Three-Dimensional Guidance System And Method , And Drug Delivery System

• US 20070299550A1
• Filed: 08/01/2005
• Published: 12/27/2007
• Est. Priority Date: 09/28/2004
• Status: Abandoned Application

• Current Assignee: Osaka University
• Original Assignee: Osaka University
• Inventors: Takeda, Shinichi, Nishijima, Shigehiro
• Application Number:
  US11/575,992
• Publication Number:
  US 20070299550A1
• Time in Patent Office: Days
• US Class Current: 700/61
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61M 37/00 Other apparatus for introducing media into the body for reproduction or fertilisation A61B17/425; apparatus for iontophoresis or cataphoresis A61N1/30; Percutany, i.e. introducing medicines into the body by diffusion through the skin salt baths A61H33/04

Abstract

A three-dimensional guidance system of the present invention includes a bed (1) horizontally driven by a bed drive motor (11), a position detecting sensor (6) for detecting a position of a magnetic particle carrier (8), a plurality of electromagnets (3, 4, 5) arranged to surround the bed (1), and a controller (7) for controlling a current to be supplied to the plurality of electromagnets (3, 4, 5) and a drive signal to be supplied to the bed drive motor (11). The controller (7) holds a vascular route as three-dimensional route data, and feedback-controls the current to be supplied to the plurality of electromagnets (3, 4, 5) and the drive signal to be supplied to the bed drive motor (11), based on a deviation of the current position of the magnetic particle carrier (8) detected by the position detecting sensor (6) from a target position.

Claims

1. A three-dimensional guidance system for guiding a magnetic particle carrier along a channel extending in a certain route in three-dimensional space, comprising a magnetic field forming device for forming a magnetic field in the space having the channel therein, and a controller for controlling the magnetic field forming device operation, wherein the three-dimensional guidance system guides the magnetic particle carrier along the channel by controlling the magnetic field intensity and gradient of the magnetic field formed by the magnetic field forming device.

2. A three-dimensional guidance system for guiding a magnetic particle carrier along a channel extending in a certain route in three-dimensional space, comprising a magnetic field forming device for forming a magnetic field in the space having the channel therein, a controller for controlling the magnetic field forming device operation, and a position detecting sensor for detecting the magnetic particle carrier position in the channel, wherein the three-dimensional guidance system guides the magnetic particle carrier along the channel by feedback-controlling the magnetic field intensity and gradient of the magnetic field formed by the magnetic field forming device based on the magnetic particle carrier position detected by the position detecting sensor.

3. A three-dimensional guidance system for guiding a magnetic particle carrier along a channel extending in a certain route in three-dimensional space, comprising a position detecting sensor for detecting the magnetic particle carrier position in the channel, a plurality of electromagnets arranged to surround the channel, a driver for displacing the plurality of electromagnets relative to the channel in a direction penetrating a plane having the electromagnets arranged therein, and a control circuit for controlling a current to be supplied to the plurality of electromagnets and a drive signal to be supplied to the driver, the control circuit comprising:

data holding means for holding the channel route as three-dimensional route data; and

feedback control means for feedback-controlling the current to be supplied to the plurality of electromagnets and the drive signal to be supplied to the driver, based on a deviation of position data representing the current position of the magnetic particle carrier detected by the position detecting sensor from the route data held by the data holding means.

4. A three-dimensional guidance system for guiding a magnetic particle carrier, injected into a blood vessel in a body, along the blood vessel, comprising a magnetic field forming device for forming a magnetic field in space having the body therein, and a controller for controlling the magnetic field forming device operation, wherein the three-dimensional guidance system guides the magnetic particle carrier along the blood vessel by controlling the magnetic field intensity and gradient of the magnetic field formed by the magnetic field forming device.

9. The three-dimensional guidance system according to any of claims 4 to 8, wherein the magnetic particle carrier comprises a drug or biological molecule carrying a magnetic particle.

10. The three-dimensional guidance system according to any of claims 4 to 8, wherein the magnetic particle carrier comprises a microcapsule enclosing a drug or biological molecule with a magnetic particle.

11. The three-dimensional guidance system according to any of claims 4 to 8, wherein the magnetic particle contains one or more metals selected from iron, nickel and cobalt, or compounds of these metals.

5. A three-dimensional guidance system for guiding a magnetic particle carrier, injected into a blood vessel in a body, along the blood vessel, comprising a magnetic field forming device for forming a magnetic field in space having the body therein, a controller for controlling the magnetic field forming device operation, and a position detecting sensor for detecting the magnetic particle carrier position in the blood vessel, wherein the three-dimensional guidance system guides the magnetic particle carrier along the blood vessel by feedback-controlling the magnetic field intensity and gradient of the magnetic field formed by the magnetic field forming device, based on the magnetic particle carrier position detected by the position detecting sensor.

6. A three-dimensional guidance system for guiding a magnetic particle carrier, injected into a blood vessel in a body, along the blood vessel, comprising a position detecting sensor for detecting the magnetic particle carrier position in the blood vessel, a plurality of electromagnets to be arranged to surround the body, a driver for displacing the plurality of electromagnets relative to the body in a direction penetrating a plane having the plurality of electromagnets arranged therein, and a control circuit for controlling a current to be supplied to the plurality of electromagnets and a drive signal to be supplied to the driver, the control circuit comprising:

data holding means for holding the blood vessel route extending in the body as three-dimensional route data; and

feedback control means for feedback-controlling the current to be supplied to the plurality of electromagnets and the drive signal to be supplied to the driver, based on a deviation of position data representing the current position of the magnetic particle carrier detected by the position detecting sensor from the route data held by the data holding means.

7. The tree-dimensional guidance system according to claim 6, wherein the driver is for moving a bed one-dimensionally with a bed drive motor, and the plurality of electromagnets are arranged to surround the bed in a plane perpendicular to the bed moving direction.

8. The three-dimensional guidance system according to claim 7, wherein the feedback control means of the control circuit prepares a current signal depending on the current to be supplied to the plurality of electromagnets, and a voltage signal depending on the drive signal to be supplied to the driver, based on the deviation, and supplies the current signal through a current amplifier to each of the electromagnets, and the voltage signal to the bed drive motor.

12. A three-dimensional guidance method for guiding a magnetic particle carrier along a channel extending in a certain route in three-dimensional space, comprising forming a magnetic field in the space having the channel therein, controlling the magnetic field intensity and gradient of the magnetic field, and thereby guiding the magnetic particle carrier along the channel.

16. The drug delivery system according to claim 12 or 14, wherein a driver is provided for varying the magnetic field forming device position relative to the body.

13. A drug delivery system for delivering drug particles, injected into a blood vessel in a body, along the blood vessel close to an affected part, each drug particle comprising a drug or biological molecule carrying a magnetic particle, the drug delivery system comprising a magnetic field forming device for forming a magnetic field in space having the body therein, and a controller for controlling the magnetic field forming device operation, wherein the system controls the magnetic field intensity and gradient of the magnetic field formed by the magnetic field forming device, and thereby guides the drug particles along a predetermined vascular route close to the affected part, where the particles accumulate and aggregate.

14. The drug delivery system according to claim 13, wherein the controller sets the magnetic field gradient magnitude with the drug particle diameter and intravascular flow velocity being parameters.

15. The drug delivery system according to claim 13 or 14, wherein the magnetic field forming device comprises a super-conducting magnet.

17. A drug delivery method for delivering drug particles, injected into a blood vessel in a body, along the blood vessel close to an affected pan, each drug particle comprising a drug or biological molecule carrying a magnetic particle, the method comprising forming a magnetic field in space having the blood vessel therein, controlling the magnetic field intensity and gradient of the magnetic field, and thereby guiding the drug particles along a predetermined vascular route close to the affected part, where the particles accumulate and aggregate.

18. The drug delivery method according to claim 17, wherein a magnetic field gradient where the magnetic field increases in strength from the inside of the blood vessel toward the outside is formed near the affected part in the body, whereby the drugs in the blood vessel accumulate and aggregate near the affected part.

19. The drug delivery method according to claim 17, wherein, at a vascular furcation from one main vessel to a plurality of branch vessels, a magnetic field gradient where the magnetic field increases in strength from the inside of the blood vessel toward the outside is formed near one branch vessel into which the drug particles are to be sent, whereby the drug particles concentratedly flow into the one branch vessel.

20. The drug delivery method according to any of claims 17 to 19, wherein the magnetic field gradient magnitude is set with the drug particle diameter and intravascular flow velocity being parameters.

21. A guidance system for guiding a magnetic particle carrier along a channel extending in a certain route, the channel having a fluid flowing therethrough and having a furcation from one main tube to a plurality of branch tubes, the system comprising a magnet arranged in space on the upstream side to the furcation and with a larger distance from the main tube with a further distance from the furcation, and controlling the intensity and gradient of a magnetic field formed by the magnet to thereby guide the magnetic particle carrier from the main tube into one particular branch tube.

22. The guidance system according to claim 21, wherein the magnetic field gradient magnitude is set with the diameter of a magnetic particle constituting the magnetic particle carrier and the fluid velocity being parameters.

23. The guidance system according to claim 21 wherein the magnetic particle carrier is a drug particle comprising a drug or biological molecule carrying a magnetic particle.

24. The guidance system according to claim 23, wherein the magnetic particle carrier comprises a microcapsule enclosing the drug or biological molecule with the magnetic particle.

25. The guidance system according to claim 21, wherein the magnetic particle carrier comprises a magnetic particle containing one or more metals selected from iron, nickel and cobalt, or compounds of these metals.