Device and method for specifying magnetic field for surgical applications

• US 6,014,580 A
• Filed: 02/09/1998
• Issued: 01/11/2000
• Est. Priority Date: 11/12/1997
• Status: Expired due to Term

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Garibaldi, Jeffrey M., Blume, Walter M., Epplin, Gerard H.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/020,798
• Time in Patent Office: 701 Days
• Field of Search: 600/427, 600/429, 600/424, 128/899
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A device and method for specifying the orientation of a magnetic field produced in a patient to aid surgical procedures involving an implanted magnet. The device includes a processor, a pointing device, a magnet assembly generating a magnetic field, a display, and a medical imaging device that provides three-dimensional imaging of an operating region of a patient during surgery. Fluoroscopic images of an operating region of the patient in which the magnetic delivery vehicle is implanted are shown on a screen, each image representing a projection in space of the operating region. The pointing device is operated to move a cursor from a projection of a present location of the magnetic delivery vehicle to a projection of a desired future location of the magnetic delivery vehicle. When the locations are completely specified, the currents applied to the magnets in the magnetic assembly are controlled by the processor to produce a magnetic field to move or orient the magnetic delivery vehicle from the present location towards the desired future location.

Claims

1. A method of specifying a magnetic field to move or guide a magnetic delivery vehicle surgically implanted in a patient comprising the steps of:

(a) displaying first and second fluoroscopic images of an operating region of a patient having a magnetic delivery vehicle implanted therein, the first and second fluorscopic images each representing a projection in space of the operating region;

(b) for each of the first and second fluoroscopic images, moving a cursor from a projection of a present location of the magnetic delivery vehicle to a projection of a desired future location of the magnetic delivery vehicle, thereby indicating a target path associated with each of the first and second fluoroscopic images;

(c) determining whether the target path associated with the first fluoroscopic image and the target path associated with the second fluoroscopic image project within a preselected error tolerance onto a single arrow in three dimensional space, and displaying a result of the determination;

(d) calculating the currents in a plurality of magnets arrayed about the operating region needed to produce a magnetic field to move or guide movement of the magnetic delivery vehicle from the present location to the desired future location; and

(e) applying the currents to the plurality of magnets.

2. The method of claim 1, and further comprising displaying tick marks identifying a line on which a target position must lie on the second fluroscopic image to reconstruct, in conjunction with a selected target position on the first fluoroscopic image, a single arrow in three dimensional space.

3. The method of claim 1, further comprising moving a guidewire of the magnetic delivery vehicle to the desired future location.

4. A device for specifying the orientation of a magnetic field in a patient to aid surgical procedures involving an implanted magnetic delivery vehicle, the device comprising:

(a) a processor;

(b) a pointing device coupled to the processor;

(c) a magnet assembly coupled to the processor to produce a magnetic field in an operating region of a patient;

(d) a medical imaging system coupled to the processor and configured to produce an image of the operating region of the patient; and

(e) a display device coupled to the processor;

wherein the processor is configured to be responsive to the pointing device to display a movable cursor on the display device, to be responsive to the medical imaging system to display a medical image on the display device, and to be responsive to vectors defined by cursor positions selected with the pointing device to control the magnet assembly to produce a magnetic field in an orientation to guide or move a magnetic delivery vehicle surgically implanted in a patient and disposed in the operating region,

and further wherein the medical imaging system produces at least two planar projections of a region of interest for display on the display device, and wherein the cursor is positionable on each of said proiections to thereby allow operator definition of a desired movement in each of said planar projections, and the processor is configured to compare cursor positions indicating a desired movement on each of the projections to determine the feasibility of the desired movement in physical space, the processor further being configured to indicate the feasibility of the desired movement on the display device.

5. The device of claim 4 further comprising an input device for an operator to initiate generation of the magnetic field to thereby achieve the desired movement or guidance of the magnetic delivery vehicle.

6. The device of claim 5 wherein the input device further comprises an input for an operator to interrupt generation of the magnetic fields.

7. The device of claim 6 wherein the input device further comprises an input for an operator to indicate the start of another selection of a desired movement.

8. The device of claim 7, wherein the input device comprises a plurality of pushbuttons.

9. The device of claim 4 further comprising an operator input device configured for an operator to control generation of the magnetic fields.

10. A method for specifying the orientation of a magnetic field to be produced by a magnet system within an operating region in a patient to aid a desired movement of a magnetic medical device therein, the method comprising:

identifying the desired direction of movement by identifying a desired new position for the magnetic medical device on at least two different planar images of the operating region from different points;

determining a direction vector between a current position of the magnetic medical device and the identified desired new position.

11. The method according to claim 10 wherein the step of identifying the desired new position for the magnetic medical device comprises moving a pointer on each planar image to the desired new position.

12. The method according to claim 10 wherein the step of identifying the desired direction of movement includes identifying the current position of the magnetic medical device on at least two different planar images of the operating region.

13. The method according to claim 10 wherein when the desired new position of the magnetic medical device is identified on one planar image, a line on which the desired new position planar must lie in the second planar image is displayed to facilitate identification of the desired new position on the second planar image.