Method and arrangement for determining the position of a marker in an organic cavity

• US 6,082,366 A
• Filed: 02/09/1998
• Issued: 07/04/2000
• Est. Priority Date: 09/05/1995
• Status: Expired due to Term

• Current Assignee: Henri Danan, Matthias Erich Belleman
• Original Assignee: Aesculap-Meditec GmbH (Carl-Zeiss-Stiftung), Institut Fuer Physikalische Hochtechnologie E.V.
• Inventors: Hergt, Rudolf, Eitner, Klaus, Andra, Wilfried
• Primary Examiner(s): Lacyk, John P.
• Application Number:
  US09/011,465
• Time in Patent Office: 876 Days
• Field of Search: 128/897-99
• US Class Current: 128/899
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/073 Intestinal transmitters
• CPC Class Codes: G01V 3/08 operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices with electromagnetic waves G01V3/12

Abstract

The invention concerns a method and an arrangement for determining the position of a marker in an organic cavity, in particular for establishing local passage speeds within the framework of the medical diagnosis of the stomach-bowel tract. The object of the invention is to provide a solution which ensures position-determining accuracy of greater than 1 cm in all three co-ordinate directions and permits position-determining times of 10 seconds and less in each case. According to the invention, this object is achieved in that at least one coil is acted upon in a time interval in a pulsed manner by current whose sign changes in each case between two current pulses, when the primary magnetic field, of the coil, produced thereby has died out to sufficiently low values. The secondary magnetic field generated by a marker is measured separately at least once by anisotropic magnetic field sensors parallel and perpendicular to the coil axis. The coil arrangement is displaced relative to the marker until the magnetic field sensors used to determine the radial component of the secondary magnetic field of the marker supply a zero signal and the associated position of the coil axis and the associated measured values supplied by the magnetic field sensors used to detect the secondary magnetic field component of the marker, which component runs parallel to the coil axis, are stored and fed to a display.

Claims

1. An apparatus for determining a position of a marker in an organic cavity comprising

said marker being a magnetizable marker formed of a magnetizable material and having a marker diameter;

at least one electric coil having a coil diameter of at least fivefold said marker diameter and defining a coil axis;

means for applying successive current pulses through said at least one electric coil;

anisotropic magnetic field sensors being arranged in axial symmetry to said coil axis and being connected in fixed relation to said at least one electric coil;

means for moving said at least one electric coil and thereby said coil axis relative to the organic cavity and said marker within said organic cavity and means for detecting a position of the coil axis with relation to the organic cavity;

means for detecting, storing and evaluating signals from said anisotropic magnetic field sensors; and

means for detecting the position of said marker based on comparing successive ones of said signals from said anisotropic magnetic field sensors obtained between respective successive ones of said successive current pulses while actuating said means for moving said at least one electric coil in accordance with said comparison.

2. The apparatus according to claim 1, wherein said at least one electric coil is adapted to generate an axially symmetrical and substantially homogeneous primary magnetic field, over a measuring range of about 10·

10·

30 cm³.

3. The apparatus according to claim 1 or 2, wherein said at least one electric coil is two coils arranged coaxially with one another and spaced apart by a coil spacing distance defining a volume in which said organic cavity is inserted between said two coils.

4. The apparatus according to claim 1, wherein the marker is spherosymmetrically embodied and made of an isotropic magnetic material exhibiting a coercive field strength over a range of from 10⁴ up to 10⁵ A/m.

5. The apparatus according to claim 4, wherein the marker substantially is made of at least one of γ

--Fe₂ O₃ and Fe₃ O₄.

9. The apparatus according to claims 1 and 6, wherein said anisotropic magnetic field sensors are arranged in spaced relation to the marker at at least three-times the marker diameter.

10. The apparatus as claimed in claim 4, wherein the isotropic magnetic material has a relative residual magnetism of greater than 0.8.

11. The apparatus as claimed in any one of claims 1, 7 and 8, further comprising control means for controlling said means for applying successive current pulses to apply successive current pulses of alternating polarities at respective time intervals to produce secondary magnetic fields of said marker having alternating polarities and said means for detecting compares said signals to detect said secondary magnetic fields of alternating polarities.

14. The method according to claim 12, or 11, wherein a plurality of measurements of the secondary magnetic field is carried out between two of said successive current pulses applied across the electric coil, and the measuring values are submitted to a mean value formation.

15. The method according to claims 12, or 11, wherein a time interval between two successive ones of said successive current pulses is less than 10 s.

6. An apparatus for determining a position of a marker in an organic cavity comprising:

said marker being a magnetizable marker formed of a magnetizable material and having a marker diameter;

at least one electric coil having a coil diameter of at least fivefold said marker diameter and defining a coil axis;

means for applying successive current pulses through said at least one electric coil;

anisotropic magnetic field sensors being arranged in axial symmetry to said coil axis and being connected in fixed relation to said at least one electric coil;

means for moving said at least one electric coil and thereby said coil axis relative to the organic cavity and said marker within said organic cavity and means for detecting a position of the coil axis with relation to the organic cavity;

means for detecting, storing and evaluating signals from said anisotropic magnetic field sensors,

means for detecting the position of said marker based on comparing successive ones of said signals from said anisotropic magnetic field sensors obtained between respective successive ones of said successive current pulses while actuating said means for moving said at least one electric coil in accordance with said comparison;

at least one of said anisotropic magnetic field sensors being positioned along the coil axis to detect a parallel magnetic field component of a secondary magnetic field of the marker which is parallel to the coil axis; and

at least one of said anisotropic magnetic field sensors being positioned to detect a radial magnetic field component of the secondary magnetic field of the marker which is at right angles to the coil axis.

7. The apparatus according to claim 6, characterized in that magneto-resistive thin layer sensors are selected wherein said anisotropic magnetic field sensors are magneto-resistive thin layer sensors.

8. An apparatus for determining a position of a marker in an organic cavity comprising:

said marker being a magnetizable marker formed of a magnetizable material and having a marker diameter;

at least one electric coil having a coil diameter of at least fivefold said marker diameter and defining a coil axis;

means for applying successive current pulses through said at least one electric coil;

anisotropic magnetic field sensors being arranged in axial symmetry to said coil axis and being connected in fixed relation to said at least one electric coil;

means for moving said at least one electric coil and thereby said coil axis relative to the organic cavity and said marker within said organic cavity and means for detecting a position of the coil axis with relation to the organic cavity;

means for detecting storing and evaluating signals from said anisotropic magnetic field sensors;

means for detecting the position of said marker based on comparing successive ones of said signals from said anisotropic magnetic field sensors obtained between respective successive ones of said successive current pulses while actuating said means for moving said at least one electric coil in accordance with said comparison;

said anisotropic magnetic field sensors including a plurality of anisotropic magnetic field sensors for detecting a radial magnetic field component of a secondary magnetic field of the marker which is at right angles to the coil axis, and said plurality of anisotropic magnetic field sensors being arranged in axial symmetry to the coil axis and in a plane at right angles to the coil axis.

12. A method for determining a position of a marker in an organic cavity comprising the steps of:

providing said marker as a magnetizable marker formed of a magnetizable material and having a marker diameter;

providing at least one electric coil having a coil diameter of at least fivefold said marker diameter and defining a coil axis;

providing means for applying current pulses through said at least one electric coil;

providing anisotropic magnetic field sensors arranged in axial symmetry to said coil axis and connected in fixed relation to said at least one electric coil;

providing means for moving said at least one electric coil and thereby said coil axis relative to the organic cavity and said marker within said organic cavity, and means for detecting a position of the coil axis with relation to the organic cavity;

providing means for detecting, storing and evaluating signals from said anisotropic magnetic field sensors;

disposing said organic cavity with said marker disposed therein proximate said at least one electric coil and generally along the coil axis such that said marker is within a substantially uniform region of a magnetic field produce by said at least one coil;

applying successive current pulses of alternating polarities at respective time intervals across said at least one coil using said means for applying current pulses to magnetize said marker to produce a secondary magnetic field having alternating polarities;

detecting, subsequent to application of respective ones of said current pulses, parallel and perpendicular magnetic field components of said secondary magnetic field originating from said marker, oriented respectively parallel and perpendicular to the coil axis, by use of said anisotropic magnetic field sensors between applications of said current pulses;

displacing said at least one electric coil using said means for moving, relative to the organic cavity containing the marker until detecting a minimal level of said perpendicular magnetic field component; and

displaying a position of the coil axis related to the organic cavity and measured values of the parallel magnetic field component of the marker when the minimal level of said perpendicular magnetic field component is detected.

13. The method according to claim 12, wherein signals of the anisotropic magnetic field sensors generated by the secondary magnetic field of the marker are measured at a point of time when a primary magnetic field produced by the at least one electric coil has decayed to less than 10% of a maximum thereof at a time between two of said successive current pulses.