+

WO2007125676A1 - systeme d'administration de medicament a induction magnetique - Google Patents

systeme d'administration de medicament a induction magnetique Download PDF

Info

Publication number
WO2007125676A1
WO2007125676A1 PCT/JP2007/053479 JP2007053479W WO2007125676A1 WO 2007125676 A1 WO2007125676 A1 WO 2007125676A1 JP 2007053479 W JP2007053479 W JP 2007053479W WO 2007125676 A1 WO2007125676 A1 WO 2007125676A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnetic field
magnetic
drug delivery
delivery system
branch position
Prior art date
Application number
PCT/JP2007/053479
Other languages
English (en)
Japanese (ja)
Inventor
Akira Sasaki
Norihide Saho
Hisashi Isogami
Hiroyuki Tanaka
Noriyo Nishijima
Hiroshi Iseki
Yoshihiro Muragaki
Shigehiro Nishijima
Shinichi Takeda
Original Assignee
Hitachi Medical Corporation
Osaka University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Medical Corporation, Osaka University filed Critical Hitachi Medical Corporation
Priority to JP2008513096A priority Critical patent/JP5062764B2/ja
Publication of WO2007125676A1 publication Critical patent/WO2007125676A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K9/00—Medicinal preparations characterised by special physical form
    • A61K9/0002—Galenical forms characterised by the drug release technique; Application systems commanded by energy
    • A61K9/0009—Galenical forms characterised by the drug release technique; Application systems commanded by energy involving or responsive to electricity, magnetism or acoustic waves; Galenical aspects of sonophoresis, iontophoresis, electroporation or electroosmosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61K—PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES
    • A61K9/00—Medicinal preparations characterised by special physical form
    • A61K9/48—Preparations in capsules, e.g. of gelatin, of chocolate
    • A61K9/50—Microcapsules having a gas, liquid or semi-solid filling; Solid microparticles or pellets surrounded by a distinct coating layer, e.g. coated microspheres, coated drug crystals
    • A61K9/5094—Microcapsules containing magnetic carrier material, e.g. ferrite for drug targeting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/733—Arrangement of the coils or magnets arranged only on one side of the patient, e.g. under a table
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment

Definitions

  • the present invention relates to a magnetic induction type drug delivery technique for guiding a therapeutic agent injected into a patient's body to a desired region such as an affected area using magnetism.
  • a technique that does not require as much skill as a catheter and is commonly used to administer a therapeutic agent to an affected area is a method of injecting the therapeutic agent into a blood vessel of a patient.
  • this method since the drug is administered intravenously, it is difficult to concentrate the drug on the affected area.
  • a method of guiding a drug to an affected area using magnetic force has been proposed.
  • Non-Patent Document 1 when a magnet is placed outside a tube having a branching portion and a drug containing ferromagnetic particles is caused to flow into the tube, many of the drugs containing ferromagnetic particles are intended by the magnet.
  • Non-Patent Document 1 THA12P009 "Three-Dimensional Motion Control System of Ferromag netic Particle for Magnetical ly Targeted Drug Delivery System F. Misnima et al. 1 9th International Conference on Magnet Technology, September, 2005, pl47 Disclosure of Invention
  • Non-Patent Document 1 shows the possibility of flowing a larger amount in the intended direction by a magnet in a blood vessel that branches a therapeutic agent containing magnetic particles.
  • problems to be solved for clinical application for example, a method for identifying a blood vessel bifurcation in a patient's body and a method for positioning a magnet with respect to the patient.
  • the present invention has been made in view of the above technical background, and an object of the present invention is a clinical method capable of efficiently guiding a drug administered into a patient's body to a desired region such as an affected area with magnetic force. It is an object of the present invention to provide a magnetic induction type drug delivery system suitable for the above.
  • the present invention has been made to solve such a problem, and is a magnetic induction type drag equipped with a magnetic field generation device that guides a magnetic drug administered into a blood vessel of a subject in a desired direction.
  • an intravascular branch position extracting means for extracting a branch position (intravascular branch position) in the blood vessel, and the intravascular branch position extracting means.
  • Intravascular vessel position information acquisition means for obtaining position information of the intravascular branch position in real space coordinates; and position information in real space coordinates of the intravascular branch position information obtained by the intravascular branch position information acquisition means.
  • a magnetic field generation device position setting means for setting the position of the magnetic field generation device in the vicinity of the intravascular branch position.
  • a nuclear magnetic resonance imaging apparatus (MRI apparatus), an X-ray CT apparatus, an X-ray imaging apparatus, an ultrasonic apparatus, or the like may be used as a medical image diagnostic apparatus that acquires a three-dimensional blood flow image.
  • the magnetic field generator can use a superconducting magnet or a normal conducting magnet.
  • a superconducting magnet is used as the magnet, and a magnet that can form a long and strong magnetic field outside the magnet, such as a magnet using a superconducting bulk material, is used. It is desirable.
  • FIG. 1 is a diagram for explaining the configuration of the magnetic induction type drug delivery system 1000 of the present embodiment.
  • a magnetic induction type drug delivery system 1000 includes an image analysis device 1100, a magnetic field generation device 1200, and a control device 220.
  • the image analysis device 1100 calculates the real space coordinates of the branch position of the arterial blood vessel connecting the heart and the affected area using the three-dimensional blood flow image of the patient imaged by the image diagnostic device 100.
  • a blood vessel branch position extraction processing unit 1110 that extracts an arterial blood vessel connecting a heart and an affected part from a 3D blood flow image of a patient, identifies a branch position of the extracted arterial blood vessel, and generates a blood vessel branch position information;
  • a coordinate conversion processing unit 1120 that converts the branch position information of the blood vessel generated by the intravascular branch position extraction processing unit 1110 into real space coordinates based on the position of a reference position marker provided on a part of the patient's body; Prepare.
  • the diagnostic imaging apparatus 100 an apparatus capable of three-dimensional blood flow imaging such as a nuclear magnetic resonance imaging apparatus (MRI apparatus), an X-ray CT apparatus, an X-ray imaging apparatus, and an ultrasonic apparatus is used. Can do.
  • MRI apparatus nuclear magnetic resonance imaging apparatus
  • X-ray CT apparatus an X-ray CT apparatus
  • ultrasonic apparatus an apparatus capable of three-dimensional blood flow imaging
  • the image analysis apparatus 1100 is assumed to be included in the control unit of the MRI apparatus.
  • the image analysis apparatus 1100 may be configured to be independent of the image diagnostic apparatus and connected to the image diagnostic apparatus 100. Also, it can be integrated with the control device 220! /.
  • the magnetic field generation device 1200 includes a magnet and applies a magnetic field to the blood vessel bifurcation to guide the magnetic drug administered into the blood vessel of the patient toward the affected area.
  • a superconducting magnet or a normal conducting magnet can be used as the magnet.
  • a magnet that is a superconducting magnet and can form a strong and long magnetic field outside the magnet such as a magnet using a superconducting bulk material, is used. It is desirable. Details of the magnet will be described later.
  • the magnetic field generator 1200 includes a magnet holding mechanism 200 that supports a magnet and can freely change the position and orientation of the magnet.
  • the control device 220 guides the magnetic drug administered into the blood vessel of the patient toward the affected area. Therefore, the position and orientation in which the magnet included in the magnetic field generator 1200 should be arranged are determined using the branching position of the blood vessel calculated by the image analysis apparatus 1100, and the magnet holding mechanism 200 is arranged so that the magnet is arranged in the determined position and orientation. Control. Details of the control device 220 will be described later.
  • FIG. 2 is a perspective view of the MRI apparatus 100.
  • the MRI apparatus 100 generally images a body tissue of a patient 2 as a subject using a nuclear magnetic resonance phenomenon, and is a space of a predetermined size in a space that accommodates the patient 2.
  • a gantry 110 including a radiation system and three sets of gradient magnetic field coils for generating a gradient magnetic field that gives a magnetic field gradient in three directions orthogonal to each other in the measurement space, and a patient 2 are mounted. And a bed 120 that is transported to and positioned in the measurement space. The operations of the irradiation coil, the gradient coil, and the bed 120 are controlled by a control unit 130 having a central processing unit (CPU).
  • Reference numeral 71 is a marker for specifying the position on the patient 2. Details of the marker 71 will be described later.
  • the control unit 130 includes an operation console 140 for an operator to input imaging parameters and operation commands, a display 150 as a display device for outputting processing results by the CPU, a mouse trackball and a joystick.
  • the position information input operation device 160 is connected.
  • the control unit 130 includes a receiving system including an amplifying unit, an AD converting unit, and a quadrature detecting unit, and a Fourier transform for imaging an MR signal acquired by MR measurement.
  • An image reconstruction unit comprising a plurality of units, and a storage unit for storing the various pulse sequences and the acquired MR signals and the reconstructed MR images.
  • the MRI apparatus 100 is provided with a gradient magnetic field power source for supplying electric power to the gradient coil, as a separate body from the gantry 110, the bed 120, and the control unit 130.
  • various pulse sequences including the RF pulse, the generation and application timing of the gradient magnetic field, and combinations thereof are stored as software.
  • the familiar pulse sequence is for 2D imaging, which is used to image 2D sections.
  • the MRI apparatus 100 is a pulse sequence for blood flow imaging that images the blood flow flowing through the body of the patient 2, for example, a phase sensitive method (PS method) pulse sequence, a phase contrast method (Phase Contrast method: PC method).
  • PS method phase sensitive method
  • Phase Contrast method Phase Contrast method: PC method.
  • Pulse sequence and other pulse sequences for landscape MRA landscape MR angiography: Contrast-enhanced MRA
  • multi-station MRA pulse sequence etc.
  • the arrangement of the magnetic induction type drug delivery system 1000 and the diagnostic imaging apparatus 100 is not particularly limited. However, it is desirable to have a configuration in which both of them are arranged adjacent to each other and the subject patient 2 can move smoothly between them.
  • FIG. 3 is a configuration diagram of the superconducting magnet 7 provided in the magnetic field generator 1200 of the present embodiment.
  • Superconducting magnet 7 is YBCO (oxide superconductor; YBa Cu
  • the coil wire 20a of the high-temperature superconducting conductor whose main component is O) is made of copper with a diameter of about 25 mm.
  • the bobbin 20b is composed of a solenoid magnet 21 having a large number of coils attached to the outside of the bobbin 20b.
  • the coil wire 20a composing the superconducting magnet 7 is fixed between the coil wires 20a by impregnation of the grease and is fixed to the bobbin 20b with an adhesive or the like.
  • the bobbin 20b is coupled to the heat transfer flange 22 made of copper, for example, with a bolt (not shown) or the like through a soft sheet having a high thermal conductivity such as indium, and is thermally integrated.
  • the heat transfer flange 22 is hermetically sealed with a material having a low heat conductivity, for example, a stainless steel cylindrical body 23 by welding, silver brazing, or the like, thereby realizing vacuum airtightness.
  • the other end of the heat transfer flange 23 is hermetically joined to the flange 24 by welding or the like, and the flange 24 is hermetically fixed with a bolt (not shown) through the flange 25 and 0 ring.
  • a refrigerator fixing flange 26 is hermetically integrated with the flange 25 by metallurgical bonding, and a gas flow path switching mechanism (not shown) between the refrigerator fixing flange 26 and the high-pressure gas and the low-pressure gas via a bellows 27 having a vacuum-tightness.
  • a Gifuord 'McMahon helium refrigerator 28 with a built-in ring is hermetically fixed with a 0 ring and a bolt (not shown).
  • the helium refrigerator 28 includes a helium gas compressor 29, a high pressure helium gas pipe 30, a low pressure helium gas Connected via pipe 31.
  • Connected to the helium refrigerator 28 are a cylinder 32 in which helium gas is adiabatically compressed and thermally expanded, and a cold stage 33 in a cold generating part.
  • a vacuum vessel cover 34 is disposed on the outer periphery of the solenoid magnet 21 for vacuum insulation.
  • the vacuum vessel cover 34 is hermetically fixed to the flanges 24 and 25 by a flange 35 via bolts (not shown).
  • a magnet position detector (position sensor) 61 for detecting the position of the superconducting magnet 7 and the direction of the magnetic flux generated by the solenoid magnet 21 is attached to the outer peripheral surface of the vacuum vessel cover 34.
  • this position sensor 61 a known magnetic sensor or optical sensor capable of detecting the center position and the three-axis directions is used.
  • a touch sensor 64 for detecting that the vacuum container cover 34 is in contact with a human body or a bed is attached to the outer surface of the vacuum container cover 34 facing the solenoid magnet 21.
  • the touch sensor 64 has a structure in which a conductive rubber is sandwiched between copper plates and when a predetermined pressure is applied to the conductive rubber, the copper plates sandwiching the rubber are electrically connected to generate a signal, or a light emitting diode. It is possible to use a structure in which photodiodes are arranged so as to face each other, and when an object is positioned between the light emitting diode and the phototransistor, light emitted from the light emitting diode is blocked and a signal is emitted.
  • the space 38 is evacuated, whereby the helium refrigerator 28 is pressed against the heat transfer flange 22 by atmospheric pressure.
  • a heat transfer medium such as an indium sheet or grease is provided, and the heat transfer flange 22 is cooled well by the cold of the cold stage 33 by the pressing force of the atmospheric pressure.
  • the superconducting magnet 21 is cooled to a very low temperature.
  • the magnet is driven.
  • a magnetic field of 5 Tesla is continuously applied to the solenoid center of the solenoid magnet 21. Can be generated.
  • the magnetic field distribution around the superconducting magnet 7 of the present embodiment is as shown in FIG. 7, and the axial direction of the magnet having the strongest magnetic field is near the center of the tip of the container housing the superconducting magnet 7. And the strength of the magnetic field decreases with increasing distance from the radial direction. That is, a magnetic gradient is generated in the axial direction and the radial direction of the superconducting magnet 7.
  • the flange 24 and the flange 35 can be integrated with the bolt 25 (not shown) independently of the flange 25.
  • the structural members attached to both the flanges 24 and 35 can be integrally formed and can be attached to and detached from the flange 25. That is, according to the magnet structure of the present embodiment, the structure on the superconducting magnet 7 side and the structure on the helium refrigerator 29 side for cooling can be separated. Therefore, even if the superconducting magnets 7 have different specifications, they can be used by being attached to the same helium refrigerator 29 as long as they are superconducting magnets that can be fixed to the same flange 24 (heat transfer part).
  • a superconducting magnet 7 is provided for each blood vessel branch portion in order to perform magnetic induction of the magnetic drug in each blood vessel branch portion.
  • Fig. 1 shows an example in which there are three branches of blood vessels up to the affected area. That is, the magnetic field generator 1200 of this embodiment includes three sets of the superconducting magnets 7 in order to perform magnetic induction of the magnetic drug at the three blood vessel branch portions.
  • Each superconducting magnet 7 includes a rail 10 laid on the floor of a treatment room on which a treatment bed 210 is placed, a drive unit storage box 11 movable on the rail 10 by drive wheels 12, and a drive It is supported by a magnet holding mechanism 200 comprising a column 80 standing upright on the upper surface of the section storage box 11 and a free arm 90 extending from the upper end of the column 80.
  • a magnet holding mechanism 200 comprising a column 80 standing upright on the upper surface of the section storage box 11 and a free arm 90 extending from the upper end of the column 80.
  • the drive unit storage button 11 stores a drive unit (not shown) including an electromagnetic brake motor for driving the drive wheels 12, a drive circuit, and a gear mechanism in the internal space.
  • the drive unit storage box 11 drives the motor by applying a noise voltage to the motor, and measures the rotation speed or rotation angle with an encoder, so that the moving distance of the drive unit storage box 11 is increased. You can control! /
  • the support column 80 is a hollow pillar fixed to the upper surface of the drive unit storage box 11 by screwing or welding or the like, and has a length so that the tip thereof is positioned at a predetermined height on the floor surface force. Is set.
  • an arm drive unit storage box 13 storing a free arm drive control mechanism (not shown) that controls the drive of the free arm 90 is disposed.
  • the self-arm 90 includes a first arm 14, a first rotary joint 15, a second arm 16, a second rotary joint 17, a third arm 18, and a third arm. And a superconducting magnet container holder 19 provided at the tip of 18.
  • the support column 80 may have a structure that can be expanded and contracted, and the height can be controlled by a drive control mechanism.
  • the expandable structure for example, a double cylindrical structure having a mechanism in which the inner cylinder moves up and down with respect to the outer cylinder by hydraulic pressure or the like can be adopted.
  • the support column 80 may be configured to be manually movable. In this case, the control device 220 described later detects the movement amount from the rotation amount of the wheel of the drive unit storage box 11 to which the support column 80 is screwed.
  • FIG. 1 Helium refrigerator 29, vacuum pump 39, excitation power supply 44 and magnet drive control shown in FIG.
  • the circuit (not shown) is arranged in the drive unit storage box 11, and the high-pressure helium gas pipe 30, the low-pressure helium gas pipe 31, and the power lead wire 45 pass through the arm drive unit storage box 13 in the column 80 and at the top of the column, They are bundled and stored in a protective tube 46 made of, for example, a bellows-like polymer material having flexibility, and connected to the superconducting magnet container 7.
  • the protection tube 46 is held by a support ring 47 installed on each arm.
  • a magnet that supports the superconducting magnet 7 located in the patient's lower limb direction among the total three sets of superconducting magnets 7 provided for each extracted or identified blood vessel bifurcation, a magnet that supports the superconducting magnet 7 located in the patient's lower limb direction.
  • the height of the support 80 of the holding mechanism 200 is set lower than the others, but the height of each support 80 may be set as necessary, or the height of the support 80 is changed.
  • the arm drive unit storage box 13 may be provided so as to be movable in the vertical direction on the side of the column, so that the movable range of the own arm 90 can be expanded.
  • the control device 220 receives the position information of the blood vessel bifurcation in the patient obtained by the image analysis device 1100, determines the arrangement position and direction of the superconducting magnet 7 attached to the universal arm 90, and determines the determined position.
  • the position of the drive unit storage box 11 (the column 80) and the movement of the universal arm 90 are controlled so as to be arranged in the direction.
  • a cable is connected from the control device 220 to the drive unit storage box 11 to supply power and control signals from the control unit 220 to the drive unit storage box 11 and the arm drive unit storage box 13.
  • Supply of power and control signals to the arm drive unit storage box 13 is relayed by the drive unit storage box 11 and is performed through a cable extending to the arm drive unit storage box 13 along the inner wall or outer wall of the support column 80. Is called.
  • signal transmission by radio signals between the control device 220, the drive unit storage box 11 and the arm drive unit storage box 13 is performed for the supply of control signals regardless of the power supply.
  • a mechanism such as a signal transmission mechanism using electromagnetic waves or infrared rays can be used.
  • the control device 220 includes a memory and a CPU, and each control is realized by the CPU executing a program stored in the memory in advance.
  • FIG. 11 is a flow of magnetic induction drug delivery processing realized by the operation of the magnetic induction type drug delivery system 1000 of the present embodiment.
  • This implementation In the form, it is assumed that the diseased part of the patient has already been identified by the image diagnosis and pathological diagnosis performed in advance. If it is not specified, the patient is imaged in advance using a diagnostic imaging device such as an MRI device, X-ray CT device, X-ray imaging device, ultrasound diagnostic device, or PET (Positron Emission Tomography) device. In addition, pathological diagnosis is also performed to identify the diseased part.
  • a diagnostic imaging device such as an MRI device, X-ray CT device, X-ray imaging device, ultrasound diagnostic device, or PET (Positron Emission Tomography) device.
  • pathological diagnosis is also performed to identify the diseased part.
  • a 3D blood flow image of the region from the heart to the affected part is acquired (3D blood flow image acquisition process: step 2000).
  • This processing is performed by the diagnostic imaging apparatus 1100.
  • the MRI apparatus 100 is used. Since the magnetic drug injected intravenously flows through the route of vein ⁇ heart ⁇ lung ⁇ heart ⁇ artery ⁇ blood vessel bifurcation ⁇ affected area, the operator can determine the position of the blood vessel bifurcation between the heart and the affected area. This is because it is required to grasp it as spatial data.
  • the operator places the patient 2 on the bed 120 of the MRI apparatus 100, and allows the patient 2 to statically image the region from the heart to the diseased part as an ROI (Region of Interest). Determine the position of the magnetic field generating magnet in the measurement space. Then select the 3D blood flow imaging pulse sequence and prepare for MR imaging. 3D blood flow imaging only needs to be able to depict blood vessels up to the heart force disease area and blood vessels branching between them, so an MR contrast agent containing gadolinium can be applied to the patient prior to imaging. You can inject it into your mouth and don't pour it.
  • ROI Region of Interest
  • the maximum FOV (FieldofView) in one imaging of the MRI apparatus 100 is limited by the size of the uniform magnetic field of the static magnetic field generating magnet, the ROI of 3D blood flow imaging exceeds the maximum FOV of the MRI apparatus 100 In this case, it is necessary to divide the imaging into multiple times. In such a case, imaging techniques such as the multi-station MRA method and MOTSA (Multi-Overlapping thin Slab Acquisition) method can be used.
  • the imaging parameters (FOV, slab thickness, image matrix size, T1 or T2 etc.) are set, and the superconducting magnet 7 described later (in real space) is controlled.
  • the marker 71 is composed of a thin tubular body 72 enclosing a medium suitably sensitive to the nuclear magnetic resonance phenomenon, for example, water, and a position information transmitting device 73 coupled to the tubular body 72.
  • the position information transmitter 73 for example, a magnetic transmitter of a magnetic sensor or an infrared transmitter of an optical sensor can be used. Further, the position information transmission device 73 may be configured to be detachable from the marker 71.
  • the tubular body 72 in which water is sealed is within the FOV of MR imaging, and when the patient is viewed in plan (synonymous with imaging in the supine position) The affected part and the tubular body 72 are placed in such a position that they do not overlap with each other so that they are reflected in the three-dimensional blood flow image.
  • the operator inputs an imaging start command from the operation console 140.
  • the control unit 130 controls the irradiation system, the gradient magnetic field power source, and the reception system, and performs irradiation of the RF pulse, application of the gradient magnetic field, and reception of the MR signal.
  • Imaging performed in advance according to the pulse sequence 3D MR signal measurement for 3D blood flow imaging (3D blood flow measurement), that is, MR signal, phase encoding, frequency encoding, scanning Performs 3D measurement with rice encoding.
  • MR signals obtained by 3D blood flow measurement are stored for each measurement in the memory area corresponding to 3D k-space.
  • the control unit 130 performs 3D Fourier transform on the MR signal stored in the memory space, and performs image reconstruction.
  • a three-dimensional blood flow image is obtained as described above.
  • the three encoding directions are the body axis direction of the patient placed in the real space, the two directions orthogonal to the body axis, for example, the direction parallel to the bed and the direction orthogonal thereto.
  • the three-dimensional position information corresponding to the real space is obtained by making them correspond to the three directions.
  • the distance in the 3D image can be easily converted to the distance in the real space using the predetermined length of the real space for one pixel (pixel) in the 3D blood flow image.
  • the image analysis apparatus 1100 identifies the vascular system that is connected to the affected area from the heart on the acquired three-dimensional blood flow image, and extracts the vascular bifurcation on the identified vascular system (vascular divergence). Part extraction processing: step 2010).
  • the 3D blood flow image is sent to the image analysis apparatus 1100 built in the control unit 130 of the MRI apparatus 100 and displayed on the screen of the display 150.
  • the 3D blood flow image is displayed on the display screen of Display 150.
  • the control device 130 gives the three-dimensional blood flow image a three-dimensional coordinate system that is orthogonal to the real space coordinate system where the magnetic induction type drug delivery system 1000 is placed.
  • FIG. 4 shows a 3D blood flow image of patient 2 obtained by the MRI apparatus 100. The procedure of the blood vessel bifurcation extraction process will be described with reference to FIG.
  • the image analysis device 1100 When the 3D blood flow image is sent to the image analysis device 1100, the image analysis device 1100 first identifies and extracts a blood vessel system connecting the heart 300 and the affected area 310 on the 3D blood flow image.
  • the image analysis apparatus 1100 identifies and extracts the vascular system that connects the heart 300 and the affected part 310, and extracts a known blood flow region between two points, the point A near the heart 300 and the point B near the affected part 310. For example, it is performed by the region expansion method (the region growing method).
  • the points A and B are designated by the operator visually observing the three-dimensional blood flow image displayed on the display 150 and manually operating the position information input operator 160. For example, specify with the cursor or enter the coordinates of point A and B.
  • the image analysis apparatus 1100 extracts and specifies the branch (blood vessel branch) in the extracted blood vessel system. .
  • the blood vessel branch portion specified here becomes a target of the superconducting magnet 7.
  • One is a method in which an operator extracts and identifies a blood vessel bifurcation while observing a three-dimensional blood flow image displayed on the display 150.
  • the blood vessel bifurcation is extracted by the operator visually observing the three-dimensional blood flow image, and using the position information input device 160, the blood vessel bifurcations Nl and N2 are moved with the cursor as shown in FIG. Or, specify by inputting coordinate points Nl and N2.
  • the image analysis apparatus 1100 receives the designation of the blood vessel bifurcation from the operator and stores the coordinates. Note that it may be difficult to view even if the 3D blood flow image data is displayed at normal magnification. In that case, you may enlarge the small area including the blood vessel bifurcation to facilitate the above input operation.
  • the operator specifies the marker by visual observation on the three-dimensional blood flow image displayed on the screen of the display 150, and uses the position information input device 160 to locate the marker position with the cursor. Or, specify by inputting the coordinate point X that specifies the marker position.
  • the image analysis device 1100 receives the marker position specified by the operator and coordinates Remember.
  • the extraction and specification of the blood vessel bifurcation may be performed by the image analysis apparatus 1100 itself. This method will be described with reference to FIG. First, as described above, the blood vessel (blood flow) system connecting the heart 300 and the affected part 310 is specified and extracted by the points A and B as described above. The center line extraction processing of all blood vessels including the branch blood vessels of the extracted blood vessels is executed. Then, from all the points (this is a branch point) where the arterial line connecting the heart 300 and the affected part 310 intersects the branch line, for example, branch points Ml, M2, and M3 shown in FIG. Only the branch points Ml and M2 located on the blood vessel connecting 300 and the affected part 310 are selectively left as a blood vessel branch part, and the remaining branch points are excluded. Through the above processing, the necessary blood vessel bifurcation can be extracted and specified in the present embodiment. A technique for extracting a blood vessel bifurcation by centerline processing is disclosed in Patent Document 3.
  • Patent Document 3 Japanese Unexamined Patent Publication No. 2006-42969
  • the image analysis device 1100 When the blood vessel branch is extracted and specified by the image analysis device 1100, the image analysis device 1100 performs the above-described processing when receiving an instruction for the operator force to also extract and specify the blood vessel branch, and this embodiment Extract and identify necessary blood vessel bifurcations and store them. Also in this case, the image analysis apparatus 1100 accepts and stores the input of the marker position as the reference position.
  • the image analysis apparatus 1100 may be configured to detect the marker position.
  • a marker is composed of a member that shows a specific signal intensity on the screen (having a characteristic shape such as a triangle or quadrangle filled with a substance such as water or magnetic substance), and its position is automatically processed by image processing. recognize.
  • the analysis device 1100 calculates the coordinates of the blood vessel bifurcation Nl, N2, ⁇ or Ml, M2, ⁇ on the 3D blood flow image space with reference to the coordinate X of the marker in the real space (Real space coordinate transformation processing: Step 2020).
  • the blood vessel bifurcation located at, that is, the target of the superconducting magnet 7 can be extracted and identified on the 3D blood flow image.
  • the obtained coordinates in the real space of each blood vessel branch are stored in association with information for specifying the blood vessel branch.
  • the reference coordinate may be configured to directly input a real space coordinate at a position corresponding to the position of the marker 71.
  • the image analysis apparatus 1100 calculates the real space coordinates of each blood vessel bifurcation using the coordinates received by the operator.
  • the marker 71 tubular body 72
  • the marker 71 does not have to be provided when photographing a three-dimensional blood flow image.
  • the image analysis device 1100 transmits the extracted information of each blood vessel branching unit to the control unit 220.
  • the control unit 220 determines the direction (arrangement direction) of the superconducting magnet 7 for each blood vessel bifurcation using the received information, that is, the direction of the center of the magnetic flux by the superconducting magnet 7 (arrangement direction determination process: step 2030). ).
  • the control unit 220 determines the direction (arrangement direction) of the superconducting magnet 7 for each blood vessel bifurcation using the received information, that is, the direction of the center of the magnetic flux by the superconducting magnet 7 (arrangement direction determination process: step 2030). ).
  • information on the traveling direction of the blood vessel at each blood vessel branching portion is required. This is because the superconducting magnet 7 attracts the magnetic drug in the blood vessel branching direction toward the affected blood vessel.
  • processing performed by the control unit 220 to determine the arrangement direction of the superconducting magnet 7 will be described with reference to FIG.
  • the control unit 220 determines the center point of the blood vessel located at a predetermined distance from the blood vessel branching portion Nn upstream and downstream of the blood vessel branching portion Nn. They are defined as Un and Dn, respectively. Then, an isosceles triangular plane including three points (Un, Nn, Dn) is specified.
  • a straight line that bisects the angle (vertical angle) between the side (Un, Nn) and the side (Dn, Nn) forming the isosceles triangular plane is obtained on the isosceles triangular plane, and the side (Un, Dn Let Cn be the point that intersects).
  • the direction of the straight line (Nn, Cn) is determined as the arrangement direction of the superconducting magnet 7, that is, the center direction of the magnetic flux by the superconducting magnet 7 ⁇ .
  • the superconducting magnet 7 has its magnetic flux center aligned with the straight line (Nn, Cn) and approaches the body surface of the patient 2 on the extension of the straight line (Nn, Cn) on the point Cn side on the 3D blood flow image. (Fn: Arrangement position) will be arranged. Note that Un and Dn may be configured to be input by the operator. Alternatively, the operator may designate the arrangement direction of the superconducting magnet 7 on the screen.
  • the control unit 220 receives an operator input and determines the arrangement position Fn and the arrangement direction of the superconducting magnet 7.
  • the force on which the superconducting magnet 7 is desirably arranged so that the straight line (Nn, Cn) coincides with the magnetic flux center of the superconducting magnet 7 is formed by the three-dimensional unevenness on the human body surface. Therefore, if the superconducting magnet 7 is arranged on the straight line (Nn, Cn), the distance between the superconducting magnet 7 and the blood vessel branch may be too far. In such a case, considering that the direction of the superconducting magnet 7 is directed to the blood vessel bifurcation, the magnetic flux center may be slightly shifted by a straight (Nn, Cn) force.
  • the control unit 220 executes the above processing for all the blood vessel branch portions on the blood vessel connecting from the heart 300 to the affected part 310, and determines the arrangement direction of the superconducting magnet 7 in each blood vessel branch portion.
  • the control unit 220 stores the determined arrangement direction in association with information and coordinates that specify each blood vessel branch portion Nn.
  • each superconducting magnet 7 is determined by the distance between the initial position of each superconducting magnet 7 and the position Fn, and is determined by the operator's instruction. May be.
  • the one where the initial position of the superconducting magnet 7 in the real space is closest is assigned to each blood vessel bifurcation or each arrangement position Fn.
  • the control device 220 arranges each superconducting magnet 7 in the determined position and direction. (Positioning process: Step 2040). Hereinafter, the positioning process will be described.
  • Patient 2 is placed on the bed 210 of the magnetically guided drug delivery system 1000 shown in FIG. 1 in the same position as when the 3D blood flow image was acquired, and the magnetically guided drug delivery system 1000 is powered on.
  • the magnetic induction type drug delivery system 1000 The control device 220 operates, and data relating to the target, arrangement position, and arrangement direction of the superconducting magnet 7 is acquired from the image analysis apparatus 1100.
  • the data regarding the target of the superconducting magnet 7 to be captured specifies the arrangement position Fn of the superconducting magnet 7 in the real space and the direction (straight line (Nn, Cn)) in which the magnetic flux center of the superconducting magnet 7 is directed.
  • Each vector is data based on the marker 72.
  • the control device 220 generates control data for moving each superconducting magnet 7 from the current position and orientation to the arrangement position and arrangement direction obtained by the arrangement direction determination process. Therefore, first, the control device 220 determines the current position (initial position) of the superconducting magnet 7 in the real space coordinate system with the marker 72 provided on the body of the patient 2 as the reference position (coordinate origin) and the superconducting magnet 7. Direction (initial direction) is detected. The detection is performed by the position sensor 61 attached to the container of the superconducting magnet 7 shown in FIG. 3 detecting its own position and direction with respect to the position sensor (for reference position) 73 provided on the marker 72.
  • the control device 2 20 calculates the difference between the output (initial position and initial direction) of the position sensor 61 of the superconducting magnet 7 and the data (coordinates of the blood vessel bifurcation and the arrangement direction of the superconducting magnet 7) acquired from the image analysis device 1100. Control data is generated.
  • the control device 220 controls the superconducting magnet 7 so that the position and orientation of the superconducting magnet 7 are set to the placement position and orientation determined by the image analysis device 1100 according to the generated control data. Specifically, by controlling the universal arm drive control mechanism, the position of the support 80 and the position and direction of the superconducting magnet 7 attached to the universal arm 90 are controlled, and the superconducting magnet 7 is brought into the arrangement position. The direction is close and the direction is the arrangement direction.
  • the control detects the current position (initial position) and direction (initial direction) of the superconducting magnet 7 at predetermined time intervals, and takes the difference between the coordinates of the arrangement position and the vector indicating the arrangement direction, respectively. Thus, the control data is generated, and the superconducting magnet 7 is repeatedly moved according to the control data. When the difference becomes 0, the control device 220 determines that the positioning has been completed and ends the control.
  • a touch sensor (contact detector) 64 provided at the tip of the container of the superconducting magnet 7 is used. These outputs are also used to control the position and direction of the superconducting magnet 7. For example, in the range where first the superconducting magnet 7 does not contact the patient, only the arrangement direction is matched by feedback control, and then the superconducting magnet 7 is moved closer to the blood vessel bifurcation until there is an output from the touch sensor 64. Move and control the arm 90.
  • Step 2050 the control device 220 operates the superconducting magnet 7.
  • a signal for operating superconducting magnet 7 is output from control device 220 to a magnet drive control circuit provided in drive unit storage box 11.
  • the magnet drive control circuit receives the signal, operates the helium refrigerator 28, cools the inside of the superconducting magnet 7, and supplies current from the excitation power source 44 to the coil 20a of the superconducting magnet 7, thereby superconducting.
  • a magnetic field (magnetic flux) is generated in the magnet 7. Magnetic flux generated from the superconducting magnet 7 penetrates into the body of the patient 2 and causes a magnetic gradient in the depth direction of the body at the blood vessel bifurcation.
  • the control device 220 notifies the operator by an indicator that the superconducting magnet 7 is operated and the magnetic induction type drug delivery system 1000 is on standby.
  • the operator confirmed by the indicator injects the magnetic drug from the predetermined vein position of the patient 2.
  • the magnetic drug injected intravenously flows in the order of the injection position ⁇ the vein ⁇ the heart ⁇ the lung ⁇ the heart ⁇ the plurality of arteries including the target artery.
  • FIG. 7 when the magnetic drug 6 diverted to the target artery 4 approaches the blood vessel bifurcation 5 where the superconducting magnet 7 is placed, it is affected by the magnetic field (magnetic flux) 8 by the superconducting magnet 7.
  • the magnetic induction type drug delivery system 1000 of the present embodiment a magnetic drug can be guided toward a desired branched blood vessel at a blood vessel branching portion.
  • the magnetic drug 6 flowed while changing the position to the blood vessel wall side on the side where the superconducting magnet 7 is located in the blood vessel 4 Some are super It has been confirmed that the magnetic agent 6 is attracted by the magnetism of the conductive magnet 7 and stays on the wall surface in the blood vessel 4 facing the surface of the superconducting magnet 7 on the touch sensor 64 side, and the remaining magnetic drug 6 flows along with the blood toward the affected area.
  • the first portion of the magnetic drug 6 reaches the blood vessel bifurcation 5 and a certain amount of time has passed, the amount of the magnetic drug 6 that stays increases.
  • the first method is a method in which the superconducting magnet 7 is moved away from the blood vessel branching portion 5 (in the direction of arrow E in FIG. 7) to remove or weaken the magnetic gradient in the blood vessel branching portion 5.
  • a superconducting magnet 7 positioned at the blood vessel bifurcation 5 is moved along the blood vessel in the direction of the affected area or in a straight line substantially parallel to the blood vessel, or in an arc shape (in the direction of arrow F or arrow G in FIG.
  • the magnetic drug 6 staying in the blood vessel bifurcation 5 is caused to flow into the blood vessel 4a connected to the affected area by the suction force generated by the superconducting magnet 7. Whether these two methods are adopted can be appropriately selected depending on the blood flow rate.
  • the method of V and deviation is also realized by incorporating software for instructing the superconducting magnet 7 to perform each operation in the self-arm drive control mechanism.
  • the first arm 14, the second arm 16, the third arm 18, the first rotary joint portion 15, and the second rotary joint portion 16 of the free arm 90 are attached to each other.
  • Software that repeats the operation of moving the superconducting magnet 7 toward and away from the blood vessel branching portion in the direction of the straight line (Nn, Cn) in a predetermined time cycle is incorporated in the free arm drive control mechanism.
  • the second method the above-described components of the free arm 90 are driven and controlled to draw a circular arc parallel to a straight line (Nn, Dn) on the isosceles triangular plane.
  • the path for returning the superconducting magnet 7 to the original blood vessel bifurcation 5 may be the same as the forward path, but if possible, the superconducting magnet 7 should be made to be the largest distance comprising the blood vessel bifurcation 5. It is preferable to move the carriage back and forth.
  • the retraction and proximity movement of the superconducting magnet 7, the linear movement and return, or A blood flow pulsation cycle is preferably used as a time cycle for performing each of the arc movement and return operations.
  • the superconducting magnet 7 is held close to the blood vessel bifurcation 5 during a period when the blood flow is slow during the pulsation cycle of the blood flow, and the superconducting magnet 7 is attached to the blood vessel bifurcation 5 when the blood flow becomes fast.
  • the magnetic drug 6 can be effectively guided toward the affected area. This has been confirmed experimentally by the present inventors.
  • the reason for this is that when the blood flow is delayed, the superconducting magnet 7 is held close to the blood vessel bifurcation 5 so that the magnetic drug 6 stays near the superconducting magnet 7 on the side of the blood vessel wall, It is thought that by moving the superconducting magnet 7 when the blood flow becomes fast, the staying magnetic drug 6 is pushed away toward the blood vessel connected to the affected part by the fast-flowing part in the center of the blood flow. It is done.
  • the stop holding period and the movement start timing in the movement cycle of the superconducting magnet 7 can be set by combining an electrocardiograph and an ultrasonic device with a Doppler measurement function. For example, by measuring the R wave of the electrocardiogram of patient 2 with an electrocardiograph and measuring the blood flow in the blood vessel bifurcation 5 depicted by the probe of the ultrasonic device, the R wave measurement time point The time until high-speed blood flow arrives at the blood vessel bifurcation 5 can be measured.
  • an electrocardiographic probe is attached to the patient 2 to perform electrocardiogram measurement, and the R-wave measurement time force measured by the electrocardiograph is also measured.
  • the control unit 220 is notified of the result.
  • the control device 220 is incorporated in the universal arm control mechanism so that the time delayed by the arrival time of the high-speed blood flow measured by the electrocardiograph becomes the movement start time of the superconducting magnet 7. Control the software to work.
  • the system is configured to be controllable so that the magnetic induction process is continuously performed for a predetermined time. For example, if the blood circulation cycle time is several tens of seconds, the blood circulates through the lower extremity with the most heart force and returns to the heart. The range is about the cycle.
  • the control device 220 is provided with a timer capable of setting the time for which the magnetic induction process is continued, so that the time for which the magnetic induction process is continued can be variably set.
  • the drug that has flowed to the organ other than the affected part at the beginning of the injection also flows into the affected part over time while repeating the circulation in the body.
  • the drug is taken up so that it accumulates in the affected cancer cells and tumor cells.
  • a predetermined magnetic field can be generated at one or more branch points on the blood flow path based on the information on the three-dimensional position of the blood vessel at each branch point, the size of the blood vessel, and the blood flow velocity. Since the position and angle (arrangement direction) of the correct magnet can be calculated and the magnet can be set at the calculated position and angle, the induction rate of magnetic drug particles to a predetermined affected area such as cancer cells can be increased. it can.
  • a magnet is placed on the side of the blood vessel branch before the blood vessel branch, and the target blood vessel branch is in the blood. You may comprise so that it may attract to the near side.
  • the magnetic susceptibility and volume of the magnetic drug to be administered may be considered.
  • the magnet is shifted from the branch position to the downstream side and the magnetic field gradient is set to face the downstream side.
  • the magnet is placed near the branching position.
  • the magnetic field is applied so as to induce the magnetic drug in one direction at the branching portion of the blood vessel, rather than concentratedly applying the magnetic field directly to the affected part. Therefore, the magnetic induction rate of the drug can be improved, and the induction rate of the magnetic drug to the affected area of a predetermined cancer cell can be increased by using a small solenoid coil magnet.
  • the helium refrigerator can be shared as a plurality of superconducting magnet coolers, so there is no need to provide a helium refrigerator for each superconducting magnet. Therefore, since the system can be realized with a small number of helium refrigerators, the magnetic induction type drug delivery system 1000 can be reduced in size.
  • the magnetic induction type drag delivery system 1000 of this embodiment is different from the first embodiment in that a superconducting magnet is formed of a superconducting Baltha body.
  • the following description will focus on differences from the first embodiment.
  • FIG. 8 shows a configuration of a superconducting magnet 7 (hereinafter referred to as a superconducting Balta magnet 7 in this embodiment) used in the magnetic induction type drug delivery system 1000 according to the second embodiment of the present invention.
  • the high temperature superconducting Balta body 48 of YBCO system is used as the magnetic field generating means instead of the solenoid coil used in the first embodiment, and the high temperature directly in a small refrigerator.
  • a structure for cooling the superconducting Balta body 48 is employed.
  • the outer periphery of the high-temperature superconducting Balta body 48 is integrated with a stainless steel or aluminum ring 49 with an adhesive or the like, and when the high-temperature superconducting Balta body 48 is magnetized, a crack is generated by its own magnetic force. To prevent that.
  • the high-temperature superconducting Balta body 48 and the ring 49 are thermally integrated by being bonded to a heat transfer flange 50 made of copper or aluminum-um with an adhesive or the like.
  • the heat transfer flange 50 and the heat transfer flange 43 are They are joined together with bolts (not shown) via an indium sheet or grease (not shown) and are thermally integrated!
  • the cooling method of the high-temperature superconducting Balta body 48 by the helium refrigerator cold stage 33 is the same as the method of cooling the solenoid magnet 21 described in the first embodiment.
  • a magnetizing superconducting magnet that generates a predetermined magnetic field to be magnetized, for example, a magnetic field of 10 Tesla.
  • the generated magnetic field force and a normal conducting magnet are required, and these are prepared separately (both magnets are not shown).
  • the superconducting Balta magnet 7 incorporating the high-temperature superconducting bulk body 48 is inserted into the magnetic field of the magnetizing magnet, and then the helium refrigeration is performed.
  • the high-temperature superconducting Balta body 48 is cooled below the superconducting temperature by the machine 28.
  • the direction of the cylindrical axis of the superconducting Balta body 48 and the direction of the main magnetic field by the magnetizing magnet must be matched.
  • the high-temperature superconducting Balta body 48 that continues to be cooled As long as the magnetic field is captured in 48 and cooling is maintained, the high-temperature superconducting Balta body 48 becomes a superconducting Balta magnet that generates a magnetic field equivalent to the magnetic field generated by the magnetizing magnet.
  • the high temperature superconducting bulk material 48 that captures a high magnetic field of 5 to 10 Tesla, for example, is used as the magnetic field generating means.
  • the magnetic field distribution of the superconducting Balta magnet magnetized in this way is formed by a group of micro magnetic fluxes distributed almost uniformly.
  • the magnetic field distribution on the surface thereof is substantially conical, and becomes almost zero at the outer peripheral portion where the magnetic field at the center is strongest. That is, the central force of the high-temperature superconducting Balta body 48 is also directed in the radial direction to form a very large magnetic gradient.
  • the central axis of the superconducting Balta magnet 7 is set in the arrangement direction determined in the first embodiment.
  • the magnetic agent 6 that has flowed into the magnetic field 8 formed by the high-temperature superconducting Balta body 48 is naturally magnetically induced toward the center of the high-temperature superconducting Balta body 48 having a large magnetic gradient.
  • the administration rate of the administered magnetic drug 6 to the affected area such as a predetermined cancer cell is high. There is an effect that can be guided with.
  • the superconducting Balta body 48 is used as the magnetic field generating means.
  • the superconducting Balta body 48 can be easily magnetized to the vicinity of 10 Tesla, and has a large magnetic field decay rate in the direction away from the surface. That is, since the superconducting Balta magnet 48 is used for the superconducting Balta magnet 7, the superconducting Balta magnet 7 of the present embodiment has a large magnetic field attenuation rate with respect to the direction in which the surface force of the superconducting Balta body 48 moves away, and the magnetic field strength. Is much larger than other magnets such as permanent magnets.
  • the magnetic field distribution on the surface of the superconducting Balta magnet 7 can be made equal in intensity, and the magnetic field distribution in the space near the superconducting Balta magnet 7 can be made conical.
  • the superconducting Balta magnet 7 can form a magnetic field with a high strength and a narrow region where the strength is maximized. Therefore, the magnetic drug 6 in the blood is accurately guided in the guiding direction at the blood vessel bifurcation 5. The effect that can be sucked is born.
  • each of three-dimensional blood flow image acquisition processing, blood vessel bifurcation extraction processing, real space coordinate application processing, placement direction determination processing, positioning processing, and magnetic guidance processing is performed in the same manner as in the first embodiment, using the superconducting Balta magnet 7 instead of the superconducting magnet 7.
  • the magnetic induction type drug delivery system of this embodiment is different from that of the second embodiment in the cooling structure of the superconducting Balta magnet. That is, in the superconducting Balta magnet 7 of this embodiment, as shown in FIG. 10, the YBCO-based high-temperature superconducting Balta body 48 and the helium refrigerator 52 are separated. In the present embodiment, the helium gas power of the working refrigerant is cooled by the cooling heat exchange stage 56 of the helium refrigerator 52 and transported through the flexible vacuum insulation pipe 51 to cool the high-temperature superconducting Balta body 48. It has a structure. Only the differences from the second embodiment will be described below.
  • the helium refrigerator 52 is connected to the helium gas compressor 53 through a high pressure gas pipe 54 and a low pressure gas pipe 55, and the cooling stage 56 is cooled to an extremely low temperature by the operation of the helium gas compressor 53.
  • the helium gas of the working refrigerant is pressurized by the helium gas compressor 57, controlled to a predetermined flow rate by the flow rate adjusting valve 58, passes through the high-pressure pipe 59, and is exchanged in the vacuum heat insulating container 60. Flows into vessel 81.
  • the working refrigerant cooled to a low temperature in the heat exchanger 81 is further cooled in a heat exchanger thermally integrated with the cooling stage 56, and is a cryogenic working refrigerant having a temperature of minus 240 degrees Celsius. It becomes.
  • the working refrigerant having reached a very low temperature passes through a pipe 63 disposed in the vacuum space in the vacuum heat insulating pipe 51, and cools the cooling heat exchange stage 64 to a cryogenic temperature.
  • the working refrigerant whose temperature has risen passes through the pipe 65 and flows into the heat exchanger 81, cools the working refrigerant in the high-pressure pipe 59, and connects the low-pressure pipe 66. Return to the helium gas compressor 57 and pressurize again.
  • a laminated heat insulating material 67 is wound around the pipes 63 and 65 to prevent radiant heat.
  • the cooling heat exchange stage 64 is supported by, for example, an oleaginous cylinder 69 fixedly supported by a flange 68 that hermetically fixes an end of the vacuum heat insulating pipe 51.
  • the cylindrical body 69 is elastic in its axial direction, and the cooling heat exchange stage 64 is thermally pressed against the heat transfer flange 22 through a heat conductor such as indium or grease.
  • a heat conductor such as indium or grease.
  • the container of the superconducting magnet 7 can be used closer to the body surface of the patient 2 even in a part where the installation space of the superconducting magnet 7 is limited, such as a part having the concave and convex portions of the patient 2, such as the neck. it can.
  • the magnetic force acting on the magnetic drug 6 can be increased even when there is a blood vessel branch in the uneven part of the body, so that the magnetic drug 6 is guided to the affected area. Probability can be increased, and the proportion of magnetic drug 6 that can be guided to the affected area can be increased.
  • each process of 3D blood flow image acquisition processing, real space coordinate addition processing, blood vessel branching portion extraction processing, arrangement direction determination processing, positioning processing, and magnetic guidance processing The superconducting Balta magnet 7 is used instead of the superconducting magnet 7 and is performed in the same manner as in the first embodiment.
  • the target of the superconducting magnet is a blood vessel branch portion extracted and specified by the method described in each embodiment.
  • the superconducting magnet target position should be set upstream or downstream of the blood vessel bifurcation depending on the blood flow velocity, not necessarily the blood vessel bifurcation.
  • the position to be the target of the superconducting magnet may be determined by experiment or the like, the difference from the actual position of the blood vessel bifurcation may be obtained as a correction value, and the obtained correction value may be applied.
  • a case where a Gifud-McMahon type refrigerator is used as a refrigerator that cools a superconducting solenoid magnet or a high-temperature superconducting Baltha body directly or via a working refrigerant is taken as an example.
  • an electronic refrigerator, a solvey refrigerator, a pulse tube refrigerator, a Stirling refrigerator, an acoustic refrigerator, or the like can be used as a refrigerator.
  • the present invention is not limited thereto.
  • a high-temperature superconducting material made of Gd-based material is used for a coil wire or a balta body It is possible to provide the same or higher magnetic force, and further increase the proportion of the magnetic drug that can be guided to the affected area by further improving the magnetic force.
  • the superconducting magnet is described as an example where the superconducting magnet is attached to a free arm supported by a pillar mounted on a carriage traveling on the floor. It is also possible to adopt a structure that supports the above.
  • a 3D blood flow image of a patient is acquired by an MRI apparatus.
  • an image acquired by the MRI apparatus has some distortion due to the magnetic field uniformity of the measurement space.
  • the ability to take countermeasures against it, or the patient's 3D blood flow image is acquired with an X-ray imaging device, X-ray CT device or ultrasonic diagnostic device without image distortion.
  • image distortion corrected value
  • the correction value is removed from the acquired three-dimensional blood flow image.
  • FIG. 1 is a perspective view showing a configuration of a magnetic induction type drug delivery system in a first embodiment of the present invention.
  • FIG. 2 is a perspective view showing a configuration of a nuclear magnetic resonance imaging apparatus that acquires a three-dimensional blood flow image of a patient in the first embodiment of the present invention.
  • FIG. 3 is a partial cross-sectional view showing a configuration of a superconducting magnet used in the magnetic induction type drug delivery system according to the first embodiment of the present invention.
  • FIG. 4 is a view for explaining an example of a process for extracting and specifying a blood vessel bifurcation portion of a patient according to the first embodiment of the present invention.
  • FIG. 5 is a diagram for explaining an example of a process for automatically extracting and specifying a blood vessel bifurcation portion of a patient's three-dimensional blood flow image.
  • FIG. 6 is a diagram for explaining an example of a process for setting the arrangement direction of the superconducting magnet according to the first embodiment of the present invention.
  • FIG. 7 is a view for explaining the action of a superconducting magnet on the magnetic drug flowing in the blood vessel according to the first embodiment of the present invention.
  • FIG. 8 is used in the magnetic induction drug delivery system according to the second embodiment of the present invention.
  • FIG. 9 is a view showing a state where magnetism generated by the superconducting Balta magnet according to the second embodiment of the present invention acts on a magnetic drug at a blood vessel branching portion.
  • FIG. 10 is a diagram for explaining the structure of a superconducting Balta magnet system from which a refrigerator according to a third embodiment of the present invention is separated.
  • FIG. 11 is a flow of magnetic induction drug delivery processing of the magnetic induction type drug delivery system according to the first embodiment of the present invention.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Epidemiology (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

L'invention a pour objet un système d'administration de médicament à induction magnétique utilisable de manière appropriée à des fins cliniques permettant à un médicament administré à un patient par voie intraveineuse d'être induit magnétiquement à une zone lésée de l'organisme. Afin d'induire magnétiquement le médicament à la zone lésée du corps, des vaisseaux sanguins allant du cœur à la zone lésée sont extraits d'un schéma circulatoire tridimensionnel, réalisé au moyen d'un système d'imagerie diagnostique, et leurs points de ramification sont spécifiés. La spécification sur le schéma circulatoire tridimensionnel des points de ramification des vaisseaux sanguins comme décrite ci-dessus permet de positionner un générateur de champ magnétique, tout en surveillant sa migration, de manière à induire magnétiquement le médicament dans un vaisseau allant vers la zone lésée à un point de ramification dudit vaisseau.
PCT/JP2007/053479 2006-04-26 2007-02-26 systeme d'administration de medicament a induction magnetique WO2007125676A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008513096A JP5062764B2 (ja) 2006-04-26 2007-02-26 磁気誘導型ドラッグデリバリーシステム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006-121574 2006-04-26
JP2006121574 2006-04-26

Publications (1)

Publication Number Publication Date
WO2007125676A1 true WO2007125676A1 (fr) 2007-11-08

Family

ID=38655214

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/053479 WO2007125676A1 (fr) 2006-04-26 2007-02-26 systeme d'administration de medicament a induction magnetique

Country Status (2)

Country Link
JP (1) JP5062764B2 (fr)
WO (1) WO2007125676A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011077750A1 (fr) * 2009-12-25 2011-06-30 株式会社Ihi Élément aimanté et dispositif de commande de distribution de médicament qui utilise un élément aimanté
JP2012045032A (ja) * 2010-08-24 2012-03-08 Fujifilm Corp 立体視画像表示方法および装置
WO2013161910A1 (fr) * 2012-04-24 2013-10-31 株式会社東芝 Dispositif de tep-irm
WO2015052922A1 (fr) * 2013-10-07 2015-04-16 学校法人近畿大学 Dispositif, procédé et programme informatique de traitement d'images
JP2018089397A (ja) * 2013-03-15 2018-06-14 セント・ジュード・メディカル・インターナショナル・ホールディング・エスエーアールエルＳｔ． Ｊｕｄｅ Ｍｅｄｉｃａｌ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｈｏｌｄｉｎｇ Ｓ．ａ，ｒ．ｌ． 医療装置誘導システム

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102044872B1 (ko) * 2017-10-19 2019-11-14 전남대학교산학협력단 초전도 전자석을 이용한 의료용 마이크로/나노로봇의 전자기 구동 장치
KR102017597B1 (ko) * 2017-10-19 2019-09-03 전남대학교산학협력단 스퀴드를 이용한 의료용 마이크로/나노로봇의 자율 내비게이션 시스템

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001522623A (ja) * 1997-11-12 2001-11-20 ステリオタクシス インコーポレイテツド 可動結合化された磁気的誘導システム及び装置、及び、磁気を補助利用した手術のためにこれを用いる方法
JP2002252380A (ja) * 2001-02-27 2002-09-06 Sumitomo Heavy Ind Ltd 超電導マグネット装置及びその監視方法
US20040102697A1 (en) * 2000-10-18 2004-05-27 Rami Evron Method and system for positioning a device in a tubular organ
JP2005027743A (ja) * 2003-07-08 2005-02-03 Hiroya Shiomi 放射線治療位置決め装置
JP2006042969A (ja) * 2004-08-02 2006-02-16 Hitachi Medical Corp 医用画像表示装置
WO2006035550A1 (fr) * 2004-09-28 2006-04-06 Osaka University Systeme et procede de guidage tridimensionnel et systeme d’administration de medicament

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4652257A (en) * 1985-03-21 1987-03-24 The United States Of America As Represented By The Secretary Of The Navy Magnetically-localizable, polymerized lipid vesicles and method of disrupting same
WO2005082253A1 (fr) * 2004-02-20 2005-09-09 Philips Intellectual Property & Standards Gmbh Application de medicaments pendant une tomodensitometrie

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001522623A (ja) * 1997-11-12 2001-11-20 ステリオタクシス インコーポレイテツド 可動結合化された磁気的誘導システム及び装置、及び、磁気を補助利用した手術のためにこれを用いる方法
US20040102697A1 (en) * 2000-10-18 2004-05-27 Rami Evron Method and system for positioning a device in a tubular organ
JP2002252380A (ja) * 2001-02-27 2002-09-06 Sumitomo Heavy Ind Ltd 超電導マグネット装置及びその監視方法
JP2005027743A (ja) * 2003-07-08 2005-02-03 Hiroya Shiomi 放射線治療位置決め装置
JP2006042969A (ja) * 2004-08-02 2006-02-16 Hitachi Medical Corp 医用画像表示装置
WO2006035550A1 (fr) * 2004-09-28 2006-04-06 Osaka University Systeme et procede de guidage tridimensionnel et systeme d’administration de medicament

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5372178B2 (ja) * 2009-12-25 2013-12-18 株式会社Ｉｈｉ ドラッグデリバリー制御装置
US20120259155A1 (en) * 2009-12-25 2012-10-11 Ihi Corporation Magnetic body and drug delivery control device using magnetic body
CN102791323A (zh) * 2009-12-25 2012-11-21 株式会社Ihi 磁体以及使用磁体的药物传递控制装置
WO2011077750A1 (fr) * 2009-12-25 2011-06-30 株式会社Ihi Élément aimanté et dispositif de commande de distribution de médicament qui utilise un élément aimanté
RU2525509C2 (ru) * 2009-12-25 2014-08-20 АйЭйчАй КОРПОРЕЙШН Магнитное тело и устройство управления доставкой лекарственного средства с использованием магнитного тела
US9314602B2 (en) 2009-12-25 2016-04-19 Ihi Corporation Magnetic body and drug delivery control device using magnetic body
EP2517752A4 (fr) * 2009-12-25 2015-08-12 Ihi Corp Élément aimanté et dispositif de commande de distribution de médicament qui utilise un élément aimanté
JP2012045032A (ja) * 2010-08-24 2012-03-08 Fujifilm Corp 立体視画像表示方法および装置
WO2013161910A1 (fr) * 2012-04-24 2013-10-31 株式会社東芝 Dispositif de tep-irm
JP2013240585A (ja) * 2012-04-24 2013-12-05 Toshiba Corp Ｐｅｔ−ｍｒｉ装置
US10197654B2 (en) 2012-04-24 2019-02-05 Toshiba Medical Systems Corporation PET-MRI device
JP2018089397A (ja) * 2013-03-15 2018-06-14 セント・ジュード・メディカル・インターナショナル・ホールディング・エスエーアールエルＳｔ． Ｊｕｄｅ Ｍｅｄｉｃａｌ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｈｏｌｄｉｎｇ Ｓ．ａ，ｒ．ｌ． 医療装置誘導システム
WO2015052922A1 (fr) * 2013-10-07 2015-04-16 学校法人近畿大学 Dispositif, procédé et programme informatique de traitement d'images
JPWO2015052922A1 (ja) * 2013-10-07 2017-03-09 学校法人近畿大学 画像処理装置、画像処理方法、及びコンピュータプログラム

Also Published As

Publication number Publication date
JP5062764B2 (ja) 2012-10-31
JPWO2007125676A1 (ja) 2009-09-10

Similar Documents

Publication Publication Date Title
JP5020533B2 (ja) ドラッグデリバリーシステム、及びそれを制御するためのコンピュータプログラム
JP5062764B2 (ja) 磁気誘導型ドラッグデリバリーシステム
Heunis et al. Flexible instruments for endovascular interventions: Improved magnetic steering, actuation, and image-guided surgical instruments
US9057759B2 (en) Method for positioning the focus of a gradient field and treatment facility
Erin et al. Magnetic resonance imaging system–driven medical robotics
Baert et al. Interventional magnetic resonance imaging
US20050119556A1 (en) Catheter navigation within an MR imaging device
Nothnagel et al. Steering of magnetic devices with a magnetic particle imaging system
JP5759462B2 (ja) アクティブ・エージェントを動かし、アクティブ化させる装置および方法
WO2000025864A1 (fr) Systeme a champ ouvert servant a la chirurgie magnetique
KR101814216B1 (ko) 자기 유도 시스템과 그 동작 방법
Kagadis et al. Emerging technologies for image guidance and device navigation in interventional radiology
US20100063384A1 (en) Local intra-body delivery system
Zamecnik et al. Automated real-time needle-guide tracking for fast 3-T MR-guided transrectal prostate biopsy: a feasibility study
US10674933B2 (en) Enlargement of tracking volume by movement of imaging bed
Vogl et al. Hybrid MR interventional imaging system: combined MR and angiography suites with single interactive table. Feasibility study in vascular liver tumor procedures
Krafft et al. Passive marker tracking via phase-only cross correlation (POCC) for MR-guided needle interventions: Initial in vivo experience
Shi et al. A piezoelectric robotic system for MRI targeting assessments of therapeutics during dipole field navigation
Li et al. Quantification and 3D localization of magnetically navigated superparamagnetic particles using MRI in phantom and swine chemoembolization models
KR20200114841A (ko) 마이크로 로봇의 구동 전자기장 매핑 기반 혈관조영 방법 및 이를 이용한 장치
JP2015533326A (ja) Ｍｐｉ装置用の磁性素子
JP2007125240A (ja) 画像診断装置
Cepek et al. Development of an MRI-compatible device for prostate focal therapy
Van Vaals Interventional MR with a hybrid high-field system
Martel Introduction: medical micro-and nanorobotics

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07714911

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2008513096

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 07714911

Country of ref document: EP

Kind code of ref document: A1

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载