Tracking system to follow the position and orientation of a device with radiofrequency fields
First Claim
1. A tracking and imaging system for following a position and orientation of at least one invasive device within a subject, comprising:
- a) an invasive device;
b) an electromagnetic (EM) creation means attached to the invasive device, for creating an electromagnetic field of known geometry, and known electromagnetic flux defined by a plurality of known electromagnetic field vectors within the subject, EM field creation means comprising;
i. a master oscillator for setting a standard timing signal;
ii. a control computer coupled to the master oscillator and responsive to the standard timing signal; and
iii. a plurality of N transmit branches, wherein N≧
1, each of the transmit branches comprises;
A. transmit frequency offset means for creating an RF transmit signal of a frequency determined by the control computer based upon the standard timing signal,B. a gating means coupled to the transmit frequency offset means and responsive to the control computer adapted for selectively passing or not passing the RF transmit signal,C. an amplifier responsive to the control computer for receiving the RF transmit signal from the gating means and amplifying the RF transmit signal with a gain determined by the control computer, andD. a transmit coil coupled to the amplifier for creating the electromagnetic field of known geometry from the RF transmit signal;
c) a radiofrequency (RF) receiver for detecting the electromagnetic field vector at a plurality of M greater than 5 selected locations;
d) imaging means for acquiring a medical diagnostic image; and
e) a tracking means for computing a position and an orientation relative to the acquired medical diagnostic image of the EM field creation means being substantially said position and said orientation of the invasive device, the tracking means being responsive to the electromagnetic field vectors detected by the RF receiver at the M selected locations.
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Accused Products
Abstract
A tracking system in which radiofrequency signals emitted by an invasive device such as a catheter, are detected and used to measure the position and orientation of the invasive device. The invasive device has a transmit coil attached near its end and is driven by a low power RF source to produce a dipole electromagnetic field that can be detected by an array of receive coils distributed around a region of interest. The position and orientation of the device as determined by the tracking system are superimposed upon independently acquired Medical Diagnostic images, thereby minimizing the radiographic exposure times. One or more invasive devices can be simultaneously tracked.
687 Citations
18 Claims
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1. A tracking and imaging system for following a position and orientation of at least one invasive device within a subject, comprising:
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a) an invasive device; b) an electromagnetic (EM) creation means attached to the invasive device, for creating an electromagnetic field of known geometry, and known electromagnetic flux defined by a plurality of known electromagnetic field vectors within the subject, EM field creation means comprising; i. a master oscillator for setting a standard timing signal; ii. a control computer coupled to the master oscillator and responsive to the standard timing signal; and iii. a plurality of N transmit branches, wherein N≧
1, each of the transmit branches comprises;A. transmit frequency offset means for creating an RF transmit signal of a frequency determined by the control computer based upon the standard timing signal, B. a gating means coupled to the transmit frequency offset means and responsive to the control computer adapted for selectively passing or not passing the RF transmit signal, C. an amplifier responsive to the control computer for receiving the RF transmit signal from the gating means and amplifying the RF transmit signal with a gain determined by the control computer, and D. a transmit coil coupled to the amplifier for creating the electromagnetic field of known geometry from the RF transmit signal; c) a radiofrequency (RF) receiver for detecting the electromagnetic field vector at a plurality of M greater than 5 selected locations; d) imaging means for acquiring a medical diagnostic image; and e) a tracking means for computing a position and an orientation relative to the acquired medical diagnostic image of the EM field creation means being substantially said position and said orientation of the invasive device, the tracking means being responsive to the electromagnetic field vectors detected by the RF receiver at the M selected locations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A tracking system and imaging system for following a location of at least one invasive device within a subject, comprising:
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a) an invasive device; b) an electromagnetic (EM) creation means for creating an electromagnetic field of known geometry within the subject, the EM field creation means comprising; i. a master oscillator for setting a standard timing signal; ii. a control computer coupled to the master oscillator and responsive to the standard timing signal; and iii. a plurality of N transmit branches, wherein N≧
1, each of the transmit branches comprises;A. transmit frequency offset means for creating an RF transmit signal of a frequency determined by the control computer based upon the standard timing signal, B. a gating means coupled to the transmit frequency offset means and responsive to the control computer for selectively passing or not passing the RF transmit signal, C. an amplifier responsive to the control computer for receiving the RF transmit signal from the gating means and amplifying the RF transmit signal with a gain determined by the control computer, and D. a transmit coil coupled to the amplifier for creating the electromagnetic field of known geometry from the RF transmit signal; c) a radiofrequency (RF) receiver attached to the invasive device for detecting the electromagnetic field at a plurality of M selected locations; d) imaging means for acquiring a medical diagnostic image; and e) a tracking means for computing a position and an orientation relative to the acquired medical diagnostic image of the EM field creation means at the M selected locations indicating the location of the invasive device, the tracking means being responsive to the detected electromagnetic field.
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18. A tracking system adapted and imaging system for following a position and an orientation of a plurality of invasive devices within a subject, comprising:
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a) a plurality of invasive devices; b) a plurality of electromagnetic (EM) creation means with at least one attached to each invasive device, for creating an electromagnetic field of known geometry, and known electromagnetic flux defined by a plurality of known electromagnetic field vectors within the subject, comprising; i. a master oscillator for setting a standard timing signal; ii. a control computer coupled to the master oscillator and responsive to the standard timing signal; and iii. a plurality of N transmit branches, wherein N≧
1, each of the transmit branches comprises;A. transmit frequency offset means for creating an RF transmit signal of a frequency determined by the control computer based upon the standard timing signal, B. a gating means coupled to the transmit frequency offset means and responsive to the control computer for selectively passing or not passing the RF transmit signal, C. an amplifier responsive to the control computer for receiving the RF transmit signal from the gating means and amplifying the RF transmit signal with a gain determined by the control computer, and D. a transmit coil coupled to the amplifier for creating the electromagnetic field of known geometry from the RF transmit signal; c) a radiofrequency (RF) receiver for detecting the electromagnetic field vectors at a plurality of M greater than 5 selected locations; d) imaging means for acquiring a medical diagnostic image; and e) a tracking means for computing a position and an orientation of each EM field creation means relative to the acquired medical diagnostic image being substantially the position and the orientation of each invasive device, the tracking means being responsive to the electromagnetic field vectors detected by the RF receiver at the M selected locations.
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Specification