Magnetic determination of position and orientation

• US 5,558,091 A
• Filed: 10/06/1993
• Issued: 09/24/1996
• Est. Priority Date: 10/06/1993
• Status: Expired due to Term

• Current Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Original Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Inventors: McNulty, Ian, Pacheco, Robert C., Grandner, Wayne, Acker, David E.
• Primary Examiner(s): Zele, Krista M.
• Assistant Examiner(s): Casler, Brian L.
• Application Number:
  US08/132,479
• Time in Patent Office: 1,084 Days
• Field of Search: 128/653.1, 128/654, 128/897, 128/899, 128/903, 128/656, 128/658, 324/207.17, 324/207.11, 324/207.13, 324/207.22, 342/459, 342/359, 340/686, 364/449, 364/460
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2562/0223 Magnetic field sensors
• 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 5/103 Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes A61B5/08 takes precedence; measuring aids for tailors A41H1/00; measuring instruments specially adapted for dentistry A61C19/04
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G01R 33/0206 Three-component magnetometers
• CPC Class Codes: Y10T 29/49004 including measuring or testing of device or component part
• CPC Class Codes: Y10T 29/4902 Electromagnet, transformer or inductor
• CPC Class Codes: Y10T 29/49075 including permanent magnet or core

Abstract

A magnetic position and orientation determining system uses magnetic fields, desirably including uniform fields from Helmholtz coils positioned on opposite sides of a sensing volume and gradient fields generated by the same coils. By monitoring field components detected at the probes during application of these fields, the position and orientation of the probe in the field can be deduced. A representation of the probe can be superposed on a separately acquired image of the subject to show the position and orientation of the probe with respect to the subject.

Claims

1. Apparatus for determining position of an object comprising:

(a) magnet means for generating a plurality of different magnetic fields in a sensing volume, each said field having at least one component having a magnitude which is quasilinear with respect to distance in a reference direction within said sensing volume, said magnitude being non-zero in at least some locations within said sensing volume;

(b) control means for actuating said magnet means to generate said fields in a predetermined sequence;

(c) a sensor connected to the object and movable within said sensing volume, and adapted to detect magnetic field components in at least two different local directions relative to the sensor and provide separate data representing each said component; and

(d) calculation means for determining the position of said sensor from said data representing said magnetic field components detected during generation of said fields.

2. Apparatus as claimed in claim 1 wherein said magnet means includes means for generating a first substantially uniform magnetic field in a first reference direction within said sensing volume and, a second substantially uniform magnetic field in a second reference direction different from said first direction within said sensing volume and first and second gradient fields within said sensing volume, each said gradient field having a predetermined pattern of variation within said sensing volume, said control means being operative to actuate said magnet means to generate said gradient fields in sequence with said uniform fields, said calculation means being operative to determine the position of said sensor in said first and second reference directions within said sensing volume from said magnetic field components detected during generation of said gradient fields and said uniform fields.

3. Apparatus as claimed in claim 2 wherein said magnet means includes means for generating a third substantially uniform field within said sensing volume in a third reference direction different from said first and second reference directions, and for generating a third gradient field having a predetermined pattern of variation within said sensing volume, said control means being operative to actuate said third magnet means to generate said third uniform and gradient fields in sequence with said first and second uniform and gradient fields, said sensor being operative to detect magnetic field components in three different local directions relative to said sensor, said calculation means being operative to determine the position of said sensor within said sensing volume in said three reference directions.

4. Apparatus as claimed in claim 1 or claim 2 or claim 3 wherein said sensor has maximum dimensions less than about 5 mm.

5. Apparatus as claimed in claim 4 wherein said maximum dimensions are less than about 1 mm.

6. Apparatus as claimed in claim 4 wherein said sensor is adapted for disposition within the body of a human patient.

7. Apparatus as claimed in claim 6 wherein said sensing volume has minimum dimensions of at least about 30 cm.

8. Apparatus as claimed in claim 4 wherein said sensor includes a sensing body having a plurality of faces oriented in different directions and magnetically-sensitive layers disposed on said faces.

9. Apparatus as claimed in claim 2 or claim 3 wherein said magnet means are adapted to generate said gradient fields so that each said gradient field includes a component having magnitude varying according to a substantially linear monotonic gradient in one said reference direction within said sensing volume.

10. Apparatus as claimed in claim 1 or claim 2 or claim 3 wherein said magnet means includes a plurality of pairs of coils, the coils of each pair being disposed on opposite sides of said sensing volume.

11. Apparatus as claimed in claim 10 wherein said coils of each said pair are Helmholtz coils disposed substantially coaxially with one another so that the axis of each said pair extends in one said reference direction.

12. Apparatus as claimed in claim 1 or claim 2 or claim 3 wherein said control means is operative to bring said magnet means to an off condition wherein said magnet means provides no field in said sensing volume, said calculation means including means for registering baseline values of magnetic field components in said local directions measured by said sensor while said magnet means is in said off condition and correcting components measured while said magnet means is in other conditions in accordance with said baseline values.

13. Apparatus as claimed in claim 1 or claim 2 or claim 3 wherein said calculation means includes means for determining the orientation of said sensor in said sensing volume based upon the magnetic field components detected by said sensor.

14. Apparatus for determining orientation and position comprising:

(a) a magnet structure including at least two pairs of Helmholtz coils, the coils of each said pair being substantially coaxial with one another and defining a pair axis, and being disposed on opposite sides of a sensing volume, the axes of said pairs being substantially orthogonal to one another;

(b) control means for selectively actuating each said pair of Helmholtz coils in a homogeneous field state with codirectional current flow in both coils of the pair to thereby generate a magnetic field directed parallel to the pair axis of substantially uniform strength within said sensing volume, said control means also being operative to actuate each said pair of Helmholtz coils in a gradient field state with counterdirectional current flow in the coils of the pair to thereby generate a magnetic field having a component directed parallel to the axis of the pair, such component having a substantially linear gradient of magnitude in said sensing volume, said control means being operative to actuate said magnet structure so that only one pair of coils is actuated to only one state at any time;

(c) a probe movable within said sensing volume, said probe having mounted thereon sensor means for measuring magnetic field components in at least two different local directions relative to the probe and providing separate data representing each said component, whereby said sensor means will measure homogeneous-field components in said local directions while coil pairs are in said homogeneous field states and said sensor means will measure gradient-field components in said local directions while said coil pairs are in said gradient-field states; and

(d) calculation means for determining the orientation of said probe relative to said pair axes from said data representing homogeneous-field components and determining the position of said probe in said sensing volume from said data representing homogeneous-field components and said gradient-field components.

15. Apparatus as claimed in claim 14 wherein said magnet structure includes three pairs of said Helmholtz coils and wherein said sensor means includes means for measuring magnetic field components in three said local directions orthogonal to one another.

16. Apparatus as claimed in claim 14 wherein said probe is adapted for disposition within the body of a human patient.

17. Apparatus as claimed in claim 16 wherein said probe is an elongated, flexible element having a proximal end and a distal end and said sensor means is disposed adjacent said distal end.

18. Apparatus as claimed in claim 16 wherein said pairs of Helmholtz coils are spaced apart from one another by distances of at least about 30 cm.

19. A method of determining the position of an object within a sensing volume comprising the steps of:

(a) generating a plurality of different magnetic fields in said sensing volume in a predetermined sequence, each field having at least one component having a magnitude which is quasilinear with respect to distance in a reference direction within the sensing volume;

(b) during generation of said fields measuring magnetic-field components in at least two different local directions relative to a sensor connected to the object to thereby provide separate data representing each of said magnetic field components; and

(c) determining the position of said sensor within said sensing volume from said data representing said measured field components.

20. A method as claimed in claim 19 wherein said step of generating fields includes the step of generating first and second substantially uniform magnetic fields in first and second reference directions within said sensing volume and generating first and second gradient fields within said sensing volume, each said gradient field having a predetermined pattern of variation in one said reference direction, within said sensing volume, said step of measuring magnetic field components including the step of measuring homogeneous-field components during application of said uniform fields and measuring gradient-field components in said local directions at said sensor during generation of said gradient fields, and said determining step including the step of calculating the position of said sensor in said reference directions within said sensing volume from said measured homogeneous-field and gradient-field components.

21. A method as claimed in claim 20 further comprising the steps of generating a third substantially uniform field within said sensing volume in a third reference direction different from said first and second reference directions, and generating a third gradient field having a predetermined pattern of variation in said third reference direction within said sensing volume, said step of measuring said homogeneous-field components including the steps of measuring homogeneous-field components in three different local directions relative to said sensor during generation of said first, second and third uniform fields, said step of measuring said gradient-field components including the step of measuring gradient-field components in said three local directions during generation of said first, second and third gradient fields.

22. A method of displaying the location of a probe in a living subject comprising the steps of:

(a) providing at least one fiducial marker in fixed position relative to the subject;

(b) acquiring an image of the subject including a depiction of said at least one fiducial marker;

(c) determining the locations of said at least one fiducial marker and of said probe in a common frame of reference by measuring magnetic fields transmitted to or from said probe and said fiducial marker, whereby a position of said probe relative to said at least one fiducial marker is known; and

(d) superposing a representation of said probe on said image of said subject at a position relative to said depiction of said at least one fiducial marker corresponding to the position of said probe relative to said at least one fiducial marker in said common frame of reference.

23. A method as claimed in claim 22 further comprising the steps of determining an orientation of said probe and of said at least one fiducial marker in said common frame of reference, said step of superposing said representation of said probe on said image of said subject being performed so that the orientation of said probe representation relative to the depiction of said at least one fiducial marker corresponds to the orientation of said probe relative to said at least one fiducial marker in said common frame of reference.

24. A method as claimed in claim 22 wherein said superposing step includes the step of displaying said representation of said probe in a display frame of reference so that the position of said probe representation corresponds to the position of said probe in said common frame of reference and displaying said image of said subject in said display frame of reference so that the location of said representation of each fiducial marker in said display frame of reference corresponds to the location of such fiducial marker in said common frame of reference.

25. A method of depicting a body part comprising the steps of:

(a) providing a sensor in fixed position relative to the body part and determining an orientation of said sensor in a fixed frame of reference;

(b) acquiring an image of the body part in a starting orientation;

(c) monitoring the orientation of said sensor in said frame of reference by measuring individual components of magnetic fields transmitted to or from said sensor, to thereby determine a moved orientation of said body part after movement of the body part from said starting orientation;

(d) transforming said image of said body part in said starting orientation into an image of said body part in said moved orientation and

(e) displaying the transformed image.

26. A method as claimed in claim 25 wherein said monitoring, transforming and displaying steps are repeated as said body part is moved through a range of moved orientations so that a transformed image corresponding to said each said moved orientation is displayed substantially in real time while the body part is in such moved orientation.

27. A method as claimed in claim 25 wherein said monitoring, transforming and displaying steps are performed during a medical treatment procedure and said displaying step is performed so that the displayed image is visible to the physician performing such procedure, whereby such physician may view a transformed image corresponding to the current actual orientation of the body part at any time during the procedure.

28. A method as claimed in claim 26 or claim 27 wherein said step of providing a sensor includes the step of providing a separate sensor fixed to each of a plurality of body parts, said steps of acquiring an image and determining the orientation of the sensor including the steps of acquiring images of all of said body parts and determining the orientations of all of said sensors while said body parts are in respective starting positions, said step of monitoring the orientation of said sensor and determining moved orientation of the body part including the step of monitoring the orientation of all of said sensors and determining a separate moved orientation for each of said body parts, said transforming step including the step of transforming the image of each said body part into an image of that body part in its moved orientation, said displaying step including the step of displaying all of said transformed images together so that the orientations of said transformed images relative to one another correspond to the orientations of said body parts relative to one another.

29. A method as claimed in claim 28 further comprising the step of determining the position of said sensors in said fixed frame of reference while said body parts are in said starting orientations and determining the positions of said sensors in said frame of reference when said body parts are in said moved orientations, said steps of transforming and displaying said images including the step of adjusting the positions of said displayed transformed images of said body parts relative to one another to compensate for movement of said body parts relative to one another so that said displayed images correctly represent the positions of said body parts relative to one another.

30. A method as claimed in claim 28 wherein said body parts are bones connected to one another at a common joint.

31. A method as claimed in claim 28 further comprising the steps of providing an instrument probe on a medical instrument and monitoring the orientation of said instrument during said procedure by monitoring magnetic fields transmitted to or from said instrument probe and displaying a representation of said instrument in conjunction with said image of said body part so that the orientation of said instrument representation relative to said displayed image of said body part corresponds to the orientation of said instrument relative to said body part.

32. A method as claimed in claim 31 further comprising the step of determining the positions of said sensors and said instrument probe in said fixed frame of reference while said body part and said instrument are in said starting orientations, determining the positions of said sensors and said instrument probe in said frame of reference when said body part and said instrument are in said moved orientations, said steps of displaying said image and said representation of said instrument including the step of adjusting the position of said representation of said instrument relative to said displayed transformed image of said body part so that said displayed image and representation correctly represent the position of said instrument relative to said body part.

33. Endoscopic apparatus comprising:

(a) means for generating magnetic fields in a field frame of reference so that at least one parameter of said field is quasilinear with respect to distance from point to point within said field frame of reference;

(b) a probe adapted for disposition in the patient'"'"'s body;

(c) a sensor mounted on said probe for monitoring magnetic field components in at least two different local directions relative to said sensor prevailing at said sensor while said probe is disposed in the patient'"'"'s body and sending one or more sensor signals representing said components so that said one or more sensor signals including separate data representing each of said components; and

(d) calculation means for determining the position of said probe in said frame of reference from said sensor signals while said probe is disposed in the patient'"'"'s body and providing probe position data representing the position of said probe in said field frame of reference based upon said sensor signals.

34. Apparatus as claimed in claim 33 further comprising superposition means for displaying an image of the patient'"'"'s body with an image representing said probe superposed thereon so that the image representing said probe is superposed at a location on said body image dependent upon said probe position data provided by said calculation means.

35. Apparatus as claimed in claim 34 wherein said probe includes an elongated structure having a proximal end and a distal end, said sensor being mounted at said distal end.

36. Apparatus as claimed in claim 35 wherein said probe further includes local imaging means mounted adjacent said distal end of said structure for acquiring an image of body portions surrounding said distal end.

37. Apparatus as claimed in claim 34 wherein said superposition means includes means for accepting body image data representing said body image in a body image frame of reference other than said field frame of reference, means for accepting relationship data representing the relationship between said body image frame of reference and said field frame of reference and means for transforming at least one of said probe position data and said body image data so as to provide said probe position data and said body image data in a common frame of reference.

38. Apparatus as claimed in claim 37 wherein said determination means further includes means for determining the orientation of said probe in said field frame of reference.

39. Apparatus as claimed in claim 34 wherein said means for generating a magnetic field includes means for generating said field so that said at least one parameter varies according to a plurality of different patterns at different times during a preselected sequence of patterns.

40. Apparatus as claimed in claim 39 wherein said means for generating magnetic fields is operative to generate at least one homogeneous field having substantially direction and strength throughout a preselected sensing region and to generate one or more gradient fields each having at least one parameter which varies substantially linearly with distance in said sensing region.

41. A method of operating a probe within a living patient comprising the steps of:

(a) generating a magnetic field in a field frame of reference so that at least one parameter of said field is quasilinear with respect to distance from point to point within said frame of reference;

(b) disposing a probe in the patient'"'"'s body so that said magnetic field impinges on said probe;

(c) sensing individual components of the magnetic field prevailing at said probe in plurality of local directions relative to said probe while said probe is disposed in the patient'"'"'s body and sending one or more sensor signals incorporating separate data representing each said component of such magnetic field of said probe;

(d) determining the position of said probe in said field frame of reference from said sensor signals while said probe is disposed in the patient'"'"'s body and providing probe position data representing the position of said probe in said field frame of reference.

42. A method as claimed in claim 46 further comprising the steps of displaying an image of the patient'"'"'s body with a representation of said probe superposed thereon so that the representation of said probe is superposed at a location on said body image dependent upon said probe position data and observing said superposed representation to monitor the position of the probe within the patient'"'"'s body.

43. A method as claimed in claim 42 further comprising the step of monitoring or influencing a condition within the patient'"'"'s body through said probe.

44. A method as claimed in claim 43 wherein said step of disposing a probe includes the step of inserting said probe into the body of the patient so that said probe is disposed within the brain of the patient and said step of monitoring or influencing a condition includes the step of performing a surgical operation within the brain.

45. A method as claimed in claim 42 wherein said determining step includes the step of determining the orientation of said probe in said field frame of reference from said sensor signals and providing orientation data representing such orientation, said displaying step including the step of superposing said representation of said probe on said image representing the patient'"'"'s body so that the orientation of said representation of said probe relative to said body image depends upon said orientation data.