USRE41066E1 - Method and system for navigating a catheter probe - Google Patents
Method and system for navigating a catheter probe Download PDFInfo
- Publication number
- USRE41066E1 USRE41066E1 US09/231,854 US23185499A USRE41066E US RE41066 E1 USRE41066 E1 US RE41066E1 US 23185499 A US23185499 A US 23185499A US RE41066 E USRE41066 E US RE41066E
- Authority
- US
- United States
- Prior art keywords
- sensing coil
- orientation
- coil
- signal
- magnetic
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
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Classifications
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B34/25—User interfaces for surgical systems
- A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
Abstract
Description
-
- inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil;
- determining the orientation of said sensing coil using said induced orientation signal values;
- inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil; and
- determining the position of said sensing coil using said positional signal values and said determined orientation.
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- first transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of an orientation of said sensing coil and independent of the position of said sensing coil;
- second transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of the position of said sensing coil; and
- analysis means, coupled to said first transmit means and said second transmit means, for determining the position and orientation of said sensing coil from said induced signal values.
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- defining the location of said sensing coil with a set of independent location parameters; and
- sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.
where S is any surface bounded by the closed path C. Thus, the mathematical statement of Faraday's law is
Basically, the law states that a changing magnetic field will induce an electric field which exists in space regardless of whether a conducting wire is present. If a conducting wire is present in the electric field, an induced voltage will develop in the conductor. For a single-turn coil of wire of radius d located in a uniform magnetic field B=Bo sinωt, where the axis of the sensing coil is displaced at an angle θ with respect to the lines of magnetic flux, the induced voltage measured between the two open ends of the coil is expressed as:
This relationship for a single coil may be used to determine the induced voltage within a coil of N turns. Assuming that each turn of the coil is separately and equally linked by the magnetic flux (e.g., in tightly wound coils), the induced voltage within the entire coil assembly may be approximated as the summation of the induced voltages developed in each turn. Accordingly, the total voltage across the entire coil assembly is N times the induced voltage for a single turn; hence, the induced voltage Vind is equivalent to
Vind=−Nωπd2Bo cosθωt
Clearly, the induced voltage in the sensing coil will vary with changes in the angular orientation between the coil axis and the direction of the magnetic field lines.
-
- cosα corresponds to sinφcosθ;
- cosβ corresponds to sinθsinφ; and
- cosγ correspond to cosφ.
Accordingly, the following relationships illustrate the dependence of induced voltage on the orientation parameters φ and θ:
Vx≈sinφcosθ; - Vy≈sinθsinφ; and
- Vz≈cosφ,
where the subscript indicates the direction of the magnetic field that produced the measured induced voltage.
Vx=HxxK sinφcosθ+HyxK sinφsinθ+HzxK cosφ
where magnetic field intensity H is related to magnetic flux density by B=μH and K=μo
Vy=HxyK sinφcosθ+HyyK sinφsinθ+HzyK cosφ,
and
Vz=HxxK sinφcosθ+HyxK sinφsinθ+HzxK cosφ.
The terms Hxy and Hzy in the equation for Vy and the terms Hxz and Hyz in the equation for Vz are small compared to Hyy and Hzz, respectively. After substituting the measured values for the induced voltage signals, the equations are simultaneously solved to determine the unknown variables φ and θ defining the orientation of the sensing coil.
Claims (24)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/231,854 USRE41066E1 (en) | 1995-06-14 | 1999-01-14 | Method and system for navigating a catheter probe |
US09/494,213 USRE40852E1 (en) | 1995-06-14 | 2000-01-24 | Method and system for navigating a catheter probe |
US12/502,066 USRE43750E1 (en) | 1995-06-14 | 2009-07-13 | Method for navigating a catheter probe |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/490,342 US5592939A (en) | 1995-06-14 | 1995-06-14 | Method and system for navigating a catheter probe |
US09/231,854 USRE41066E1 (en) | 1995-06-14 | 1999-01-14 | Method and system for navigating a catheter probe |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US08/490,342 Reissue US5592939A (en) | 1995-06-14 | 1995-06-14 | Method and system for navigating a catheter probe |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US08/490,342 Continuation US5592939A (en) | 1995-06-14 | 1995-06-14 | Method and system for navigating a catheter probe |
US09/494,213 Continuation USRE40852E1 (en) | 1995-06-14 | 2000-01-24 | Method and system for navigating a catheter probe |
Publications (1)
Publication Number | Publication Date |
---|---|
USRE41066E1 true USRE41066E1 (en) | 2009-12-29 |
Family
ID=23947644
Family Applications (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US08/490,342 Ceased US5592939A (en) | 1995-06-14 | 1995-06-14 | Method and system for navigating a catheter probe |
US09/231,854 Expired - Lifetime USRE41066E1 (en) | 1995-06-14 | 1999-01-14 | Method and system for navigating a catheter probe |
US09/494,213 Ceased USRE40852E1 (en) | 1995-06-14 | 2000-01-24 | Method and system for navigating a catheter probe |
US12/502,066 Expired - Lifetime USRE43750E1 (en) | 1995-06-14 | 2009-07-13 | Method for navigating a catheter probe |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US08/490,342 Ceased US5592939A (en) | 1995-06-14 | 1995-06-14 | Method and system for navigating a catheter probe |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/494,213 Ceased USRE40852E1 (en) | 1995-06-14 | 2000-01-24 | Method and system for navigating a catheter probe |
US12/502,066 Expired - Lifetime USRE43750E1 (en) | 1995-06-14 | 2009-07-13 | Method for navigating a catheter probe |
Country Status (5)
Country | Link |
---|---|
US (4) | US5592939A (en) |
EP (2) | EP1990000B1 (en) |
JP (1) | JPH11510406A (en) |
DE (1) | DE69637662D1 (en) |
WO (1) | WO1997000043A1 (en) |
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US20100298712A1 (en) * | 2009-05-20 | 2010-11-25 | Laurent Pelissier | Ultrasound systems incorporating spatial position sensors and associated methods |
US20100298704A1 (en) * | 2009-05-20 | 2010-11-25 | Laurent Pelissier | Freehand ultrasound imaging systems and methods providing position quality feedback |
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USRE43750E1 (en) | 1995-06-14 | 2012-10-16 | Medtronic Navigation, Inc. | Method for navigating a catheter probe |
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DE69637662D1 (en) | 2008-10-09 |
WO1997000043A1 (en) | 1997-01-03 |
EP0836413A1 (en) | 1998-04-22 |
EP0836413B1 (en) | 2008-08-27 |
USRE43750E1 (en) | 2012-10-16 |
EP1990000A1 (en) | 2008-11-12 |
USRE40852E1 (en) | 2009-07-14 |
EP1990000B1 (en) | 2013-05-29 |
JPH11510406A (en) | 1999-09-14 |
EP0836413A4 (en) | 1999-06-16 |
US5592939A (en) | 1997-01-14 |
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