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Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors

  • US 10,251,712 B2
  • Filed: 11/29/2017
  • Issued: 04/09/2019
  • Est. Priority Date: 05/18/1999
  • Status: Active Grant
First Claim
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1. An apparatus for generating an organ timing signal relating to an organ within the body of a patient, said apparatus comprising:

  • a medical positioning system (MPS) configured to transmit and detect electromagnetic signals between a reference location and an electromagnetic transducer attached to a surgical tool configured to be inserted into the patient body, said medical positioning system determining a three-dimensional position of said electromagnetic transducer and thereby said surgical tool, by processing transmitted electromagnetic signals transmitted by said medical positioning system with detected electromagnetic signals detected by said electromagnetic transducer, said MPS further generating time-tagged MPS data sets, each of said MPS data sets comprising a collection of three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained, said readings demonstrating the motion trajectory of said surgical tool over time; and

    a processor coupled with said MPS, generating said organ timing signal from said MPS data sets by detecting and identifying periodic motion frequencies in said time-tagged MPS data sets, and filtering said periodic motion frequencies from said MPS data sets so as to separate out said periodic motion frequencies corresponding to said organ timing signal from said overall motion trajectory of said surgical tool.

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