Method of Navigating Medical Devices in the Presence of Radiopaque Material

• US 20080077007A1
• Filed: 07/20/2007
• Published: 03/27/2008
• Est. Priority Date: 06/28/2002
• Status: Active Grant

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Lopes, Demetrius, Hastings, Roger, Ferry, Steven
• Granted Patent: US 8,060,184 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• 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 6/12 Arrangements for detecting or locating foreign bodies

Abstract

A method of navigating the distal end of a medical device through an operating region in a subject'"'"'s body includes displaying an x-ray image of the operating region, including the distal end of the medical device; determining the location of the distal end of the medical device in a reference frame translatable to the displayed x-ray image; and displaying an enhanced indication of the distal end of the medical device on the x-ray image to facilitate the navigation of the distal end of the device in the operating region.

Claims

1-45. -45. (canceled)

46. A medical device and system for navigating the medical device through an operating region in a subject'"'"'s body, comprising:

a plurality of transmitting devices at known fixed locations relative to the subject'"'"'s body, being configured to transmit signals from fixed reference locations;

a medical device having a plurality of lead wires that extend through the length of the medical device and connect to at least three coils in the distal end portion of the medical device, the at least three coils being capable of receiving the signals transmitted from the plurality of transmitters;

a processor in connection with the plurality of lead wires, the processor being configured to process the signals received from the transmitters by the at least three coils and to determine the location of the distal tip relative to the frame of reference of the reference locations;

an external source magnet for applying a magnetic field to the operating region of the subject'"'"'s body, the external source magnet being configured to change the direction of the applied magnetic field; and

a power source that may be selectively connected to one or more of the at least three coils to establish a magnetic moment in the distal end portion of the medical device, which magnetic moment causes the distal end of the medical device to orient relative to the applied magnetic field, to thereby direct the distal end portion of the medical device.

47. The system of claim 46, wherein the at least three coils are capable of generating magnetic fields of about 1 Gauss at the location of the distal end portion of the medical device to thereby establish a magnetic moment at the distal end portion.

48. The system of claim 47, further comprising an X-ray imaging system, wherein the at least three coils are made of a radiopaque material that enables the X-ray imaging system to identify the position of the at least three radiopaque coils relative to markers positioned at known reference locations, to thereby determine the position of the distal end portion for facilitating navigation of the medical device.

49. The system of claim 48, wherein when the distal end portion of the medical device is being navigated in the presence of a flowable radiopaque material in the subject'"'"'s body that impairs the accurate location of the radiopaque coils via the X-ray imaging system, the system is configured to selectively connect electric power to one or more of the three coils to change the magnetic moment relative to an externally applied magnetic field, to cause the temporary displacement of the distal end portion so that the location of the distal end portion can be located by the processor that receives signals, to thereby determine the location of the distal end portion within the flowable radiopaque material.

50. The system of claim 49, wherein the at least three coils are made of an electrically conductive gold metal that has a resistance equal to or less that about 420 Ohms.

51. The system of claim 48, further comprising a magnetically responsive member disposed on the distal end portion of the medical device, wherein when the direction or intensity of the magnetic field applied by the external source magnet is changed, the magnetically responsive member and the magnetic moment established by the electrically powered coils cause the distal end portion of the medical device to orient relative to the magnetic field, to thereby direct the distal end portion for navigating the medical device.

52. The system of claim 51, wherein when the distal end portion of the medical device is being navigated in the presence of a flowable radiopaque material in the subject'"'"'s body that impairs the accurate location of the radiopaque coils via the X-ray imaging system, the system is configured to selectively connect electric power to one or more of the three coils to change the magnetic moment relative to the externally applied magnetic field, such that the magnetically responsive element and the magnetic moment cause the temporary displacement of the distal end so that the location of the distal end portion can be located by the processor that receives signals, to thereby determine the location of the distal end portion within the flowable radiopaque material.

53. The system of claim 52, wherein the at least three coils are made of an electrically conductive gold metal that has a resistance equal to or less that about 420 Ohms.

54. A method of navigating the distal end of a medical device through an operating region in a subject'"'"'s body, comprising:

introducing into a subject'"'"'s body a medical device having a plurality of lead wires that extend through the length of the medical device and connect to at least three coils made of a radiopaque material that are disposed in the distal end portion of the medical device and are capable of receiving transmitted signals;

transmitting signals from a plurality of transmitting devices at known fixed locations relative to the subject'"'"'s body, to provide one or more signals transmitted from fixed reference locations that are received by the at least three coils in the medical device;

processing the signals received from the transmitters by the at least three coils to determine the location of the distal tip relative to the frame of reference of the reference locations;

applying a magnetic field of a select intensity and direction to the operating region of the subject'"'"'s body using an external source magnet; and

selectively connecting an electrical power source to one or more of the at least three coils to establish a magnetic moment in the distal end portion of the medical device, which magnetic moment causes the distal end of the medical device to orient relative to the applied magnetic field, to thereby direct the distal end portion of the medical device.

55. The method of claim 54, wherein the step of selectively connecting a power source to one or more at least three coils generates a magnetic field of at least 1 Gauss or 0.0004 Tesla at the location of the distal end portion of the medical device, to thereby establish a magnetic moment at the distal end portion.

56. The method of claim 55 further comprising the step of using an X-ray imaging system to identify the position of the at least three radiopaque coils relative to markers positioned at known reference locations, to thereby determine the position of the distal end portion for facilitating navigation of the medical device.

57. The method of claim 56, further comprising the step of selectively connecting electric power to one or more of the three coils when the distal end portion of the medical device is being navigated in the presence of a flowable radiopaque material that impairs the accurate identification of the radiopaque coils using the X-ray imaging system, where the selective connection of electrical power to one or more coils changes the magnetic moment relative to the externally applied magnetic field, such that the magnetic moment established by the electrically powered coils cause the temporary displacement of the distal end portion so that the distal end portion can be located by the processing step for processing signals to determine the location of the distal end portion within the flowable radiopaque material.

58. The method of claim 57 further comprising the step of providing an indication of the position of the distal end portion on a displayed X-ray image of the operating region.

59. The method of claim 58, wherein the step of processing the signals comprises a processor in connection with the plurality of lead wires, which is configured to process the signals received from the transmitters by the at least three coils and to determine the location of the distal tip relative to the frame of reference of the reference locations.

60. A method of navigating the distal end of a medical device through an operating region in a subject'"'"'s body, comprising:

introducing into a subject'"'"'s body a medical device having at least one magnetically responsive element thereon, and a plurality of lead wires that extend through the length of the medical device and connect to at least three coils made of a radiopaque material which are capable of receiving transmitted signals, the at least three coils and magnetically responsive element being disposed at the distal end portion of the medical device;

transmitting signals from a plurality of transmitting devices at known fixed locations relative to the subject'"'"'s body, to provide one or more signals transmitted from fixed reference locations that are received by the at least three coils in the medical device;

processing the signals received from the transmitters by the at least three coils to determine the location of the distal tip relative to the frame of reference of the reference locations;

applying a magnetic field of a select intensity and direction to the operating region of the subject'"'"'s body using an external source magnet; and

selectively connecting an electrical power source to one or more of the at least three coils to establish a magnetic moment in the distal end portion of the medical device,

applying a magnetic field of a select intensity and direction to the operating region of the subject'"'"'s body using an external source magnet, such that the magnetically responsive member and the magnetic moment established by the electrically powered coils cause the distal end portion of the medical device to orient relative to the magnetic field, to thereby direct the distal end portion for navigating the medical device.

61. The method of claim 60, wherein the step of selectively connecting a power source to one or more at least three coils generates a magnetic field of at least 1 Gauss or 0.0004 Tesla at the location of the distal end portion of the medical device, to thereby establish a magnetic moment at the distal end portion.

62. The method of claim 61 further comprising the step of using an X-ray imaging system to identify the position of the at least three radiopaque coils relative to markers positioned at known reference locations, to thereby determine the position of the distal end portion for facilitating navigation of the medical device.

63. The method of claim 62, further comprising the step of selectively connecting electric power to one or more of the three coils when the distal end portion of the medical device is being navigated in the presence of a flowable radiopaque material that impairs the accurate identification of the radiopaque coils using the X-ray imaging system, where the selective connection of electrical power to one or more coils changes the magnetic moment relative to the externally applied magnetic field, such that the magnetically responsive member and the magnetic moment established by the electrically powered coils cause the temporary displacement of the distal end portion so that the distal end portion can be located by the processing step for processing signals to determine the location of the distal end portion within the flowable radiopaque material.

64. The method of claim 63 further comprising the step of providing an indication of the position of the distal end portion on a displayed X-ray image of the operating region.

65. The method of claim 64, wherein the step of processing the signals comprises a processor in connection with the plurality of lead wires, which is configured to process the signals received from the transmitters by the at least three coils and to determine the location of the distal tip relative to the frame of reference of the reference locations.