METHOD AND SYSTEM FOR POSITION ORIENTATION CORRECTION IN NAVIGATION

• US 20140187915A1
• Filed: 12/27/2012
• Published: 07/03/2014
• Est. Priority Date: 12/27/2012
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: General Electric Company
• Inventors: Yaroshenko, Andriy, Obi, Aghogho
• Granted Patent: US 9,002,437 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/06 Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials puncturing needles A61B17/34; hypodermic needles A61M5/32 ; sewing needles D05B85/00
• CPC Class Codes: A61B 17/16 Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans arthroscopic bone cutters A61B17/320016; dental implant drills potentially for other surgical use A61C8/0089; bone grinders A61F2/4644, A22C17/06; A61B17/1662 takes precedence over all other subgroups except A61B17/17
• CPC Class Codes: A61B 17/28 Surgical forceps for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201 ; obstetrical forceps A61B17/44; for inserting intraocular lenses A61F2/1662; hand-held gripping tools in general B25B7/00 ]
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 17/34 Trocars; Puncturing needles pointed biopsy instruments A61B10/0233; devices for piercing the ear-lobes A44C7/001; seals or hemostasis valves A61M39/06
• CPC Class Codes: A61B 17/846 Nails or pins, i.e. anchors without movable parts, holding by friction only, with or without structured surface A61B17/72, A61B17/86 take precedence
• CPC Class Codes: A61B 17/86 Pins or screws or threaded wires; nuts therefor A61B17/72 take precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/463 characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/54 Control of apparatus or devices for radiation diagnosis
• CPC Class Codes: A61N 1/04 Electrodes electrosurgical electrodes A61B18/14

Abstract

A method performed in a medical navigation system includes driving a transmitter at a first frequency and a second frequency to generate first and second electromagnetic fields, wherein the first and second frequencies are sufficiently low such that the first and second electromagnetic fields are frequency independent; receiving first and second distorted fields corresponding to the first and second electromagnetic fields, respectively, with each of at least two electromagnetic (EM) sensors attached to a surgical device; generating first and second signals in response to receiving the first and second distorted fields, respectively, using each of the at least two EM sensors; and determining a distortion in the first and second signals based at least on a distance between the at least two EM sensors and a difference between the first and second signals generated by each of the at least two EM sensors.

Claims

1. A method, comprising:

in a medical navigation system;

driving a transmitter at a first frequency and at least a second frequency to generate a first and at least a second electromagnetic field, wherein the first and second frequencies are sufficiently low such that the first and second electromagnetic fields are frequency independent;

receiving a first and at least a second distorted field corresponding to the first and second electromagnetic fields, respectively, with each of at least two electromagnetic (EM) sensors attached to a surgical device;

generating a first and at least a second signal in response to receiving the first and second distorted fields, respectively, using each of the at least two EM sensors; and

determining a distortion in the first and at least the second signals based at least on a distance between the at least two EM sensors and a difference between the first and second signals generated by each of the at least two EM sensors.

2. The method of claim 1, wherein the difference between the first and at least the second signals generated by each of the at least two EM sensors is attributable only to distortion caused by conductive objects disposed proximate the first and second EM sensors.

3. The method of claim 1, comprising correcting the first and at least the second signals for the distortion and determining a position of the surgical device relative to the transmitter based at least on the corrected first and second signals of each of the at least two EM sensors.

4. The method of claim 1, comprising determining a first position of the surgical device relative to the transmitter based on the first and second signals, and then correcting the first and second signals for the distortion and determining a second position of the surgical device relative to the transmitter based at least on the corrected first and second signals of each of the at least two EM sensors.

5. The method of claim 4, comprising displaying, on a display of the medical navigation system, the first position of the surgical device relative to the transmitter on a 2D or 3D representation of at least a patient and the surgical device, and updating the displayed position of the surgical device based on the corrected first and second signals of each of the at least two EM sensors.

6. The method of claim 1, wherein the first and at least the second frequencies are between approximately 500 Hz and 100 Hz.

7. The method of claim 1, wherein the first and at least the second frequencies are below approximately 1 kHz.

8. A medical navigation system, comprising:

a transmitter configured to emit electromagnetic (EM) fields in response to current at one or more frequencies;

first and second EM sensors each configured to detect the EM fields emitted by the transmitter and to generate a signal representative of each detected EM field; and

a computerized navigation system comprising;

one or more tangible, non-transitory, machine-readable media collectively storing instructions executable by a processor to;

drive the transmitter at one or more frequencies to generate one or more EM fields, wherein the one or more frequencies are sufficiently low such that the one or more EM fields are frequency independent;

measure one or more signals generated by the first EM sensor in response to detecting the one or more EM fields, respectively;

measure one or more signals generated by the second EM sensor in response to detecting the one or more EM fields, respectively; and

calculate a distortion in at least one of the one or more signals based at least on a distance between the first and second EM sensors, a change in the one or more signals, and the frequency response of the EM sensors when driven at a frequency of approximately zero.

9. The system of claim 8, further comprising a surgical device, wherein the first and second EM sensors are attached to the surgical device at the distance from one another.

10. The system of claim 9, wherein the instructions are executable by the processor to determine a position and orientation of the surgical device relative to the transmitter based at least on one of the one or more signals and the calculated distortion.

11. The system of claim 10, further comprising a display communicatively coupled to the computerized navigation system, wherein the instructions are executable by the processor to display the position of the surgical device relative to the transmitter on a 2D or 3D representation of at least a patient and the surgical device on the display.

12. The system of claim 11, comprising an X-ray imaging system configured to obtain one or more X-ray images of the patient to produce the 2D or 3D representation of the patient.

13. The system of claim 12, wherein the change in the one or more signals is attributable only to distortion caused by conductive objects disposed proximate the first and second EM sensors, and the conductive objects comprise the surgical device or a portion of the X-ray imaging system.

14. The system of claim 9, wherein the surgical device comprises a implant, probe, awl, drill, aspirator, forceps, blade, screw, nail, pin, k-wire, needle, cannula, introducer, catheter, guidewire, stent, filter, endoscope, laparoscope, electrode, endoscope, or any combination thereof.

15. The system of claim 8, wherein the one or more frequencies are between approximately 500 Hz and 100 Hz.

16. The system of claim 8, wherein the one or more frequencies are below approximately 1 kHz.

17. One or more tangible, non-transitory, machine-readable media collectively storing instructions executable by a processor to:

drive the transmitter at one or more frequencies to generate one or more EM fields, wherein the one or more frequencies are sufficiently low such that the first and second EM fields are frequency independent;

measure one or more signals generated by the first EM sensor in response to detecting the one or more EM fields, respectively;

measure one or more signals generated by the second EM sensor in response to detecting the one or more EM fields, respectively; and

calculate a distortion in at least one of the one or more signals based at least on a distance between the first and second EM sensors, a change in the one or more signals, and the frequency response of the EM sensors when driven at a frequency of approximately zero.

18. The media of claim 17, wherein the one or more frequencies are between approximately 500 Hz and 100 Hz.

19. The media of claim 17, wherein the instructions are executable by the processor to determine a position and orientation of a surgical device, to which the first and second EM sensors are attached, relative to the transmitter based at least on at least one of the one or more signals and the calculated distortion.

20. The media of claim 17, wherein the instructions are executable by the processor to cause the position of the surgical device relative to the transmitter to be displayed as a 2D or 3D representation of at least a patient and the surgical device on a display.