JP4785307B2 - Puncture aid - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a puncture assisting device, and more particularly to a puncture assisting device for performing puncture in parallel with photographing on an object accommodated in a photographing space.
[0002]
[Prior art]
In a magnetic resonance imaging (MRI) apparatus, an object to be imaged is carried into an internal space of a magnet system (namely, an imaging space in which a static magnetic field is formed), and a gradient magnetic field and a high-frequency magnetic field are applied to the object. A magnetic resonance signal is generated from the inner spin, and an image is reconstructed based on the received signal.
[0003]
When performing biopsy on the subject, magnetic resonance imaging is performed in parallel, and the surgeon performs puncture while observing the state of the ginger needle entering the body on the displayed tomogram To do.
[0004]
In order to capture a tomographic image including the puncture needle, detection of the three-dimensional position of the puncture needle in the imaging space, that is, three-dimensional positioning of the puncture needle is performed.
[0005]
Puncture aids are used to enable three-dimensional positioning. The puncture assisting device has three light emitters provided at positions corresponding to the apexes of the triangle, and a puncture needle insertion hole provided perpendicular to the triangle surface at a position corresponding to the center of the triangle.
[0006]
The three-dimensional position of the light spot generated by the light emitter is measured by, for example, triangulation through a plurality of light receivers provided above the imaging space, and the position and inclination of the triangular surface formed by the three light spots are obtained. . Then, the position and inclination of the surface normal at the center of the triangle is set as the position and direction of the puncture needle, and a slice position including the position is specified to take a tomographic image. Specifying the slice position based on the three-dimensional positioning of the puncture needle is also referred to as navigation.
[0007]
[Problems to be solved by the invention]
A puncture assisting device having a puncture needle insertion hole at the center of a triangle is likely to block light from the light emitter by the operator's hand or face during use. When the light is blocked, the three-dimensional position of the light spot cannot be measured, and the position of the puncture needle becomes unknown.
[0008]
In addition, when trying to puncture from the side of the object, the triangular surface faces sideways, so it becomes impossible to observe the light spot from above, and the puncture needle cannot be positioned three-dimensionally.
Then, the subject of this invention is implement | achieving the puncture needle auxiliary tool with which three-dimensional positioning is hard to be inhibited. It is another object of the present invention to provide a puncture assisting device that can perform three-dimensional positioning when puncturing from the side of an object.
[0009]
[Means for Solving the Problems]
In order to solve the above problems, the present invention provides a light emitter support portion that supports three light emitters in a relation that they form a triangle, and a geometric relationship that is predetermined with respect to the plane of the triangle. An arm protruding from the light emitter support, and a puncture needle insertion hole provided in a direction intersecting the protruding direction of the arm at the end of the arm opposite to the light emitter support; A puncture assisting device characterized by comprising:
[0010]
In the present invention, the illuminant support part that supports the three illuminants in a relation that they form a triangle, and the arm part that protrudes from the illuminant support part in a predetermined geometric relationship with respect to the plane of the triangle Since the puncture needle insertion hole is provided in a direction intersecting the protruding direction of the arm portion at the end portion of the arm portion opposite to the light emitter support portion side, the light emitter and the puncture needle are separated from each other. This makes it difficult for light from the light emitter to be blocked during puncturing.
[0011]
It is preferable that the projecting direction of the arm portion is substantially parallel to the triangular surface in terms of separating the light emitter and the puncture needle in a direction substantially parallel to the triangular surface.
It is preferable that the projecting direction of the arm portion is substantially perpendicular to the triangular surface in terms of separating the light emitter and the puncture needle in a direction substantially perpendicular to the triangular surface.
[0012]
It is preferable that the arm part is detachable from the light emitter support part in that the combination of the arm part and the light emitter support part is variable.
The arm portion is preferably selectable from a plurality of arm portions having different lengths in terms of changing the distance between the light emitter and the puncture needle.
[0013]
The arm portion is preferably selectable from a plurality of arm portions having different bending angles in terms of changing the puncture angle of the puncture needle.
It is preferable that the arm portion can be expanded and contracted in the protruding direction in terms of adjusting the distance between the light emitter and the puncture needle.
[0014]
The arm portion is preferably bendable from the viewpoint of adjusting the puncture angle of the puncture needle.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiment. As a preliminary explanation before describing the embodiment of the present invention, a magnetic resonance imaging apparatus for imaging a tomographic image of an object in parallel with puncture will be described.
[0016]
FIG. 1 shows a block diagram of a magnetic resonance imaging apparatus. As shown in the figure, this apparatus has a magnet system 100. The magnet system 100 has a pair of main magnetic field coil sections 102, a pair of gradient coil sections 106, and an RF (radio frequency) coil section 108. Each of these coil portions has a substantially cylindrical shape and is arranged coaxially with each other.
[0017]
The main magnetic field coil unit 102 and the gradient coil unit 106 face each other with a predetermined distance in the axial direction. A space is formed between the opposing pairs. The center C of this space becomes the center of the magnet system 100, that is, the magnet center. A three-dimensional area having a predetermined radius centered on the magnet center C is an imaging space. This shooting space is a space released to the outside.
[0018]
A subject 1 to be photographed is mounted on a cradle 500 in a photographing space of the magnet system 100 and is carried in and out by a conveying means (not shown). The imaging region (for example, the abdomen) of the subject 1 is accommodated in the RF coil unit 108.
[0019]
The main magnetic field coil unit 102 forms a static magnetic field in the imaging space. The direction of the static magnetic field is generally parallel to the direction of the body axis of the object 1. That is, a so-called horizontal magnetic field is formed. The main magnetic field coil unit 102 is configured using, for example, a superconducting coil.
[0020]
The gradient coil section 106 generates three gradient magnetic fields for giving gradients to the static magnetic field strength in the directions of three axes perpendicular to each other, that is, the slice axis, the phase axis, and the frequency axis.
[0021]
When the coordinate axes perpendicular to each other in the static magnetic field space are x, y, and z, any of the axes can be a slice axis. In that case, one of the remaining two axes is a phase axis, and the other is a frequency axis. In addition, the slice axis, the phase axis, and the frequency axis can have arbitrary inclinations with respect to the x, y, and z axes while maintaining the perpendicularity therebetween. In this apparatus, the direction of the body axis of the target 1 is the z-axis direction.
[0022]
The gradient magnetic field in the slice axis direction is also called a slice gradient magnetic field. The gradient magnetic field in the phase axis direction is also called a phase encode gradient magnetic field. The gradient magnetic field in the frequency axis direction is also referred to as a read out gradient magnetic field. In order to make it possible to generate such a gradient magnetic field, the gradient coil unit 106 has three gradient coils (not shown). Hereinafter, the gradient magnetic field is also simply referred to as a gradient.
[0023]
The RF coil unit 108 forms a high-frequency magnetic field for exciting spins in the body of the target 1 in the static magnetic field space. Hereinafter, the formation of a high-frequency magnetic field is also referred to as transmission of an RF excitation signal. The RF excitation signal is also referred to as an RF pulse. The RF coil unit 108 also receives an electromagnetic wave generated by excited spin, that is, a magnetic resonance signal.
[0024]
A gradient driving unit 130 is connected to the gradient coil unit 106. The gradient driving unit 130 gives a driving signal to the gradient coil unit 106 to generate a gradient magnetic field. The gradient drive unit 130 has three systems of drive circuits (not shown) corresponding to the three systems of gradient coils in the gradient coil unit 106.
[0025]
An RF drive unit 140 is connected to the RF coil unit 108. The RF drive unit 140 gives a drive signal to the RF coil unit 108 and transmits an RF pulse to excite spins in the body of the subject 1.
[0026]
The RF coil unit 108 is connected to a data collection unit 150.
The data collecting unit 150 takes in the received signal received by the RF coil unit 108 by sampling and collects it as digital data.
[0027]
A control unit 160 is connected to the gradient driving unit 130, the RF driving unit 140, and the data collection unit 150. The control unit 160 controls the gradient driving unit 130 or the data collection unit 150 to perform shooting.
[0028]
The control unit 160 is configured using, for example, a computer. The controller 160 has a memory (not shown). The memory stores a program for the control unit 160 and various data. The function of the control unit 160 is realized by the computer executing a program stored in the memory.
[0029]
The output side of the data collection unit 150 is connected to the data processing unit 170. Data collected by the data collection unit 150 is input to the data processing unit 170. The data processing unit 170 is configured using, for example, a computer. The data processing unit 170 has a memory (not shown). The memory stores a program for the data processing unit 170 and various data.
[0030]
The data processing unit 170 is connected to the control unit 160. The data processing unit 170 is above the control unit 160 and controls it. The function of this apparatus is realized by the data processing unit 170 executing a program stored in the memory.
[0031]
The data processing unit 170 stores the data collected by the data collection unit 150 in a memory. A data space is formed in the memory. This data space constitutes a two-dimensional Fourier space. Hereinafter, the Fourier space is also referred to as k-space. The data processing unit 170 reconstructs a tomographic image of the object 1 by performing two-dimensional inverse Fourier transform on k-space data.
[0032]
The data processor 170 also receives a light spot detection signal from the light spot detector 120. The light spot detection unit 120 is provided as an accessory device of the magnet system 100.
[0033]
The light spot detection unit 120 has a plurality of light spot detectors. Each light spot detector detects the direction of each of three light spots generated by three light emitters provided in a puncture assisting device described later.
[0034]
The data processing unit 170 calculates three-dimensional positions of the three light spots by triangulation or the like based on a plurality of light spot detection signals, that is, a plurality of light direction detection signals, and a plane on which the three light spots exist simultaneously. The three-dimensional position and inclination of are calculated. The calculation method is the same as the conventional method.
[0035]
The three-dimensional position of the three light spots and the three-dimensional position and inclination of the plane in which they are present simultaneously serve as a reference position and direction for specifying the three-dimensional position and direction of the puncture needle described later.
[0036]
Since the geometric relationship of the puncture needle with respect to the three light emitters is a predetermined fixed relationship, if the reference position and direction are determined, the three-dimensional position and direction of the puncture needle can be specified based on that. it can.
[0037]
Then, in accordance with the specified three-dimensional position and direction of the puncture needle, the position and inclination of the tomographic image slice are determined. The operation of specifying the three-dimensional position and direction of the puncture needle to determine the position and inclination of the slice in this way is also referred to as navigation. Hereinafter, the term “position” includes not only the position but also the direction or inclination.
[0038]
A display unit 180 and an operation unit 190 are connected to the data processing unit 170. The display unit 180 is configured by a graphic display or the like. The operation unit 190 includes a keyboard having a pointing device.
[0039]
The display unit 180 displays the reconstructed image and various information output from the data processing unit 170. The operation unit 190 is operated by the user and inputs various commands and information to the data processing unit 170. The user operates the apparatus interactively through the display unit 180 and the operation unit 190.
[0040]
A display unit 182 is also connected to the data processing unit 170. The display unit 182 is provided as an accessory device of the magnet system 100. The display unit 182 is configured with a graphic display or the like. The display unit 182 displays the reconstructed image output from the data processing unit 170.
[0041]
2 and 3 schematically show the relationship among the magnet system 100, the display unit 182 and the light spot detection unit 120. FIG. 2 is a side view, and FIG. 3 is a cross-sectional view taken along the line AA of FIG.
[0042]
As shown in the figure, the magnet system 100 has a front structure 202 and a rear structure 204. The front structure 202 and the rear structure 204 include one pair of main magnetic field coil sections 102 and one pair of gradient coil sections 106, and the other pair of main magnetic field coil sections 102 and a pair of gradient coils. The other part 106 is built in.
[0043]
The front structure 202 and the rear structure 204 are connected at the upper part by a bridge 206 and integrated at the lower part by a table 208. A cradle 500 is provided on the upper surface of the table 208, and the object 1 is mounted thereon. The object 1 is equipped with an RF coil unit 108.
[0044]
The display unit 182 is attached to the bridge 206. As the display unit 182, for example, an LCD (Liquid Crystal Display) or the like is used. The light spot detector 120 is attached to the inside of the bridge 206 so as to look down at the imaging space.
[0045]
An imaging operation of the magnetic resonance imaging apparatus will be described. FIG. 4 shows an example of a pulse sequence for acquiring a magnetic resonance signal executed by the present apparatus. This pulse sequence is a pulse sequence for acquiring a spin echo, that is, a pulse sequence by a spin echo method.
[0046]
(1) in the figure is an RF pulse, that is, a sequence of 90 ° pulse and 180 ° pulse, and (2), (3), (4) and (5) are slice gradient Gs, phase encode gradient Gp, This is a sequence of the readout gradient Gr and the spin echo MR. The 90 ° pulse and the 180 ° pulse are represented by center values. The pulse sequence proceeds from left to right along the time axis t.
[0047]
As shown in the figure, 90 ° excitation and 180 ° excitation of the spin are performed by the 90 ° pulse and the 180 ° pulse, respectively. During 90 ° excitation and 180 ° excitation, slice gradients Gs1 and Gs3 are applied, respectively, and selective excitation for a predetermined slice is performed.
[0048]
Between 90 ° excitation and 180 ° excitation, phase encoding in the phase axis direction by the phase encoding gradient Gp and dephasing in the frequency axis direction by the readout gradient Gr1 are performed.
[0049]
After 180 ° excitation, a spin echo MR is generated by rephasing with the readout gradient Gr2. The spin echo MR is an RF signal having a symmetrical waveform with respect to the echo center. The echo center occurs after TE (echo time) from 90 ° excitation. The spin echo MR is collected as view data by the data collection unit 150.
[0050]
Such a pulse sequence is repeated 64 to 256 times in a cycle TR (repetition time), for example. The phase encode gradient Gp in the phase axis direction is changed every time it is repeated. The broken line conceptually represents the sequential change of the phase encoding gradient Gp. As a result, view data of 64 to 256 views having different phase encoding in the phase axis direction is obtained. The view data obtained in this way is collected in the k space of the memory of the data processing unit 170.
[0051]
Two-dimensional image data in real space, that is, a reconstructed image is obtained by performing two-dimensional inverse Fourier transform on k-space data. This image is displayed on the display unit 180.
[0052]
FIG. 5 shows another example of a pulse sequence for acquiring a magnetic resonance signal executed by the present apparatus. This pulse sequence is a pulse sequence for acquiring a gradient echo, that is, a pulse sequence by a gradient echo method.
[0053]
(1) is a sequence of RF pulses, ie, 90 ° pulses. (2), (3), (4) and (5) are slice gradient Gs, phase encode gradient Gp, readout gradient Gr and This is a gradient echo MR sequence. The 90 ° pulse is represented by the center value. The pulse sequence proceeds from left to right along the time axis t.
[0054]
As shown in the figure, 90 ° excitation of spin is performed by a 90 ° pulse. A slice gradient Gs1 is applied at the time of 90 ° excitation, and selective excitation is performed for a predetermined slice. After the 90 ° excitation, phase encoding in the phase axis direction by the phase encoding gradient Gp is performed.
[0055]
Thereafter, dephasing in the frequency axis direction is performed by the readout gradient Gr1, and gradient echo MR is generated by the subsequent rephasing by the readout gradient Gr2.
[0056]
The gradient echo MR is an RF signal having a symmetrical waveform with respect to the echo center. The echo center occurs after TE from 90 ° excitation. The gradient echo MR is collected as view data by the data collection unit 150.
[0057]
Such a pulse sequence is repeated, for example, 64 to 256 times in a cycle TR. The phase encode gradient Gp in the phase axis direction is changed every time it is repeated. The broken line conceptually represents the sequential change of the phase encoding gradient Gp. As a result, view data of 64 to 256 views having different phase encoding in the phase axis direction is obtained. The view data obtained in this way is collected in the k space of the memory of the data processing unit 170.
[0058]
Two-dimensional image data in real space, that is, a reconstructed image is obtained by performing two-dimensional inverse Fourier transform on k-space data. This image is displayed on the display unit 180.
[0059]
The imaging is not limited to the spin echo method or the gradient echo method, but may be performed by other appropriate techniques such as a fast spin echo method or an echo planer method.
[0060]
When performing sacrifice of the subject 1 in parallel with imaging, the surgeon 300 puts himself in the space between the front structure 202 and the rear structure 204 and performs puncture as shown in FIG. The RF coil unit 108 is appropriately provided with a puncture opening through which puncture is performed. The surgeon 300 advances puncturing while confirming the position of the affected part and the needle 400 in the body of the subject 1 based on the image displayed on the display unit 182. Needle 400 is attached to puncture assisting device 600.
[0061]
FIG. 7 and FIG. 8 schematically show a configuration example and a usage state of the puncture assisting device 600, respectively. This instrument is an example of an embodiment of the present invention. The configuration of the instrument shows an example of an embodiment relating to the instrument of the present invention.
[0062]
As shown in the figure, the puncture assisting device 600 includes a light emitter support portion 610 and an arm portion 620. The light emitter supporter 610 is an example of an embodiment of a light emitter supporter in the present invention. Arm 620 is an example of an embodiment of an arm in the present invention.
[0063]
The light emitter support portion 610 has a trident structure. Each branch of the trigeminal structure extends radially at equal angular intervals. A light emitter 612 is provided on the upper surface of the end of each branch. As the light emitter 612, a point light source that emits light in substantially all directions, for example, a light emitting diode (LED) is used. At least one of the three light emitters 612 has a light emission mode different from the others due to light modulation or the like, so that it can be distinguished from the others.
[0064]
The three light emitters 612 are provided at positions equidistant from the center of the trident structure of the light emitter support 610. As a result, the triangle formed when the three light emitters 612 are connected by a virtual line is an equilateral triangle. Hereinafter, a triangle formed when three light emitters 612 are connected by a virtual line is simply referred to as a triangle of the light emitter 612. Because at least one light emitter 612 can be distinguished from the others, the triangle can identify its orientation.
[0065]
Note that the three light emitters 612 need not be provided at equidistant positions from the center of the trident structure of the light emitter supporter 610, and any one of them may be unequal or all unequal. Therefore, the triangle of the light emitter 612 is not limited to an equilateral triangle, and may be an isosceles triangle or an unequal triangle. Hereinafter, an example of an equilateral triangle will be described, but the same applies to an isosceles triangle or an unequal triangle.
[0066]
The light emitter support 610 is attached to one end of the arm 620. A light emitter support receiver 622 is formed on a portion of the arm 620 to which the light emitter support 610 is attached. The light emitter support portion receiver 622 has a shallow pot-like structure with a bottom. Three grooves corresponding to the three branches of the three-pronged structure of the light emitter supporter 610 are formed at the edge of the pot-like structure. The light emitter support 610 and the arm 620 are integrated by fitting the groove and the branch.
[0067]
In the integrated state, the arm portion 620 is parallel to one branch of the light emitter support portion 610. For example, the light emitter 612 provided on this branch is distinguishable from the other two. The arm 620 is also parallel to the triangular surface of the light emitter 612. The middle part of the arm part 620 is a part that the user grips with his / her hand when using the device.
[0068]
Note that one branch of the arm portion 620 and the light emitter support portion 610 does not need to be parallel, and may have a predetermined fixed geometric relationship. The same applies to the triangular surface of the light emitter 612. Hereinafter, a parallel example will be described, but the same applies to other fixed relationships.
[0069]
A needle receiver 624 is formed at the other end of the arm 620. An insertion hole 626 is formed in the needle receiver 624, and the puncture needle 400 is inserted into the insertion hole 626. The insertion hole 626 is an example of an embodiment of a puncture needle insertion hole in the present invention.
[0070]
The central axis of the insertion hole 626 is perpendicular to the central axis of the arm portion 620. The plane to which both central axes belong is perpendicular to the triangular surface of the light emitter 612. Note that the central axis of the insertion hole 626 does not need to be perpendicular to the central axis of the arm portion 620 and may be a predetermined angle. The same applies to the plane to which both central axes belong. Hereinafter, although a vertical example will be described, the same applies to other angles.
[0071]
The light emitter support 610 and the arm 620 are integrated so as not to be separated by bonding or the like. Or as shown in FIG. 9, it is good also as what can isolate | separate both. In the case where separation is possible, for example, as shown in FIG. 10, a plurality of arm portions 620 having different lengths are prepared in advance, and can be exchanged and used as necessary. When separation is not possible, the arm 620 may be extendable.
[0072]
By configuring the puncture assisting device 600 as described above, the light emitter 612 and the needle receiver 624 are separated from each other. For this reason, when the needle 400 is inserted into the needle receiver 624 and the target 1 is punctured, the light of the light emitter 612 is not easily blocked by the operator's 300 hand or head.
[0073]
FIG. 11 and FIG. 12 schematically show another configuration example and use state of the puncture assisting device 600, respectively. This instrument is an example of an embodiment of the present invention. The configuration of the instrument shows an example of an embodiment relating to the instrument of the present invention.
[0074]
In the figure, the same components as those shown in FIG. As shown in the figure, the puncture assisting device 600 includes a light emitter support portion 610 and an arm portion 620 ′.
[0075]
The light emitter support 610 is attached to one end of the arm 620 ′. A light emitter support receiver 622 ′ is formed on a portion of the arm 620 ′ where the light emitter support 610 is attached. The light emitter support receiver 622 ′ has a bottomed shallow bowl-like structure. Three grooves corresponding to the three branches of the three-pronged structure of the light emitter supporter 610 are formed at the edge of the pot-like structure. The light emitter support portion 610 and the arm portion 620 ′ are integrated by fitting the groove and the branch.
[0076]
In the integrated state, the arm 620 ′ is perpendicular to the triangular surface of the light emitter 612. Further, the central axis of the arm portion 620 ′ passes through the center of the triangle of the light emitter 612. The middle part of the arm part 620 ′ is a part that the user grips with his / her hand when using the device.
[0077]
Note that the central axis of the arm portion 620 ′ does not need to be perpendicular to the triangular surface of the light emitter 612, and may be a fixed geometric relationship determined in advance. The same applies to the position through which the central axis passes. Hereinafter, an example perpendicular to the center of the triangle will be described, but the same applies to other fixed relationships.
[0078]
A needle receiver 624 ′ is formed at the other end of the arm 620 ′. An insertion hole 626 ′ is formed in the needle receiver 624 ′, and the puncture needle 400 is inserted into the insertion hole 626 ′.
[0079]
The central axis of the insertion hole 626 ′ is perpendicular to the central axis of the arm portion 620 ′. The plane to which both central axes belong is perpendicular to the triangular surface of the light emitter 612 and parallel to one branch of the light emitter support 610. For example, the light emitter 612 provided on this branch is distinguishable from the other two.
[0080]
The central axis of the insertion hole 626 ′ need not be perpendicular to the central axis of the arm portion 620 ′, and may be a predetermined angle. The same applies to the plane to which both central axes belong. Hereinafter, although a vertical example will be described, the same applies to other angles.
[0081]
The light emitter support 610 and the arm 620 ′ are integrated so as not to be separated by bonding or the like. Alternatively, both may be separable as shown in FIG. When separation is possible, for example, as shown in FIG. 14, a plurality of arm portions 620 ′ having different lengths are prepared in advance, and can be used by replacing them as necessary. Alternatively, as shown in FIG. 15, a bent arm 620 ′ may be prepared and used depending on the purpose. Alternatively, a plurality of arms having different bending angles may be prepared and used according to the purpose. Needless to say, when the light emitter support 610 and the arm 620 ′ are not separable, the arm 620 may be extendable or bendable.
[0082]
By configuring the puncture assisting device 600 as described above, the light emitter 612 and the needle receiver 624 ′ are separated from each other. For this reason, when the needle 400 is inserted into the needle receiver 624 ′ and the subject 1 is punctured, the light of the light emitter 612 is not easily blocked by the operator's 300 hand or head. Furthermore, even when the object 1 is punctured from the side, the light spot of the light emitter 612 can be detected by the light spot detection unit 120, so that it is possible to perform puncture from the side, which was impossible in the past.
[0083]
FIG. 16 shows a flow diagram of the operation when magnetic resonance imaging is performed in parallel with puncturing using such a puncture assisting device 600. As shown in the figure, in step 702, navigation is started.
[0084]
Accordingly, in step 704, the light spot position is detected. That is, the data processing unit 170 obtains the three-dimensional position of the three light spots generated by the light emitter 612 of the puncture assisting device 600 based on the signal input from the light spot detection unit 120.
[0085]
Next, in step 706, the position and orientation of the puncture needle is calculated. That is, the data processing unit 170 calculates the three-dimensional position and orientation of the needle 400 having a predetermined geometric relationship with respect to the three light spots, that is, the three-dimensional position of the triangle. .
[0086]
Next, in step 708, slice determination is performed in accordance with the position and orientation of the puncture needle. That is, the data processing unit 170 determines a slice that matches the three-dimensional position and orientation of the needle 400.
[0087]
Next, in step 710, scanning is performed. That is, the data processor 170 scans the slice using the gradient driver 130 and the RF driver 140 through the controller 160.
[0088]
Next, in step 712, image reconstruction and display are performed. That is, the data processing unit 170 reconstructs an image based on the scan data and displays it on the display unit 180 and the display unit 182. The display image includes an image of the needle 400. The surgeon 300 performs puncturing while confirming the position of the needle 400 based on the image displayed on the display unit 182.
[0089]
Based on the determination in step 714, the operations from step 704 to step 712 are repeated until the puncturing operation is completed.
The above is an example of taking a tomographic image with a magnetic resonance imaging apparatus in parallel with puncturing, but the apparatus for imaging a tomographic image is not limited to a magnetic resonance imaging apparatus, for example, an X-ray CT (Computed) Tomography) apparatus. Needless to say, it may be performed using an appropriate photographing apparatus.
[0090]
【The invention's effect】
As described above in detail, according to the present invention, it is possible to realize a puncture needle assisting tool in which three-dimensional positioning is hardly hindered. In addition, a puncture assisting device capable of three-dimensional positioning when puncturing from the side of the object can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram of a magnetic resonance imaging apparatus.
FIG. 2 is a schematic diagram showing the configuration of a magnet system.
FIG. 3 is a schematic diagram showing the configuration of a magnet system.
FIG. 4 is a diagram showing an example of a pulse sequence of magnetic resonance imaging.
FIG. 5 is a diagram showing an example of a pulse sequence of magnetic resonance imaging.
FIG. 6 is a schematic diagram showing a state during puncturing.
FIG. 7 is a schematic diagram showing the configuration of a puncture assist device.
FIG. 8 is a schematic diagram showing the configuration of a puncture assisting device.
FIG. 9 is a schematic diagram showing the configuration of a puncture assist device.
FIG. 10 is a schematic diagram showing an arm configuration of a puncture assisting device.
FIG. 11 is a schematic diagram showing the configuration of a puncture assisting device.
FIG. 12 is a schematic diagram showing the configuration of a puncture assist device.
FIG. 13 is a schematic diagram showing the configuration of a puncture assisting device.
FIG. 14 is a schematic view showing an arm configuration of a puncture assisting device.
FIG. 15 is a schematic diagram showing an arm configuration of a puncture assisting device.
FIG. 16 is a flowchart when magnetic resonance imaging is performed in parallel with puncturing.
[Explanation of symbols]
600 Puncture aid
610 Light Emitter Support
612 Light emitter
620, 620 'arm
622, 622 'luminous body support portion receiver
624,624 'Needle guard
626, 626 'insertion hole

Claims (8)

A light emitter support that supports the three light emitters in a triangular relationship with each other;
Arms projecting from the light emitter support in a predetermined geometric relationship to the triangular surface;
A puncture needle insertion hole provided in a direction intersecting the protruding direction of the arm part at the end of the arm part opposite to the light emitter support part side;
A puncture assisting device comprising: The projecting direction of the arm is substantially parallel to the triangular surface.
The puncture assisting device according to claim 1. The projecting direction of the arm is generally perpendicular to the triangular surface.
The puncture assisting device according to claim 1. The arm part is detachable from the light emitter support part.
The puncture assisting device according to any one of claims 1 to 3, characterized in that: The arm portion can be selected from a plurality of arm portions having different lengths.
The puncture assisting device according to claim 4. The arm portion can be selected from a plurality of arm portions having different bending angles.
The puncture assisting device according to claim 4. The arm portion can be expanded and contracted in the protruding direction.
The puncture assisting device according to any one of claims 1 to 3, characterized in that: The arm is bendable;
The puncture assisting device according to any one of claims 1 to 3, characterized in that:

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