SYSTEM AND METHOD FOR TRACKING AN INVASIVE SURGICAL INSTRUMENT WHILE IMAGING A PATIENT
First Claim
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1. A method of processing a signal to track a surgical instrument, comprising:
- transmitting, in a plurality of time windows separated from each other in time, a respective plurality of electromagnetic signals having a respective plurality of time distributions, the plurality of electromagnetic signals including a first electromagnetic signal and a second electromagnetic signal, wherein the first electromagnetic signal is transmitted during a first time window of the plurality of time windows, wherein the first electromagnetic signal has one or more narrowband frequencies, wherein the first electromagnetic signal has a first time distribution in the first time window, wherein the second electromagnetic signal is transmitted during a second time window of the plurality of time windows, wherein the second electromagnetic signal has the one or more narrowband frequencies, wherein the second electromagnetic signal has a second time distribution in the second time window, wherein the first and second time windows are each shorter than a collection period, wherein the second time window is separated in time by a time gap from the first time window, and wherein the time gap is sufficiently long to allow an image to be generated during the time gap;
receiving the first electromagnetic signal during the first time window;
receiving the second electromagnetic signal during the second time window;
processing the first electromagnetic signal together with at least the second electromagnetic signal to provide a magnitude of the one or more narrowband frequencies; and
processing the magnitude of the one or more narrowband frequencies in order to track a position of the surgical instrument.
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Abstract
A system and method for tracking an invasive surgical instrument provide time gaps between transmissions and receptions of electromagnetic energy, during which an imaging system, for example, and x-ray imaging system, can capture and update a display image. In some arrangements, data collection periods can be interleaved.
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Citations
24 Claims
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1. A method of processing a signal to track a surgical instrument, comprising:
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transmitting, in a plurality of time windows separated from each other in time, a respective plurality of electromagnetic signals having a respective plurality of time distributions, the plurality of electromagnetic signals including a first electromagnetic signal and a second electromagnetic signal, wherein the first electromagnetic signal is transmitted during a first time window of the plurality of time windows, wherein the first electromagnetic signal has one or more narrowband frequencies, wherein the first electromagnetic signal has a first time distribution in the first time window, wherein the second electromagnetic signal is transmitted during a second time window of the plurality of time windows, wherein the second electromagnetic signal has the one or more narrowband frequencies, wherein the second electromagnetic signal has a second time distribution in the second time window, wherein the first and second time windows are each shorter than a collection period, wherein the second time window is separated in time by a time gap from the first time window, and wherein the time gap is sufficiently long to allow an image to be generated during the time gap; receiving the first electromagnetic signal during the first time window; receiving the second electromagnetic signal during the second time window; processing the first electromagnetic signal together with at least the second electromagnetic signal to provide a magnitude of the one or more narrowband frequencies; and processing the magnitude of the one or more narrowband frequencies in order to track a position of the surgical instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. Apparatus for processing a signal to track a surgical instrument, comprising:
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a transmitter adapted to transmit, in a plurality of time windows separated from each other in time, a respective plurality of electromagnetic signals having a respective plurality of time distributions, the plurality of electromagnetic signals including a first electromagnetic signal and a second electromagnetic signal, wherein the first electromagnetic signal is transmitted during a first time window of the plurality of time windows, wherein the first electromagnetic signal has one or more narrowband frequencies, wherein the first electromagnetic signal has a first time distribution in the first time window, wherein the second electromagnetic signal is transmitted during a second time window of the plurality of time windows, wherein the second electromagnetic signal has the one or more narrowband frequencies, wherein the second electromagnetic signal has a second time distribution in the second time window, wherein the first and second time windows are each shorter than a collection period, wherein the second time window is separated in time by a time gap from the first time window, and wherein the time gap is sufficiently long to allow an image to be generated during the time gap; a receiver adapted to receive the first electromagnetic signal during the first time window and the second electromagnetic signal during the second time window; at least one magnitude processor adapted to process the first electromagnetic signal together with at least the second electromagnetic signal to provide a magnitude of the one or more narrowband frequencies; and a position and orientation generator adapted to process the magnitude of the one or more narrowband frequencies in order to track a position of the surgical instrument. - View Dependent Claims (12, 13, 14)
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15. The apparatus of claim 15, wherein the at least one magnitude processor comprises:
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at least one converter adapted to convert the first electromagnetic signal to a first electronic signal and adapted to convert the second electromagnetic signal to a second electronic signal; and at least one multiplier adapted to multiply the first electronic signal by a first portion of a weighting function to provide a first weighted signal, and adapted to multiply the second electronic signal by a second portion of the weighting function to provide a second weighted signal, wherein the second portion of the weighting function is different than, but continuous with, the first portion of the weighting function. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A method of processing a signal to track a surgical instrument, comprising:
collecting and processing electromagnetic signals in first and second collection periods, wherein the first and second collection periods are interleaved. - View Dependent Claims (22)
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23. Apparatus for processing a signal to track a surgical instrument, comprising:
a processor adapted to collect and to process electromagnetic signals in first and second collection periods, wherein the first and second collection periods are interleaved. - View Dependent Claims (24)
Specification