ELECTROMAGNETIC TRACKING SURGICAL SYSTEM AND METHOD OF CONTROLLING THE SAME

• US 20170202627A1
• Filed: 01/13/2017
• Published: 07/20/2017
• Est. Priority Date: 01/14/2016
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Sramek, Christopher, Kintz, Gregory J., Mintz, David S., Yu, Alan
• Granted Patent: US 10,932,861 B2
• Time in Patent Office: Days
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61G 13/04 tiltable around transverse or longitudinal axis
• CPC Class Codes: A61G 13/06 raising or lowering of the whole table surface A61G13/04 takes precedence
• CPC Class Codes: A61G 13/08 the table being divided into different adjustable sections
• CPC Class Codes: A61G 2203/30 characterised by sensor means
• CPC Class Codes: A61G 7/05 Parts, details or accessories of beds devices for prevention against falling out A47C21/08, A47D7/00 ; mattresses A47C27/00

Abstract

An electromagnetic (EM) system for tracking a surgical tool is provided. The system may comprise a plurality of subsets of field generator coils disposed along edge portions of a surgical bed. Each subset of field generator coils may be configured to generate a magnetic field within a control volume. The system may further comprise a position sensor disposed on a portion of the surgical tool. The position sensor may be configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume. Additionally, the system may comprise an EM system controller configured to selectively activate one or more of the subsets of field generator coils based on the sensor signal.

Claims

1. An electromagnetic (EM) system for tracking a surgical tool, comprising:

a plurality of subsets of field generator coils disposed along edge portions of a surgical bed, wherein each subset of field generator coils is configured to generate a magnetic field within a control volume;

a position sensor disposed on a portion of the surgical tool, wherein the position sensor is configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume; and

an EM system controller configured to selectively activate one or more of the subsets of field generator coils based on the sensor signal.

2. The system of claim 1, wherein the subsets of field generator coils are integrated longitudinally along the edge portions of the surgical bed.

3. The system of claim 1, wherein the subsets of field generator coils are disposed along the edge portions of the surgical bed to allow for unobstructed use of fluoroscopy over a central portion of the surgical bed.

4. The system of claim 1, wherein each control volume is defined by a space proximate to the respective subset of field generator coils.

5. The system of claim 1, wherein two or more of the control volumes are configured to overlap each other.

6. The system of claim 1, wherein the EM system controller is configured to track the surgical tool based on the sensor signal.

7. The system of claim 6, wherein the EM system controller is configured to track a position and/or movement of the surgical tool.

8. The system of claim 7, wherein the sensor signal is indicative of the position and/or movement of the surgical tool relative to the surgical bed.

9. The system of claim 8, wherein the EM system controller is configured to track the surgical tool by selectively activating one or more of the subsets of field generator coils depending on the sensor signal.

10. The system of claim 1, wherein the plurality of subsets of field generator coils comprise a first subset of field generator coils and a second subset of field generator coils, wherein the first subset of field generator coils is configured to generate a first magnetic field within a first control volume, and wherein the second subset of field generator coils is configured to generate a second magnetic field within a second control volume.

11. The system of claim 10, wherein the EM system controller is configured to activate the first subset of field generator coils without activating the second subset of field generator coils when the position sensor is located inside the first control volume.

12. The system of claim 11, wherein the EM system controller is configured to de-activate the first subset of field generator coils and activate the second subset of field generator coils when the position sensor moves from the first control volume to the second control volume.

13. The system of claim 1, wherein each control volume comprises a local coordinate frame having a reference point.

14. The system of claim 13, wherein the sensor signal is indicative of a distance between the position sensor and the reference point.

15. The system of claim 14, wherein the one or more subsets of field generator coils are selectively activated based on the distance between the position sensor and the reference point.

16. An electromagnetic (EM) system for tracking a surgical tool, comprising:

a plurality of subsets of field generator coils disposed along edge portions of a surgical bed, wherein each subset of field generator coils is configured to generate a magnetic field within a control volume, and wherein a central portion of the surgical bed is fluoroscopically transparent;

a position sensor disposed on a portion of the surgical tool, wherein the position sensor is configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume; and

an EM system controller configured to activate one or more of the subsets of field generator coils.

17. The system of claim 16, wherein the subsets of field generator coils are integrated longitudinally along the edge portions of the surgical bed.

18. The system of claim 16, wherein each control volume is defined by a space proximate to the respective subset of field generator coils.

19. The system of claim 16, wherein two or more of the control volumes are configured to overlap each other.

20. The system of claim 16, wherein the EM system controller is configured to track the surgical tool based on the sensor signal.

21. The system of claim 20, wherein the EM system controller is configured to track a position and/or movement of the surgical tool.

22. An electromagnetic (EM) system for tracking a surgical tool, comprising:

a plurality of subsets of field generator coils disposed along edge portions of a surgical bed, wherein each subset of field generator coils is configured to generate a magnetic field within a control volume, and wherein a portion of the field generator coils are movable with respect to the surgical bed;

a position sensor disposed on a portion of the surgical tool, wherein the position sensor is configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume; and

an EM system controller configured to activate one or more of the subsets of field generator coils.

23. The system of claim 22, wherein the EM system controller is configured to track the surgical tool based on the sensor signal.

24. The system of claim 23, wherein the EM system controller is configured to track a position and/or movement of the surgical tool.

25. The system of claim 24, wherein the sensor signal is indicative of the position and/or movement of the surgical tool relative to the surgical bed.

26. The system of claim 25, wherein the EM system controller is configured to track the surgical tool by selectively activating one or more of the subsets of field generator coils depending on the sensor signal.

27. An electromagnetic (EM) system for tracking a surgical tool, comprising:

a plurality of subsets of field generator coils disposed along a surgical bed, wherein each subset of field generator coils is configured to generate a magnetic field within a control volume;

a position sensor disposed on a portion of the surgical tool, wherein the position sensor is configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume; and

an EM system controller configured to activate one or more of the subsets of field generator coils.

28. The system of claim 27, wherein the subsets of field generator coils are integrated longitudinally along the edge portions of the surgical bed.

29. The system of claim 27, wherein each control volume is defined by a space proximate to the respective subset of field generator coils.

30. The system of claim 27, wherein two or more of the control volumes are configured to overlap each other.