Magnetic navigation and imaging system

• US 20070038064A1
• Filed: 07/07/2006
• Published: 02/15/2007
• Est. Priority Date: 07/08/2005
• Status: Active Grant

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Creighton, Francis M. IV
• Granted Patent: US 7,603,905 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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: 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 6/12 Arrangements for detecting or locating foreign bodies

Abstract

A system for imaging and magnetically navigating a medical device within an operating region in a subject'"'"'s body is provided that comprises a first C-arm and a second C-arm. The system comprises an imaging beam source and an imaging beam receiver mounted on the first C-arm that are positioned to be disposed on opposite sides of the operating region to image the operating region. Some embodiments comprise a pair of magnetic pods, which are movably mounted on either the first or second C-arm. Some embodiments comprise magnetic pods that are movable between an imaging position and a navigating position in which the pods are disposed on opposite sides of the operating region in the same plane as at least one imaging beam source. The magnetic navigation units may apply a navigating magnetic field of at least 0.08 T in any direction to the operating region. In some embodiments of the invention, the second C-arm is movable between an imaging position in which the imaging beam source and imaging beam receiver on the second C-arm is positioned so that the imaging beam sources and receivers are in the same plane.

Claims

1. A system for imaging and magnetically navigating a medical device within an operating region in a subject'"'"'s body, the system comprising:

a first C-arm;

an imaging beam source and an imaging beam receiver mounted on the first C-arm and positioned to be disposed on opposite sides of the operating region to image the operating region;

a second C-arm;

an imaging beam source and an imaging beam receiver mounted on the second C-arm and positionable to be disposed on opposite sides of the operating region to image the operating region;

the second C-arm being movable between an imaging position in which the imaging beam source and imaging beam receiver on the second C-arm is positioned so that the imaging beam sources and receivers are in the same plane, and a stowed position in which the second C-arm is in a navigating position; and

a pair of magnetic pods movably mounted on the first C-arm, the magnetic pods being movable between a navigating position in which the pods are disposed on opposite sides of the operating region in the same plane as the imaging beam source and the imaging beam receiver, for applying a navigating magnetic field of at least 0.08 T in any direction to the operating region, and a stowed position in which the magnets are moved out of the plane to accommodate the imaging beam source and imaging beam receiver on the second C-arm in its imaging position.

2. The system according to claim 1 wherein the imaging beam source and the imaging beam receiver are positioned so that a line between the imaging beam source and receive is generally perpendicular to, and coplanar with a line between the magnet pods in their navigating position.

3. The system according to claim 2 wherein the imaging beam source and the imaging beam receiver on the second C-arm are positioned so when the second C-arm is in its imaging position, a line between the imaging beam source and receiver is generally perpendicular to, and substantially coplanar with a line between the imaging beam source and imaging beam receiver on the first C-arm.

4. The system according to claim 1 wherein the first C-arm is mounted on the floor.

5. The system according to claim 1 further comprising a patient support having a head and a foot, and wherein the first C-arm is positioned at the head.

6. The system according to claim 5 wherein the second C-arm moves toward and away from the patient in a direction parallel to the patients longitudinal axis.

7. The system according to claim 1 wherein the magnet pods pivot about an offset axis to move out of the plane with the imaging beam source and imaging beam receive on the first C-arm, to accommodate movement of the second C-arm.

8. The system according to claim 1 wherein the magnetic pods translate to accommodate movement of the second C-arm.

9. A system for imaging and magnetically navigating a magnetically responsive medical device within an operating region in a subject'"'"'s body, the system comprising:

a first C-arm;

an imaging beam source and an imaging beam receiver mounted on the first C-arm so that the imaging beam source and imaging beam receiver can be disposed on opposite sides of the operating region in the subject;

a second C-arm, movable relative to the first C-arm between a stowed position and an imaging position;

an imaging beam source and an imaging beam receiver mounted on the second C-arm so that when the second C-arm is in its imaging position, the imaging beam source and imaging beam receiver can be disposed on opposite sides of the operating region, in substantially the same plane as the imaging beam source and imaging beam receiver on the first C-arm;

a pair of magnetic pods movably mounted on the first C-arm, the magnetic pods being movable between a navigating position in which the pods are disposed on opposite sides of the operating region in the same plane as the imaging beam source and the imaging beam receiver, for applying a navigating magnetic field of at least 0.08 T in any direction to the operating region, and a stowed position in which the magnets are not on opposite sides of the operating region to accommodate the imaging beam source and imaging beam receiver on the second C-arm in its imaging position.

10. The system according to claim 9 wherein the imaging beam source and the imaging beam receiver are positioned so that a line between the imaging beam source and receive is generally perpendicular to, and coplanar with a line between the magnet pods in their navigating position.

11. The system according to claim 10 wherein the imaging beam source and the imaging beam receiver on the second C-arm are positioned so when the second C-arm is in its imaging position, a line between the imaging beam source and receiver is generally perpendicular to, and substantially coplanar with a line between the imaging beam source and imaging beam receiver.

12. The system according to claim 9 wherein the first C-arm is mounted on the floor.

13. The system according to claim 9 further comprising a patient support having a head and a foot, and wherein the first C-arm is positioned at the head.

14. The system according to claim 13 wherein the second C-arm moves toward and away from the patient in a direction parallel to the patients longitudinal axis.

15. The system according to claim 9 wherein the magnet pods pivot about an offset axis to move out of the plane with the imaging beam source and imaging beam receive on the first C-arm, to accommodate movement of the second C-arm.

16. The system according to claim 9 wherein the magnetic pods translate to accommodate movement of the second C-arm.

17. A system for imaging, and magnetically navigating a magnetically responsive medical device within an operating region in a subject'"'"'s body, the system comprising:

a first C-arm;

an imaging beam source and an imaging beam receiver mounted on the first C-arm so that the imaging beam source and imaging beam receiver can be disposed on opposite sides of the operating region in the subject;

a second C-arm, movable relative to the first C-arm between an imaging position and a navigating position;

an imaging beam source and an imaging beam receiver mounted on the second C-arm so that when the second C-arm is in its imaging position, the imaging beam source and imaging beam receiver can be disposed on opposite sides of the operating region, in substantially the same plane as the imaging beam source and imaging beam receiver on the first C-arm;

a pair of magnetic pods mounted on the second C-arm, the magnetic pods being positioned on the C-arm so that when the second C-arm is in its navigation position, the magnetic pods are disposed on opposite sides of the operating region in the same plane as the imaging beam source and the imaging beam receiver on the first C-arm, for applying a navigating magnetic field of at least 0.08 T in any direction to the operating region.

18. The system of claim 17 wherein the imaging beam source and the imaging beam receiver on the second C-arm are positioned so when the second C-arm is in its imaging position, a line between the imaging beam source and receiver is generally perpendicular to, and substantially coplanar with a line between the imaging beam source and imaging beam receiver on the first C-arm.

19. The system according to claim 17 wherein the second C-arm moves toward and away from the patient in a direction parallel to the patients longitudinal axis.

20. The system of claim 19 wherein the magnet pods are generally adjacent to the imaging beam source and an imaging beam receiver mounted on the second C-arm, such that the second C-arm may move from a navigation position in which the magnet pods are disposed on opposite sides of the operating region in the same plane as the imaging beam source and the imaging beam receiver on the first C-arm, and an imaging position in which the imaging beam source and an imaging beam receiver mounted on the second C-arm are disposed on opposite sides of the operating region in the same plane as the imaging beam source and the imaging beam receiver on the first C-arm.