detect any displacement of the proximal portion 3p of the cat het 3 with respect to subject 5, in particular with respect to the subject 5 vascular system, between two successive td instants of determination. For this purpose, the detection module 17 comprises a displacement detector 40 capable of detecting the relative displacement of the proximal portion 3p of the catheter 3 with respect to this detector 40 between two successive instants of determination td, according to two corresponding degrees of freedom. on the one hand to a translation of the catheter 3 in its longitudinal direction and a rotation of the catheter around its longitudinal direction. The detection module 17 furthermore comprises a unit 41 for processing the data coming from the detector 40 in order to deduce the displacement of the proximal portion 3p of the catheter 3 with respect to the reference frame R linked to the vascular system of the subject 5 between two instants of determination . Preferably, and as shown in FIG. 2, the detector 40 is an optical detector. It comprises a laser emitter 42, able to emit a laser beam towards a predetermined detection zone 43, an optical receiver 44, able to receive and detect laser radiation from the laser emitter 42 after reflection on the catheter 3. detection zone 43 is disposed along the passage of the proximal portion 3p of the catheter 3 during its movement by an operator.
    [0009] The laser transmitter 42 comprises, for example, a laser diode capable of emitting a laser beam, through a lens, towards the detection zone 43. The laser beam emitted by the laser emitter 42 is thus received and reflected by the outer wall of the laser beam. catheter 3. The distance between the laser emitter 42 and the outer wall of the catheter 3 is a fixed distance, for example between 2.2 and 2.4mm. Preferably, the laser diode 48 emits in the infrared. The optical receiver 44 comprises a matrix of sensors, for example CCD or CMOS sensors. The optical receiver 44 is for example formed of an area of 32x32 sensors. The sensors are adapted to receive the laser radiation from the laser emitter 42 after reflection on the catheter 3 and to convert this radiation into electrical signals representative of the received light intensity. The optical receiver 44 is thus adapted to acquire at times of reception tr images of the portion of the catheter 3 passing through the zone 43, at a reception frequency t greater than the determination frequency fd. The reception frequency fr is for example between 125 and 1000 images per second. As shown in FIG. 2, the detector 40 is comprised in a housing 50 enclosing the laser emitter 42 and the optical receiver 44, and comprising a duct 52 allowing the circulation of the catheter 3, the detection zone 43 being disposed in this duct. 52.
    [0010] Thus, a movement printed on the proximal portion 3p of the catheter 3 by an operator to move the distal portion 3d of the catheter 3 into the body of the subject 5 induces a displacement of the proximal portion 3p through the conduit 52, and in particular in the detection zone 43, which allows the detector 40 to capture any displacement of this proximal portion 3p.
    [0011] For example, as illustrated in FIG. 3, the housing 50 comprises a first portion 50a enclosing the laser emitter 42 and the optical receiver 44, hereinafter referred to as the sensor 50a, and a second portion 50b enclosing the conduit 52, removably mounted on the first portion, hereinafter referred to as support 50b. Preferably, the support 50b is sealed, so that the medical instruments flowing in the conduit 52 are sealingly isolated from the sensor 50a, in particular from the laser transmitter 42 and the optical receiver 44. This support 50b is adapted to be sterilized by autoclave. The conduit 52 comprises an opening allowing the laser beam coming from the laser emitter 42 to pass to the catheter 3. This opening is for example formed by a transparent window 53 formed on a surface of the support 50b. The removable mounting of the support 50b of the housing 50 on the sensor 50a makes it possible to adapt different supports 50b, depending on the type and the size of the medical instrument disposed in the conduit 52, on the same sensor 50a, and thus to ensure the adaptability of the housing 50 to different medical instruments.
    [0012] In particular, the dimensions of the support 50b, which make it possible to adjust the position of the duct 52 with respect to the sensor 50a and the diameter of the duct 52, are chosen as a function of the diameter of the catheter 3 so as to guarantee an optimum distance between the emitter laser 42 and the outer wall of the catheter 3. Thus, the internal diameter of the conduit 52 is chosen according to the external diameter of the catheter 3, so as to ensure the desired distance between the laser emitter 42 and the outer wall of the catheter 3, for example between 2.2 and 2.4mm. The support 50b also comprises a first outer connector 56a for fixing the housing 50 to the medical instrument through which the catheter 3 is introduced into the vascular system, in this case a trocar 58, and a second outer connector 56b allowing to fix the housing 50 to a hemostasis valve or other device which in conventional use would have been attached to the trocar 58. The sensor 50a and the support 50b are fixed to each other by fixing means, for example screws 59. The housing 50 further comprises a communication interface 60 for transferring the data captured by the detector 40 to the processing unit 41. Preferably, this interface 60 is a wireless interface, for example a radio frequency transmitter. Preferably, the detector 40 is powered by a battery 62 included in the housing. Thus, the housing 50 can be used without being connected by a wired connection to a power source or to the processing unit 41. The housing 50 is preferably made from sintered polyamide, allowing it to be autoclaved. The processing unit 41 is adapted to receive from the receiver 44 signals representative of the images acquired by this receiver 44, and to analyze these images to determine the relative displacement of the proximal portion 3p of the catheter 3 in a reference frame R 'linked to the detector 40 between two tessuccessive moments of determination. In known manner, this analysis is performed by determining a correlation between two images taken successively by the receiver 44. This correlation makes it possible to detect the relative displacement of the proximal portion 3p of the catheter 3 with respect to the detector 40 according to the two degrees of freedom mentioned. above between two times of reception tr.
    [0013] The treatment unit 41 is able to deduce the relative displacement of the proximal portion 3p of the catheter 3 in the reference frame R 'linked to the detector 40 between two successive determination instants td by composition of the movements detected between the reception instants tr between these two instants of determination td successive.
    [0014] Moreover, the treatment unit 41 is able to determine the relative displacement of the proximal portion 3p of the catheter 3 in the reference frame R of the vascular system of the subject 5 from the relative displacement of this proximal portion 3p in the reference frame R 'of the 40. In the embodiment shown in Figures 2 and 3, the housing 50 is fixed to the trocar 58 itself attached to the skin of the subject 5. The housing 50 and the detector 40 thus occupy a fixed position relative to the Therefore, the relative displacement of the proximal portion 3p of the catheter 3 in the reference frame R of the vascular system of the subject 5 is identical to the relative displacement of this proximal portion 3p in the reference frame R 'of the detector 40.
    [0015] The optical receiver 44 has, for example, a resolution of 1200 dots per inch, or 48 dots per millimeter, which makes it possible to accurately capture the translational and rotational displacements of the proximal portion 3p of the catheter 3. For example, the maximum speed detectable displacement is between 100 and 1000 mm / s, in particular equal to 378 mm / s.
    [0016] The module 19 for determining the position of the distal portion 3d is connected to the imaging module 15 and to the detection module 17. The module 19 is able to determine the position of the distal portion 3d of the catheter 3 at each instant of determination td, from the positions of this distal portion 3d acquired by the imaging module 15 at each instant of acquisition ta and displacements of the proximal portion 3p of the catheter 3 between two instants of determination td coming from the detection module 17. For this purpose, the module 19 is able to deduce from the displacement of the proximal portion 3p of the catheter 3 between two successive td (td (k- /) and td (k) td (k) determination times and from the mapping of the vascular system of the subject 5, which is the displacement of the distal portion 3d of this catheter 3 in the vascular system of the subject 5 between the two instants of determination td (k- /) and td (k). For example, the mapping of the vascular system of the subject 5 is predetermined by the module 19 from the initial image of the vascular system of the subject 5 acquired by the imaging module.
    [0017] Preferably, the position of the distal portion 3d is determined at each acquisition instant ta as the position of this distal portion 3d acquired by the imaging module. Moreover, at each instant of determination td (k) distinct from an acquisition instant ta, the position of the distal portion 3d is determined from the position of this distal portion 3d at the determination time td (k -1) immediately preceding and an estimate of the displacement of the distal portion 3d between the instants td (k-1) and td (k).
    [0018] Thus, the module 19 is able to determine the successive positions of the distal portion 3d of the catheter 3 at the instants of determination td from the movements of the proximal portion 3p from the detection module 17, and to adjust the position of this distal portion 3d in each moment of acquisition ta, from the position acquired by the imaging module 15.
    [0019] This periodic adjustment makes it possible to correct position accuracy errors as determined from the single detection module 17. The display means 11 comprise a display device 68 able to receive from the module 19 the successive positions of the distal portion 3d of the catheter 3 at the instants of determination td and to display to a practitioner, at each instant td of determination, a representative image of the vascular system of the subject 5 and the position of the catheter 3, in particular of its distal portion 3d, with respect to this vascular system at this instant of determination td. An example of such an image is illustrated in FIG. 4. This image comprises a representation of the vascular system of the subject 5 on which is superimposed a representation of the distal portion 3d of the catheter 3.
    [0020] As illustrated in FIG. 2, in one embodiment, the control and processing unit 27, the processing unit 41 and the positional determination module 19 of the distal portion 3d are applications implemented by FIG. a computer 72. The computer 72 comprises for this purpose a processor 78, one or more memory (s) 80, the man-machine interface means 82, and means 84 interface. The memory 80 comprises different areas of memory containing applications intended to be executed by the processor 78, in particular applications corresponding to the functions executed by the control and processing unit 27, and / or the processing unit 41 and / or the module 19. The memory 80 also contains data relating to the vascular system of the subject 5, in particular the initial image of the vascular system of the subject 5 acquired by the imaging module and the mapping of this vascular system determined by the module 19 from this initial image.
    [0021] The processor 78 is adapted to execute applications contained in the memory 80, in particular an operating system allowing the conventional operation of a computer system. The computer 72 is able to exchange data with the transmitter 23 and the detector 25 of the imaging module 15 and with the detector 40 of the detection module 17 via the interface means 84. In particular, the interface means 84 comprise a wireless transmitter / receiver capable of exchanging data with the communication interface 60 of the box 50. The human-machine interface means 82 comprise means 84 for inputting information via an operator for the parameterization of the system 1 and the display device 68. In particular, the interface means 82 allow the user to define the acquisition frequency f, the position of the distal portion 3d of the catheter by the imaging module. An example of implementation of a method according to the invention by means of the system 1 for monitoring the distal portion of the catheter 3 during an operation will now be described with reference to FIG. 5. This method comprises an initial step Wherein an initial image of the vascular system of subject 5 is acquired by the imaging module after introduction into the vascular system of the subject of an X-ray opaque contrast agent.
    [0022] Moreover, during this initial step 100, the initial image is transmitted to the module 19 which determines, from this initial image, a mapping of the vascular system of the subject 5. The initial image and the mapping of the vascular system are then stored in the memory 80 of the computer 72.
    [0023] The intervention is then initiated, for example by the practitioner, during a step 102, by introducing the trocar 58 into a vein or artery of the vascular system through the skin of the subject 5, and by fixing this trocar 58 to the skin of the subject 5. The casing 50 is then fixed by its outer connector 56 to the trocar 58, and the distal portion 3d of the catheter 3 is introduced through the conduit 52 of the casing 50 and through the trocar 58 into the system Vascular subject 5. A displacement of the distal portion 3d of the catheter 3 in the vascular system of the subject 5 is then generated, for example by a displacement of the proximal portion 3p of the catheter 3 by an operator, in particular according to a translation of this portion 3p proximal to the body of the subject 5 and / or a rotation of this proximal portion 3p around the longitudinal direction of the catheter 3.
    [0024] The displacement of the distal portion 3d of the catheter 3 in the vascular system is then followed by the system 1 and displayed for the practitioner according to the following steps, performed iteratively. During an acquisition step 106, implemented in an acquisition instant ta (n), the imaging module acquires the position of the distal portion 3d of the catheter 3 in the vascular system of the subject 5. this, during a phase 108, the X-ray emitter 23 emits at the instant of acquisition ta (n) X-rays in the direction of the zone of interest of the body of the subject 5 in which the catheter 3 is moved in response to a control command from the control and processing unit 27. These rays pass through the body of the subject 5 and are then received by the detector 25. The detector 25 then emits electrical signals representative of the detected X-rays to the control and processing unit 27. The unit 27 generates from these signals an X-ray image of the body of the subject 5, showing the distal portion 3d of the catheter 3. The control and processing unit 27 then superimposes the X-ray image thus generated. to the initial image of the vascular system of the subject 5 to form an image showing both this vascular system and the catheter 3. On the other hand, the unit 27 determines, from this reconstructed image, what is the position of the catheter 3, in particular of its distal portion 3d, in the reference frame R of the vascular system of the subject 5 at the moment of acquisition ta, and transmits this position to the module 19. During a display phase 110, the module 19 transmits this position display means 11 which then display for the practitioner an image representing both the vascular system of the subject 5 and the distal portion 3d of the catheter 3 in this vascular system. This acquisition step 106 is then repeated at the next acquisition instant ta (n + 1). At each instant of determination td (k) between these acquisition instants ta (n) and ta (n + 1), the position of the distal portion 3d of the catheter 3 is determined according to a plurality of 120 detection steps 121 from the displacement of the proximal portion 3p of this catheter 3 detected by the detection module 17. The detection step 121 is thus reiterated to determine the position of the distal portion 3d at each determination instant td (k).
    [0025] The detection step 121 comprises a phase 122 of detection by the module 17 of the displacements of the proximal portion 3p of the catheter 3 with respect to the vascular system of the subject 5, between the instants of determination td (k-1) and td (k ). During the first iteration of step 120, td (k-1) corresponds to the acquisition instant ta (n). During the phase 122, the displacement detector 40 determines the rotational displacements of the proximal portion 3p of the catheter around its longitudinal direction and the translational movements of the catheter of the proximal portion 3p in its longitudinal direction with respect to this detector 40 between the two instants td (k-1) and td (k). For this, the laser emitter 42 emits a laser beam towards the detection zone 43, through which the catheter 3 circulates. The laser beam, reflected by the outer wall of the catheter 3, is received by the optical receiver 44.
    [0026] The optical receiver 44 thus acquires at multiple reception instants tr between the instants of determination td (k-1) and td (k) images of the portion of the catheter 3 passing through the zone 43, and transmits this information to the unit. 41 processing via the wireless communication interface 60. The processing unit 41 analyzes these images to determine the relative displacement of translation and rotation of the proximal portion 3p of the catheter 3 with respect to the detector 40 between the instants of determination td (k-1) and td (k), and deduces the relative displacement of the proximal portion 3p of the catheter 3 in the reference frame R of the vascular system of the subject 5. The processing unit 41 transmits this information to the module 19.
    [0027] The detection phase 122 is followed by a phase 124 during which the module 19 determines the position of the distal portion 3d of the catheter 3 at the determination time td (k), from the position of this distal portion 3d. at the instant of determination td (k-1) and the displacement of the proximal portion 3p of the catheter 3 between the instants of determination td (k) and td (k-1).
    [0028] For this, the module 19 determines, from the displacement of the proximal portion 3p of the catheter 3 between the instants of td (k) and td (k-1) and the mapping of the vascular system stored in the memory 80, the displacement of the distal portion 3d of this catheter 3 in the vascular system of subject 5 between the instants of td (k) and td (k-1). The module 19 then determines the position of the distal portion 3d at time td (k) from the position of this distal portion at time td (k- /) and an estimate of the displacement of the distal portion 3d between instants td (k- /) and td (k). During a display phase 126, the module 19 transmits this position to the display means 11, which then displays to the practitioner an image representing both the vascular system of the subject 5 and the catheter 3 in this vascular system. .
    [0029] The system and the method according to the invention thus make it possible to display, for the practitioner, images illustrating the displacement of the catheter that it manipulates in the vascular system of the subject 5 at a satisfactory frequency, while reducing the frequency of emission of X-rays to the body of the subject 5, thus reducing the risks to the subject 5. The system according to the invention also has the advantage of being of reduced cost. In addition, the housing 50 is miniaturized, which facilitates its handling, especially during an intervention. It should be understood that the embodiments described above are not limiting. In particular, the system according to the invention can be used to monitor the movement of several medical instruments in the body of the subject, for example to follow the displacement of a catheter and a micro-catheter, the micro-catheter being inserted and moved inside the catheter.
    [0030] The system 1 then comprises a plurality of detectors 40 each suitable for determining the relative displacement of an associated medical instrument with respect to another medical instrument or with respect to the body of the subject. Each detector 40 is included in a housing 50 which is either fixed or movable relative to the body of the subject.
    [0031] The displacement of each medical instrument relative to the body of the subject is then determined by composition of the displacement of this medical instrument relative to the associated casing 50, determined by the detector 40 included in this housing, and the displacement of the associated casing 50. For example, to follow the movement of a catheter and micro-catheter inserted and moved within the catheter, the system includes a first housing associated with the catheter and fixed relative to the body of the subject, and a second housing associated with the microcatheter and fixed relative to the catheter. The first housing makes it possible to determine the displacement of the catheter relative to the body of the subject.
    [0032] The second housing makes it possible to determine the displacement of the microcatheter relative to the second housing, thus the displacement of this microcatheter with respect to the catheter. Displacement of the catheter relative to the subject's body is then determined by composition of the displacement of the microcatheter relative to the catheter and displacement of the catheter relative to the body of the subject.
    [0033] In addition, according to one variant, the detector 40 and the processing unit are connected by a wired connection, and the data picked up by the detector 40 are transmitted to the processing unit 41 via this wired link. Of course, other embodiments can be envisaged, and the technical features of the embodiments and variants mentioned above can be combined with each other.
    权利要求:
    Claims (15)
    [0001]
    CLAIMS1.- System (1) for monitoring a first portion (3d) of a medical instrument (3), inserted in the body of a subject (5), during its movement in the body of the subject (5) said system (1) comprising: - means (9) for determining a position of said first portion (3d) relative to the body of the subject (5) in at least one determination time (td), and - means (11) for displaying, to a user, at said instant of determination (td), an image representative of at least a part of the body of the subject (5) 10 and of the first portion (3d) of the medical instrument (3) in the position of the first portion (3d) determined by said determining means (9) at this determination time (td), the system (1) being characterized in that said means (9) ) determination include: - an imaging module (15), adapted to acquire, at least one acquisition time (ta) prior to said instant of determination ion (td), a position of the first portion (3d) of the medical instrument (3) relative to the body of the subject (5), - a module (17) for detecting a displacement of a second portion ( 3p) of the medical instrument (3) relative to the body of the subject (5) between said acquisition instant (ta) and said determination instant (td), and - a determination module (19) to determine from the position of the first portion (3d) at said instant of acquisition (ta) from said imaging module (15) and said displacement of the second portion (3p) of the medical instrument (3) between said instant of acquisition (ta) and said determination time (td), detected by said detection module (17), the position of the first portion (3d) of the medical instrument (3) relative to the body of the subject (5) at the instant of determination (0-
    [0002]
    2.- System (1) tracking according to claim 1, characterized in that said detection module (17) is adapted to detect a translation of said second portion (3p) of the medical instrument (3) in its longitudinal direction and rotating said second portion (3p) of the medical instrument (3) about its longitudinal direction relative to the body of the subject (5) between said acquisition time (ta) and said determination time (0.
    [0003]
    3.- System (1) tracking according to any one of claims 1 or 2, characterized in that said module (19) determination is able to determine the position of the first portion (3d) of the medical instrument (3) relative to the body of the subject (5) in each. a plurality of successive instants of determination (td) between a first (t0 (n-1)) and a second (tin) successive acquisition instants, starting from the position of the first portion (3d) issue said imaging module (15) at said first acquisition instant (ta (n-1)) and the displacement of the second portion (3p) of the medical instrument (3) between said first acquisition instant (ta ( n1)) and each determination instant (td) of said plurality of determination times (td) detected by said detection module (17).
    [0004]
    4.- tracking system (1) according to any one of claims 1 to 3, characterized in that said detection module (17) comprises at least one detector (40) of a displacement of the second portion (3p) relative to this detector (40).
    [0005]
    5.- System (1) tracking according to claim 4, characterized in that said detector (40) is included in a housing (50) having a conduit (52) for passage of the medical instrument (3).
    [0006]
    6.- tracking system (1) according to claim 5, characterized in that said housing (50) comprises a first portion (50a) enclosing said detector (40) and a second portion (50b) enclosing said conduit (52) of passage.
    [0007]
    7.- tracking system (1) according to claim 6, characterized in that said second portion (50b) is sealed, said medical instrument (3) flowing in said conduit (52) passage being sealed from said first portion (50a).
    [0008]
    8.- System (1) tracking according to any one of claims 6 or 7, characterized in that said second portion (50b) is removably mounted on said first portion (50a).
    [0009]
    9.- tracking system (1) according to any one of claims 4 to 8, characterized in that said detector (40) is an optical detector.
    [0010]
    10.- tracking system (1) according to claim 9, characterized in that said optical detector (40) comprises at least one light source (42) adapted to emit a light beam incident on an area of the second portion ( 3p) of the medical instrument (3) and an optical receiver (44) for detecting a light beam reflected by the second portion (3p) of the medical instrument (3).
    [0011]
    11. A tracking system (1) according to claim 10 and any one of claims 5 to 8, characterized in that said light source (42) is adapted to emit the incident light beam onto an area of the second portion (3p) of the medical instrument (3) during the passage of said second portion (3p) in said passage conduit (52).
    [0012]
    12. A tracking system according to claim 4, wherein said detector is movable relative to the body of the subject and said module detecting means comprises means for detecting a movement of the detector (40) relative to the body of the subject (5).
    [0013]
    13.- tracking system (1) according to any one of the preceding claims, characterized in that said first portion (3d) of the medical instrument (3) comprises at least one zone visiblq-optical imaging, and in that said imaging module (15) comprises a transmitter (23) capable of emitting optical rays towards the body of the subject (5), and a detector (25) capable of receiving optical rays emitted by said emitter (23) through the body of the subject (5).
    [0014]
    14.- tracking system (1) according to any one of the preceding claims, characterized in that said detection module (17) is adapted to detect a displacement of the second portion (3p) of the medical instrument (3) relative to the body of the subject (5) between said acquisition instant (ta) and said determination instant (td), said second portion (3p) being outside the body of the subject (5).
    [0015]
    15.- A method of monitoring a first portion (3d) of a medical instrument (3) inserted into the body of a subject (5) during its movement in the body of the subject (5), comprising: - the determining (108, 124) a position of said first portion (3d) relative to the body of the subject (5) in at least one determination time (td), and - the display (110, 126), at of a user, at each determination instant (td), an image representative of at least a part of the body of the subject (5) and the first portion (3d) of the medical instrument (3) in the position of the first portion (3d) determined by said determination means (9) at this determination time (td), the method being characterized in that the determination (108, 124) of the position of said first portion (3d) comprises: - the acquisition (108) in at least one acquisition time (ta) prior to said determination time (td), a position of the first po rtion (3d) of the medical instrument (3) relative to the body of the subject (5), - detecting (122) a displacement of a second portion (3p) of the medical instrument (3) relative to to the body of the subject (5) between said instant of acquisition (ta) and said instant of determination (td), and - the determination (124), starting from the position of the first portion (3d) at said moment of acquisition (ta) and said displacement of the second portion (3p) of the medical instrument (3) between said instant of acquisition (ta) and said instant of determination (td), of the position of the first portion (3d) of the medical instrument (3) relative to the body of the subject (5) at said determination time (0.
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    同族专利:
    公开号 | 公开日
    JP6535674B2|2019-06-26|
    EP3089692A1|2016-11-09|
    US20170007333A1|2017-01-12|
    JP2017502759A|2017-01-26|
    FR3015883B1|2021-01-15|
    WO2015101747A1|2015-07-09|
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    法律状态:
    2015-12-09| PLFP| Fee payment|Year of fee payment: 3 |
    2016-12-19| PLFP| Fee payment|Year of fee payment: 4 |
    2017-12-22| PLFP| Fee payment|Year of fee payment: 5 |
    2019-12-30| PLFP| Fee payment|Year of fee payment: 7 |
    2020-12-17| PLFP| Fee payment|Year of fee payment: 8 |
    2021-12-29| PLFP| Fee payment|Year of fee payment: 9 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1363755A|FR3015883B1|2013-12-31|2013-12-31|SYSTEM AND METHOD FOR MONITORING THE MOVEMENT OF A MEDICAL INSTRUMENT IN THE BODY OF A SUBJECT|FR1363755A| FR3015883B1|2013-12-31|2013-12-31|SYSTEM AND METHOD FOR MONITORING THE MOVEMENT OF A MEDICAL INSTRUMENT IN THE BODY OF A SUBJECT|
    US15/109,034| US20170007333A1|2013-12-31|2014-12-23|System and Method for Monitoring the Movement of a Medical Instrument in the Body of a Subject|
    PCT/FR2014/053540| WO2015101747A1|2013-12-31|2014-12-23|System and method for monitoring the movement of a medical instrument in the body of a subject|
    EP14831018.8A| EP3089692A1|2013-12-31|2014-12-23|System and method for monitoring the movement of a medical instrument in the body of a subject|
    JP2016543616A| JP6535674B2|2013-12-31|2014-12-23|System and method for observing the movement of medical devices in the body|
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