Map based intuitive device control and sensing to navigate a medical device

• US 20080039705A1
• Filed: 04/25/2007
• Published: 02/14/2008
• Est. Priority Date: 05/03/2006
• Status: Abandoned Application

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Viswanathan, Raju R.
• Application Number:
  US11/789,799
• Publication Number:
  US 20080039705A1
• Time in Patent Office: Days
• US Class Current: 600/407
• 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 34/25 User interfaces for surgical systems
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/7475 User input or interface means, e.g. keyboard, pointing device, joystick

Abstract

A method is provided for adjusting a medical device given an image of the device position relative to an anatomical surface shown on a two-dimensional display, that includes using a user-input device to indicate a direction of adjustment of the device relative to the display.

Claims

1. A method for controlling a remote surgical navigation system to adjustably move a medical device relative to an object being displayed in an image on a display device, the method comprising:

using a user-input device to select a point at or near the tip of a medical device depicted in an image on a two-dimensional display;

moving the user-input device in a desired adjustment direction on the displayed image;

determining a surface normal at a location corresponding to the point selected by the user;

determining an actuation of the remote navigation system based on the surface normal and user input of the desired adjustment direction.

2. The method of claim 1, where said determination of actuation of the remote navigation system corresponds to an estimation of reorientation of the tip of the medical device.

3. The method of claim 1 wherein the surface normal is generally perpendicular to the surface.

4. The method of claim 1 further comprising displaying a line on the displayed image which corresponds to the movement of the user-input device and the desired adjustment direction of the medical device.

5. The method of claim 1 where determination of actuation of the remote navigation system includes an estimation of a three dimensional vector corresponding to the user-defined adjustment direction on the two dimensional display.

6. The method of claim 2, where the remote navigation system is a magnetic navigation system.

7. The method of claim 2, where the remote navigation system is a mechanically actuated navigation system.

8. The method of claim 2, where the remote navigation system is actuated by electrostrictive means.

9. The method of claim 6, where the actuation includes a rotation of an externally applied magnetic field generated by the magnetic navigation system.

10. The method of claim 9 wherein the amount of magnetic field rotation is a fixed step size.

11. The method of claim 9 wherein the amount of magnetic field rotation depends on the magnitude of movement of the user input device.

12. The method of claim 1 wherein the image being displayed on the display is updated to show the real-time position of the medical device after an adjustment direction has been selected and submitted by a user.

13. The method of claim 1 wherein the tip of the catheter is very close to or touching the surface of the object.

14. A method for controlling a remote surgical navigation system to adjustably move a medical device relative to an anatomical surface being displayed in an image on a display device, the method comprising:

using a user-input device to select a point at or near the tip of a medical device depicted in an image on a two-dimensional display;

moving the user-input device a desired length in a desired adjustment direction relative to the point selected by the user on the displayed image;

determining an actuation of the remote navigation system based on the user input of the desired adjustment direction.

15. The method of claim 14, where said determination of actuation of the remote navigation system corresponds to an estimation of reorientation of the tip of the medical device.

16. The method of claim 15, where the remote navigation system is a magnetic navigation system.

17. The method of claim 15, where the remote navigation system is a mechanically actuated navigation system.

18. The method of claim 15, where the remote navigation system is actuated by electrostrictive means.

19. The method of claim 16, where the actuation includes a rotation of an externally applied magnetic field generated by the magnetic navigation system.

20. A method for controlling a remote surgical navigation system to adjustably move a medical device relative to an anatomical surface being displayed in an image on a display device, the method comprising:

using a user-input device to select a desired adjustment direction for the medical device relative to the displayed anatomical image;

determining an actuation of the remote navigation system based on the user input of the desired adjustment direction.

21. The method of claim 20, where said determination of actuation of the remote navigation system corresponds to an estimation of reorientation of the tip of the medical device.

22. The method of claim 21, where the remote navigation system is a magnetic navigation system.

23. The method of claim 21, where the remote navigation system is a mechanically actuated navigation system.

24. The method of claim 21, where the remote navigation system is actuated by electrostrictive means.

25. The method of claim 22, where the actuation includes a rotation of an externally applied magnetic field generated by the magnetic navigation system.

26. The method of claim 22, where the user input device is a keyboard.

27. The method of claim 22, wherein the amount of magnetic field rotation is a fixed step size.

28. The method of claim 22 wherein the amount of magnetic field rotation depends on the magnitude of movement of the user input device.

29. A method for controlling a remote surgical navigation system to adjustably move a medical device relative to an object being displayed in an image on a display device, the method comprising:

using a user-input device to select a point at or near the tip of a medical device depicted in an image on a two-dimensional display;

moving the user-input device in a desired adjustment direction relative to the point on the displayed image selected by the user;

determining a surface normal at a location corresponding to the point selected by the user;

determining a two-dimensional vector m corresponding to the direction and length of the movement of the user-input device;

determining a three-dimensional vector p in the tangent plane perpendicular to the surface normal, whose two-dimensional projection onto the two-dimensional displayed image yields the two-dimensional vector m; and

determining a rotation of the device tip in the plane formed by a vector t representing the device tip'"'"'s initial orientation and the three-dimensional vector p, which rotation corresponds to the desired adjustment movement.

30. The method of claim 29 further comprising the step of displaying on the displayed image a line having a first endpoint corresponding to the user-selected point, and a direction and length corresponding to the length of movement of the user-input device in the desired adjustment direction.

31. The method of claim 30 further comprising applying a rotation matrix for transposing the two-dimensional vector m, representing the length and direction of the line displayed on the two-dimensional display, to a three-dimensional vector with respect to a known three-dimensional coordinate system relative to the object that is being display.