Method and apparatus for electromagnetic navigation of a surgical probe near a metal object
First Claim
1. A method for calibrating an electromagnetic navigation system having a transmitter coil array that generates an electromagnetic field, said method comprising:
- (a) positioning the electromagnetic navigation system in a working environment to account for metallic distortion caused by a metallic object adjacent to the electromagnetic field;
(b) positioning a calibration sensor at a first calibration point;
(c) energizing a first coil in the transmitter coil array to generate a first field;
(d) sensing a first field strength of the first field with the calibration sensor; and
(e) repeating steps (b), (c) and (d) at a second calibration point, wherein effects of metallic distortion caused by the metallic object is taken into account during the calibration process and wherein the metallic object is a medical device.
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Accused Products
Abstract
A method and apparatus for electromagnetic navigation of a surgical probe near a metal object. The electromagnetic navigation system includes a transmitter coil array and a shield. The transmitter coil array has a plurality of transmitter coils and is operable to generate the electromagnetic field to navigate the probe. The shield is positioned adjacent the metal object and is operable to shield the metal object from the electromagnetic field generated by the transmitter coil array, such that the shield substantially reduces distortion of the electromagnetic field by the metal object.
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Citations
50 Claims
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1. A method for calibrating an electromagnetic navigation system having a transmitter coil array that generates an electromagnetic field, said method comprising:
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(a) positioning the electromagnetic navigation system in a working environment to account for metallic distortion caused by a metallic object adjacent to the electromagnetic field;
(b) positioning a calibration sensor at a first calibration point;
(c) energizing a first coil in the transmitter coil array to generate a first field;
(d) sensing a first field strength of the first field with the calibration sensor; and
(e) repeating steps (b), (c) and (d) at a second calibration point, wherein effects of metallic distortion caused by the metallic object is taken into account during the calibration process and wherein the metallic object is a medical device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for navigating an instrument in an electromagnetic navigation system having a transmitter coil array that generates an electromagnetic field, said method comprising:
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(a) referencing a look-up table of calibration field strengths that account for metallic distortion caused by a metallic object adjacent to the electromagnetic field;
(b) selecting a guess point where the instrument is located;
(c) energizing the transmitter coil array to generate the electromagnetic field adjacent to the metallic object;
(d) sensing the electromagnetic field with the instrument;
(e) interpolating the field strength at the guess point using the look-up table;
(f) calculating the difference in field strengths between the guess point and the field sensed by the instrument; and
(e) refining the guess point. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. An electromagnetic navigation system for use in navigating an instrument through an electromagnetic field positioned near a metal object, said electromagnetic navigation system comprising:
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(a) a transmitter coil array having a plurality of transmitter coils, said transmitter coil array operable to generate the electromagnetic field to navigate the instrument; and
(b) a shield positioned adjacent the metal object, said shield operable to substantially shield the metal object from the electromagnetic field generated by said transmitter coil array, said transmitter coil array being attached to said shield, wherein shield substantially reduces distortion of the electromagnetic field by the metal object, thereby enabling accurate navigation of the instrument in the electromagnetic field. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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44. An electromagnetic navigation system for use in navigating an instrument through an electromagnetic field positioned near a fluoroscope, said electromagnetic navigation system comprising:
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(a) a transmitter coil array having a plurality of transmitter coils, said transmitter coils array operable to generate the electromagnetic field to navigate the instrument; and
(b) a shield attached to the fluoroscope, said shield operable to substantially shield the fluoroscope from the electromagnetic field generated by said transmitter coil array, wherein said shield substantially reduces distortion of the electromagnetic field by the fluoroscope, thereby enabling accurate navigation of the instrument in the electromagnetic field. - View Dependent Claims (45, 46, 47, 48, 49, 50)
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Specification