SYSTEM FOR LOCAL ERROR COMPENSATION IN ELECTROMAGNETIC TRACKING SYSTEMS
First Claim
1. A method for local error compensation of metal distortions in using an Electromagnetic Tracking System (EMTS) comprising:
- generating an electromagnetic field from at least one electromagnetic field generator;
monitoring a medical device having at least one electromagnetic sensor coil moving through an anatomy;
monitoring position readings from an error correction tool able to monitor metal distortions wherein said error correction tool is situated within proximity of said medical device comprising at least three electromagnetic sensors arranged in a known and fixed configuration;
deriving a correction function from said position readings and electromagnetic sensors;
applying said corrective function to said medical device monitoring to compensate for said metal distortion.
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Accused Products
Abstract
A system for local metal distortion correction for using an accurate electromagnetic tracking system in a medical environment is disclosed containing an electromagnetic field generator monitoring a medical device having a suitable sensor coil wherein a correction function, derived from an error correction tool, is applied to the position and orientation readings of the sensor coil. The error correction tool consists of a number of electromagnetic sensors arranged in a fixed and known geometric configuration and is placed surrounding the site of the medical procedure. Sensor data is displayed on an imaging system. In addition, a distortion mapping can be done utilizing optical sensors for relative positioning readings along with an electromagnetic tracking system sensor.
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Citations
17 Claims
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1. A method for local error compensation of metal distortions in using an Electromagnetic Tracking System (EMTS) comprising:
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generating an electromagnetic field from at least one electromagnetic field generator; monitoring a medical device having at least one electromagnetic sensor coil moving through an anatomy; monitoring position readings from an error correction tool able to monitor metal distortions wherein said error correction tool is situated within proximity of said medical device comprising at least three electromagnetic sensors arranged in a known and fixed configuration; deriving a correction function from said position readings and electromagnetic sensors; applying said corrective function to said medical device monitoring to compensate for said metal distortion. - View Dependent Claims (2, 3, 4, 5)
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6. An EMTS for accurately tracking a medical device through an anatomy comprising:
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an electromagnetic field generator generating an electromagnetic field; at least one medical device having an electromagnetic sensor coil in communication with said electromagnetic field generating a position reading; an error correction tool generating an error correction function applied to said position reading of said medical device wherein said error correction tool comprises; at least three electromagnetic sensors arranged in a known configuration. - View Dependent Claims (7, 8, 9, 10)
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11. A method for local error compensation of metal distortions in tracking medical devices using an EMTS comprising:
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generating an electromagnetic field from at least one electromagnetic field generator having at least a first optical sensor; a first platform capable of sustaining medical procedures having at least a second optical sensor; a positioning system comprising at least one Electromagnetic Tracking System (EMTS) sensor; performing a compensation mapping comprising the steps of; moving said positioning system to different locations within a desired spatial volume; generating a correction function from known positioning of said electromagnetic field generator and said first platform relative to said positioning system; wherein said first optical sensor, said second optical sensor and said EMTS sensor are in communication. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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Specification