Magnetic resonance imaging and magnetic navigation systems and methods

• US 20050182315A1
• Filed: 11/08/2004
• Published: 08/18/2005
• Est. Priority Date: 11/07/2003
• Status: Abandoned Application

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Ritter, Rogers C., Viswanathan, Raju R., Hastings, Roger N.
• Application Number:
  US10/983,963
• Publication Number:
  US 20050182315A1
• Time in Patent Office: Days
• US Class Current: 600/411
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 2090/374 NMR or MRI
• 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: G01R 33/285 Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR
• CPC Class Codes: G01R 33/3806 Open magnet assemblies for improved access to the sample, e.g. C-type or U-type magnets
• CPC Class Codes: G01R 33/3808 Magnet assemblies for single-sided MR wherein the magnet assembly is located on one side of a subject only; Magnet assemblies for inside-out MR, e.g. for MR in a borehole or in a blood vessel, or magnet assemblies for fringe-field MR

Abstract

A system for magnetically imaging an operating region in a subject and magnetically navigating a medical device within the operating region includes a first magnet for applying a static magnetic field to the operating region of sufficient strength for magnetically imaging the operating region and sufficiently strong to permit a medical device to be oriented in the operating region by creating a magnetic moment at the distal end of the medical device, and a second magnet for applying a static magnetic field to the operating region of sufficient strength for magnetically imaging the operating region and sufficiently strong to permit a medical device to be oriented in the operating region by creating a magnetic moment at the distal end of the medical device. In an alternate construction, the system includes a first magnet that is movable between a first position to apply a first static magnetic field to the operating region and a second position to apply a second static magnetic field to the operating region. The method of the invention includes applying a first static magnetic field to the operating region and MR imaging and magnetically navigating a device in the first static field, and then applying a second static magnetic field to the operating region, in a different direction than the first direction, and MR imaging and magnetically navigating a device in the second static field.

Claims

1. A method of navigating the distal end of an elongate medical device in an operating region in a subject using a static magnetic field, the method comprising:

applying a static magnetic field in a first direction to the operating region;

magnetically imaging the operating region using the static magnetic field in the first direction;

magnetically navigating the distal end of a medical device in the operating region by selectively creating a magnetic moment in the distal end of the device to orient the distal end with respect to the static magnetic field in the first direction;

applying a static magnetic field in a second direction to the operating region;

magnetically imaging the operating region using the static magnetic field in the second direction; and

magnetically navigating the distal end of a medical device in the operating region by selectively creating a magnetic moment in the distal end of the device to orient the distal end with respect to the static magnetic field in the second direction.

2. The method according to claim 1 wherein the static magnetic field in the first direction is created by at least one magnet not used in creating the static magnetic field in the second direction, and wherein the static magnetic field in the second direction is created by at least one magnet not used in creating the static magnetic field in the first direction.

3. The method according to claim 1 wherein the static magnetic field in the first direction and the static magnetic field in the second direction are applied by at least one coil that is moved between a first position in which the at least coil contributes to the static field in the first direction, and a second position in which the at least one coil contributes to the static field in the second direction.

4. A system for magnetically imaging an operating region in a subject and magnetically navigating a medical device within the operating region, the system comprising:

a first magnet for applying a static magnetic field to the operating region of sufficient strength for magnetically imaging the operating region and sufficiently strong to permit a medical device to be oriented in the operating region by creating a magnetic moment at the distal end of the medical device, and a second magnet for applying a static magnetic field to the operating region of sufficient strength for magnetically imaging the operating region and sufficiently strong to permit a medical device to be oriented in the operating region by creating a magnetic moment at the distal end of the medical device.

5. The system according to claim 4 wherein the first and second magnets are permanent magnets.

6. The system according to claim 4 wherein the first and second magnets are electromagnets.

7. The system according to claim 6 wherein the first and second magnets are superconducting electromagnets.

8. A system for magnetically imaging an operating region in a subject and magnetically navigating a medical device within the operating region, the system comprising:

a magnet;

a support for movable mounting the magnet for movement between a first position in which the magnet applies a static magnetic field in a first direction to the operating region of sufficient strength for magnetically imaging the operating region and sufficiently strong to permit a medical device to be oriented in the operating region by creating a magnetic moment at the distal end of the medical device, and a second position in which the magnet applies a static magnetic field in a second direction to the operating region of sufficient strength for magnetically imaging the operating region and sufficiently strong to permit a medical device to be oriented in the operating region by creating a magnetic moment at the distal end of the medical device.

9. The system according to claim 8 wherein the magnet is a permanent magnet.

10. The system according to claim 8 wherein magnet is an electromagnet.

11. The system according to claim 10 wherein the magnet is a superconducting electromagnet.

12. A method of navigating the distal end of an elongate medical device in an operating region in a subject using a static magnetic field, the method comprising supporting a subject on a moveable support;

applying a static magnetic field in a first direction to the operating region;

magnetically imaging the operating region using the static magnetic field;

magnetically navigating the distal end of a medical device in the operating region by selectively creating a magnetic moment in the distal end of the device to orient the distal end with respect to the static magnetic field, moving the support relative to the static magnetic field to change the direction of static field relative to the operating region.

13. The method according to claim 12 wherein the support is moved about an axis extending through the operating region.

14. The method according to claim 13 wherein the axis is perpendicular to the direction of the static magnetic field.

15. A method of navigation the distal end of an elongate medical device in an operating region in a subject using a static magnetic field, the method comprising supporting a subject on a support;

applying a static magnetic field to the operating region in first angular relation;

magnetically imaging the operating region using the static magnetic field in its first angular orientation;

magnetically navigating the distal end of a device in the operating region by selectively creating magnetic moment in the distal end of the device to orient the distal end with respect to the static magnetic field in the first angular orientation;

changing the angular relation between the static field and the operating region from the first angular orientation to a second angular orientation;

magnetically navigating the distal end of the medical device in the operating region by selectively creating a magnetic moment in the distal end of the device to orient the distal end with respect to the static magnetic field in its second orientation.

16. The method according to claim 15 wherein changing the angular relation between the static field and the operating region comprises applying the magnetic field in the second orientation with at least one different magnet than is used to apply a magnetic field in the first orientation.

17. The method according to claim 15 wherein changing the angular relation between the static field and the operating region comprises moving at least one magnet used to apply the magnetic field in the first orientation.

18. The method according to claim 15 wherein changing the angular relation between the static field and the operating region comprises moving the patient relative to at least one magnet applying the static field in the first orientation.