Medical guidance system and control method of medical device
View Patent ↗A medical guidance system and a control method of a medical device are provided, which may increase the drive force of a medical device and improve controllability thereof. The medical guidance system has a medical device that includes a biologic information acquisition unit that acquires biologic information of the inside of a body cavity and a magnet that generates drive force in response to a magnetic field exerted from the outside of a body, a magnetic field generation unit 101 that generates the magnetic field to be exerted on the magnet from the outside of a body, and a displacement detection unit 105 that detects displacement being an angle formed between the magnetization direction of the magnet and the field direction of the magnetic field generated by the magnetic field generation unit 101 at the position of the medical device; wherein the magnetic field generation unit 101 is controlled based on the displacement.
1. A medical guidance system comprising:
at least one guidance magnetic field generation coil provided outside of a body cavity of a subject, the at least one guidance magnetic field generation coil being configured to generate a guidance magnetic field;
at least one detection magnetic field generation coil provided outside of the body cavity of the subject, the at least one detection magnetic field generation coil being configured to generate a detection magnetic field;
a medical device configured to be provided into the body cavity of the subject, the medical device comprising:
a magnet configured to generate drive force in response to the guidance magnetic field generated by the at least one guidance magnetic field generation coil;
a magnetic sensor configured to detect a component of the detection magnetic field generated by the at least one detection magnetic field generation coil, wherein the component of the detection magnetic field is along a magnetization direction of the magnet;
an induced current generation coil configured to generate an induced current in response to the detection magnetic field generated by the at least one detection magnetic field generation coil; and
a transmitter configured to transmit both of a detection signal based on the component of the detection magnetic field detected by the magnetic sensor and an induced signal based on the induced current generated by the induced current generation coil; and
at least one processor comprising hardware, the at least one processor being configured to:
calculate a current direction of the medical device on a basis of the induced signal transmitted by the transmitter of the medical device;
determine a first displacement angle formed between an objective direction of the medical device and the current direction of the medical device;
determine a second displacement angle formed between the magnetization direction of the magnet and a direction of the guidance magnetic field at a current position of the medical device on a basis of the detection signal and the induced signal transmitted by the transmitter of the medical device; and
control a direction of the guidance magnetic field and an intensity of the guidance magnetic field generated by the at least one guidance magnetic field generation coil on the basis of the first displacement angle and the second displacement angle.
2. The medical guidance system according to claim 1 ,
wherein the at least one processor is further configured to calculate the current position of the medical device on a basis of the induced signal transmitted by the transmitter of the medical device, and
wherein the at least one processor is configured to control the direction of the guidance magnetic field on a basis of the current position of the medical device, the current direction of the medical device, or both.
3. The medical guidance system according to claim 1 , wherein the at least one processor is configured to determine the second displacement angle on a basis of a field intensity of the component of the detection magnetic field detected by the magnetic sensor and on a field intensity of the guidance magnetic field formed at the current position of the medical device.
4. The medical guidance system according to claim 1 , wherein an opening direction of the induced current generation coil is perpendicular to the magnetization direction of the magnet.
5. A medical guidance system comprising:
at least one guidance magnetic field generation coil provided outside of a body cavity of a subject, the at least one guidance magnetic field generation coil being configured to generate a guidance magnetic field;
at least one position/direction detection magnetic field generation coil provided outside of the body cavity of the subject, the at least one position/direction detection magnetic field generation coil being configured to generate a position/direction detection magnetic field;
a medical device configured to be provided into the body cavity of the subject, the medical device comprising:
a magnet configured to generate drive force in response to the guidance magnetic field generated by the at least one guidance magnetic field generation coil;
a magnetization direction detection sensor configured to detect a magnetization direction of the magnet;
a position/direction detection magnetic field sensor configured to detect the position/direction detection magnetic field generated by the at least one position/direction detection magnetic field generation coil; and
a transmitter configured to transmit signals based on the magnetization direction of the magnet detected by the magnetization direction detection sensor and the position/direction detection magnetic field detected by the position/direction detection magnetic field sensor; and
at least one processor comprising hardware, the at least one processor being configured to:
calculate a current direction of the medical device on a basis of the detection result of the position/direction detection magnetic field sensor;
determine a first displacement angle formed between an objective direction of the medical device and the current direction of the medical device;
determine a second displacement angle formed between the magnetization direction of the magnet and a direction of the guidance magnetic field at a position of the medical device; and
control a direction of the guidance magnetic field and an intensity of the guidance magnetic field on a basis of the first displacement angle and the second displacement angle.
6. The medical guidance system according to claim 5 , wherein the at least one processor is configured to determine the second displacement angle on a basis of the magnetization direction of the magnet detected by the magnetization direction detection sensor and a field intensity of the guidance magnetic field formed at the current position of the medical device.
7. The medical guidance system according to claim 5 , further comprising:
an input device configured to receive an instruction from an operator for operating the at least one guidance magnetic field generation coil.
8. The medical guidance system according to claim 5 , wherein:
the position/direction detection magnetic field detection sensor is a position/direction detection magnetic field detection coil, and
an opening direction of the position/direction detection magnetic field detection coil is perpendicular to the magnetization direction of the magnet.
9. The medical guidance system according to claim 5 , wherein:
the at least one guidance magnetic field generation coil is configured to generate an alternating field superimposed with the guidance magnetic field, and
the magnetization direction detection sensor is a coil having an opening direction approximately in parallel with the magnetization direction of the magnet.
10. The medical guidance system according to claim 9 , wherein the at least one guidance magnetic field generation coil is configured to generate the alternating field superimposed with the guidance magnetic field at a timing when the position/direction detection magnetic field is not generated.
11. The medical guidance system according to claim 1 , wherein the medical device further comprises an image sensor configured to acquire an image of the body cavity of the subject.
12. The medical guidance system according to claim 5 , wherein the medical device further comprises an image sensor configured to acquire an image of the body cavity of the subject.
13. The medical guidance system according to claim 1 , wherein the at least one processor is configured to:
determine whether the first displacement angle is equal to or less than a first predetermined value,
determine whether the second displacement angle is equal to or less than a second predetermined value,
control the direction of the guidance magnetic field and the intensity of the guidance magnetic field generated by the at least one guidance magnetic field generation coil on the basis of whether the first displacement angle is equal to or less than the first predetermined value, and whether the second displacement angle is equal to or less than the second predetermined value.
14. The medical guidance system according to claim 5 , wherein the at least one processor is configured to:
determine whether the first displacement angle is equal to or less than a first predetermined value,
determine whether the second displacement angle is equal to or less than a second predetermined value,
control the direction of the guidance magnetic field and the intensity of the guidance magnetic field generated by the at least one guidance magnetic field generation coil on the basis of whether the first displacement angle is equal to or less than the first predetermined value, and whether the second displacement angle is equal to or less than the second predetermined value.