Locating an implanted object based on external antenna loading

• US 20060016452A1
• Filed: 07/20/2005
• Published: 01/26/2006
• Est. Priority Date: 07/20/2004
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Goetz, Steven M., Smith, Todd V.
• Granted Patent: US 7,878,207 B2
• Time in Patent Office: Days
• US Class Current: 128/899
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61N 1/3787 from an external energy source
• CPC Class Codes: G01V 3/12 operating with electromagnetic waves operating with millimetre waves G01V8/005

Abstract

In general, the invention is directed to techniques for locating an implanted object using an external antenna. The implanted object may be, for example, an internal antenna that facilitates recharging of and/or communication with an implantable medical device. An external device coupled to the external antenna drives the antenna with a plurality of waveforms. Asymmetry in the loading profile of the external antenna when it is driven by the plurality of waveforms allows the external device or another device to determine the location of the implanted object relative to the external antenna. The external device or other device may provide information to a user based on the determined location of the implanted object relative to the external antenna, such as information to help a user position the external antenna with respect to an internal antenna in embodiments in which the implanted object is an internal antenna.

Claims

1. A method comprising:

driving an external antenna with a first waveform;

measuring a first value of an electrical parameter associated with the external antenna while the external antenna is driven with the first waveform;

driving the external antenna with a second waveform;

measuring a second value of the electrical parameter while the external antenna is driven with the second waveform; and

determining a location of an implanted object relative to the external antenna based on the first and second electrical parameter values.

2. The method of claim 1, wherein the first and second waveforms have at least one of different amplitudes, different frequencies, different pulse widths, or different shapes.

3. The method of claim 1, wherein the implanted object comprises at least one of an implantable medical device, an antenna associated with an implantable medical device, or a fill port associated with an implantable medical device.

4. The method of claim 1, further comprising providing an indication of the location of the implanted object relative to the external antenna to a user.

5. The method of claim 4, wherein providing instructions to the user comprises providing at least one of a direction or a distance.

6. The method of claim 1, wherein the external antenna is located at a first location when driven with the first and second waveforms, the method further comprising providing instructions to a user to move the external antenna to a second location that is closer to the implanted object than the first location based on the determined location of the implanted object.

7. The method of claim 1,

wherein determining the location of the implanted object relative to the external antenna based on the first and second electrical parameter values comprises applying first and second equations to the first and second electrical parameter values, and

wherein the first equation defines a first position variable as a function of the electrical parameter, and the second equation defines a second position variable as a function of the electrical parameter.

8. The method of claim 7, wherein the first position variable comprises a radial distance, and the second position variable comprises a depth.

9. The method of claim 7, further comprising:

driving the external antenna with a third waveform; and

measuring a third value of the electrical parameter while the external antenna is driven with the third waveform;

wherein applying the first and second equations to the first and second electrical parameter values comprises applying first and second equations to the first, second and third electrical parameter values, the first position variable comprises a radial distance, and the second position variable comprises an angle.

10. The method of claim 7, further comprising:

moving the external antenna through a three-dimensional region proximate to the object a first time;

driving the external antenna with the first waveform while moving the external antenna through the three-dimensional region the first time;

periodically measuring values of an electrical parameter associated with the external antenna while the external antenna is moved through the three-dimensional region the first time and driven with the first waveform;

determining a first position/electrical parameter relationship based on the electrical parameter values measured while the external antenna is driven with the first waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured;

moving the external antenna through the three-dimensional region a second time;

driving the external antenna with the second waveform while moving the external antenna through the three-dimensional region the second time;

periodically measuring values of the electrical parameter while the external antenna is moved through the three-dimensional region the second time and driven with the second waveform;

determining a second position/electrical parameter relationship based on the electrical parameter values measured while the external antenna is driven with the second waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured; and

determining the first and second equations based on the first and second position/electrical parameter relationships.

11. The method of claim 10, further comprising:

moving the external antenna through the three-dimensional region a third time;

driving the external antenna with a third waveform while moving the external antenna through the three-dimensional region the third time;

periodically values of the electrical parameter while the external antenna is moved through the three-dimensional region the third time and driven with the third waveform; and

determining a third position/electrical parameter relationship based on the electrical parameter values measured while the external antenna is driven with the third waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured,

wherein determining the first and second equations comprises determining the first and second equations based on the first, second and third position/electrical parameter relationships, the first position variable comprises a radial distance, and the second position variable comprises an angle.

12. The method of claim 10, wherein determining the first and second equations comprises fitting a parametric equation to each of the position/electrical parameter relationships.

13. The method of claim 10, wherein moving the external antenna through a three-dimensional region proximate to the object, driving the external antenna while moving the antenna through the three-dimensional region, and measuring electrical parameter values while the external antenna is moved and driven comprises moving the external antenna through a three-dimensional region proximate to the object, driving the external antenna while moving the antenna through the three-dimensional region, and measuring electrical parameter values while the external antenna is moved and driven prior to implantation of the object.

14. The method of claim 1, further comprising confirming the presence of the implanted object using telemetry feedback from an implantable medical device.

15. The method of claim 1, wherein the external antenna is configured to increase a difference in loading experienced at the external antennas when driven with the first and second waveforms.

16. The method of claim 15, wherein the external antenna is shaped to increase the difference in loading.

17. The method of claim 15,

wherein the external antenna includes a first section formed of a first material and second section formed of a second material, the first and second materials having different loading profiles, and

wherein driving the external antenna with the first waveform comprises driving the first portion of the external antenna with the first waveform, and driving the external antenna with the second waveform comprises driving the second portion of the external antenna with the second waveform.

18. A system comprising:

an external antenna;

an external device coupled to the external antenna, wherein the external device drives the external antenna with a first waveform, measures a first value of an electrical parameter associated with the external antenna while driving the external antenna with the first waveform, drives the external antenna with a second waveform, and measures a second value of the electrical parameter while driving the external antenna with the second waveform; and

a processor that determines a location of an implanted object relative to the external antenna based on the first and second electrical parameter values.

19. The system of claim 18, wherein the first and second waveforms have at least one of different amplitudes, different frequencies, different pulse widths, or different shapes.

20. The system of claim 18, wherein the implanted object comprises at least one of an implantable medical device, an antenna associated with an implantable medical device, or a fill port associated with an implantable medical device.

21. The system of claim 18, further comprising a user interface, wherein the processor provides an indication of the location of the implanted object relative to the external antenna to a user via the user interface.

22. The system of claim 21, wherein the processor provides at least one of a direction or a distance via the user interface.

23. The system of claim 18, further comprising a user interface, wherein the external antenna is located at a first location when driven with the first and second waveforms, and the processor provides instructions to a user to move the external antenna to a second location that is closer to the implanted object than the first location based on the determined location of the implanted object.

24. The system of claim 18, wherein the processor determines the location of the implanted object relative to the external antenna by applying first and second equations to the first and second electrical parameter values, the first equation defining a first position variable as a function of the electrical parameter, and the second equation defining a second position variable as a function of the electrical parameter.

25. The system of claim 24, wherein the first position variable comprises a radial distance, and the second position variable comprises a depth.

26. The system of claim 24,

wherein the external device drives the external antenna with a third waveform, and measures a third value of the electrical parameter while driving the external antenna with the third waveform, and

wherein the processor determines the location of the implanted object relative to the external antenna by applying the first and second equations to the first, second and third electrical parameter values, the first position variable comprises a radial distance, and the second position variable comprises an angle.

27. The system of claim 18, wherein the external device confirms the presence of the implanted object using telemetry feedback from an implantable medical device.

28. The system of claim 18, wherein the processor comprises a processor of the external device.

29. The system of claim 18, wherein the external device at least one of programs, recharges, or refills an implantable medical device associated with the implanted object.

30. The system of claim 18, wherein the external antenna is configured to increase a difference in loading experienced at the external antennas when driven with the first and second waveforms.

31. The system of claim 30, wherein the external antenna is shaped to increase the difference in loading.

32. The system of claim 30,

wherein the external antenna includes a first section formed of a first material and second section formed of a second material, the first and second materials having different loading profiles, and

wherein the external device drives the first portion of the external antenna with the first waveform, and drives the second portion of the external antenna with the second waveform.

33. A computer-readable medium comprising instructions that cause a programmable processor to:

control generation of a first waveform to drive an external antenna;

measure a first value of an electrical parameter associated with the external antenna while the external antenna is driven with the first waveform;

control generation of a second waveform to drive the external antenna;

measure a second value of the electrical parameter while the external antenna is driven with the second waveform; and

determine a location of an implanted object relative to the external antenna based on the first and second electrical parameter values.

34. The computer-readable medium of claim 33, further comprising instructions that cause a programmable processor to provide an indication of the location of the implanted object relative to the external antenna to a user.

35. The computer-readable medium of claim 33, wherein the external antenna is located at a first location when driven with the first and second waveforms, and the medium further comprises instructions that cause a programmable processor to instruct a user to move the external antenna to a second location that is closer to the implanted object than the first location based on the determined location of the implanted object.

36. The computer-readable medium of claim 33, wherein the instructions that cause a programmable processor to determine the location of the implanted object relative to the external antenna comprise instructions that cause a programmable processor to apply first and second equations to the first and second electrical parameter values, the first equation defining a first position variable as a function of the electrical parameter, and the second equation defining a second position variable as a function of the electrical parameter.

37. A system comprising:

an external antenna;

an external device coupled to the external antenna that drives the external antenna with the first waveform while the external antenna is moved through a three-dimensional region proximate to an implantable object a first time, periodically measures values of an electrical parameter associated with the external antenna while the external antenna is moved through the three-dimensional region the first time and driven with the first waveform, drives the external antenna with a second waveform while the external antenna is moved through the three-dimensional region a second time, and periodically measures values of the electrical parameter while the external antenna is moved through the three-dimensional region the second time and driven with the second waveform; and

a processor that determines a first position/electrical parameter relationship based on the electrical parameter values measured while the external antenna was driven with the first waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured, determines a second position/electrical parameter relationship based on the electrical parameter values measured while the external antenna was driven with the second waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured, and determines first and second equations based on the first and second position/electrical parameter relationships,

wherein the first equation defines a first position variable as a function of the electrical parameter and the second equation defines a second position variable as a function of the electrical parameter.

38. The system of claim 37, wherein the first position variable comprises a radial distance, and the second position variable comprises a depth.

39. The system of claim 37,

wherein the external device drives the external antenna with a third waveform while the external antenna is moved through the three-dimensional region a third time, and periodically measures values of the electrical parameter while the external antenna is moved through the three-dimensional region the third time and driven with the third waveform,

wherein the processor determines a third position/electrical parameter relationship based on the electrical parameter values measured while the external antenna is driven with the third waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured, and determines the first and second equations based on the first, second and third position/electrical parameter relationships, and

wherein the first position variable comprises a radial distance, and the second position variable comprises an angle.

40. The system of claim 37, wherein the processor determines the first and second equations by fitting a parametric equation to each of the position/electrical parameter relationships.

41. The system of claim 37, wherein the external antenna is moved through the three-dimensional region proximate to the object prior to implantation of the object.

42. The system of claim 37, wherein the processor comprises a processor of the external device.

43. The system of claim 37, wherein the processor stores information identifying the first and second waveforms and the first and second determined equations in a memory of the external device or of another external device for determination of a location of the object relative the external antenna when the object is implanted.

44. A computer-readable medium comprising instructions that cause a programmable processor to:

control generation of a first waveform to drive an external antenna while the external antenna is moved through a three-dimensional region proximate to an implantable object a first time;

periodically measure values of an electrical parameter associated with the external antenna while the external antenna is moved through the three-dimensional region the first time and driven with the first waveform;

determine a first position/electrical parameter relationship based on the electrical parameter values measured while the external antenna was driven with the first waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured;

control generation of a second waveform to drive the external antenna while the external antenna is moved through the three-dimensional region a second time;

periodically measure values of the electrical parameter while the external antenna is moved through the three-dimensional region the second time and driven with the second waveform;

determine a second position/electrical parameter relationship based on the electrical parameter values measured while the external antenna was driven with the second waveform and positions within the three-dimensional region at which the external antenna was located when the electrical parameter values were measured; and

determine first and second equations based on the first and second position/electrical parameter relationships, wherein the first equation defines a first position variable as a function of the electrical parameter, and the second equation defines a second position variable as a function of the electrical parameter.

45. The computer-readable medium of claim 44, wherein the instructions that cause a programmable processor to determine first and second equations comprise instructions that cause a programmable processor to fit a parametric equation to each of the position/electrical parameter relationships.

46. The computer-readable medium of claim 44, further comprising instructions that cause a programmable processor to store information identifying the first and second waveforms and the first and second determined equations in a memory of an external device that one of programs, recharges, or refills an implantable medical device associated with the implantable object.