Detection of metal disturbance

• US 6,147,480 A
• Filed: 10/15/1998
• Issued: 11/14/2000
• Est. Priority Date: 10/23/1997
• Status: Expired due to Term

• Current Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Original Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Inventors: Govari, Assaf, Osadchy, Daniel
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): Mull, Fred H.
• Application Number:
  US09/173,763
• Time in Patent Office: 761 Days
• Field of Search: 324/67, 342/442, 342/448, 342/459, 607/122, 607/123, 607/124, 607/125, 607/126, 607/127, 607/128, 336/5
• US Class Current: 324/67
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/0808 for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 2090/0809 Indication of cracks or breakages
• 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 5/06 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

Abstract

A method for tracking an object using energy fields, in the presence of interference due to introduction of an article responsive to the fields, in the vicinity of the object. One or more desired energy fields are produced in the vicinity of the object, and a characteristic of energy fields induced due to introduction of the article is determined. Signals are generated responsive to the energy fields at a plurality of locations of the object after introduction of the article. Spatial coordinates of the object are determined, responsive to the generated signals and the determined characteristic.

Claims

1. A method for tracking an object using an energy field, in the presence of interference due to introduction of an article responsive to the field, in the vicinity of the object, comprising:

producing a first energy field in the vicinity of the object;

identifying and determining a characteristic of a parasitic energy field induced responsive to the first field, due to introduction of the article;

receiving signals responsive to the first energy field and the parasitic energy field generated at a plurality of locations of the object after introduction of the article; and

determining spatial coordinates of the object responsive to the generated signals and the determined characteristic by determining a phase shift of the signals responsive to the parasitic energy field with respect to the signals responsive to the first energy field.

2. A method in accordance with claim 1, wherein determining spatial coordinates comprises:

determining an amplitude of the signals generated at a location of the object;

processing the amplitude to find a corrected amplitude using the determined characteristic; and

calculating the coordinates based on the corrected amplitude.

3. A method in accordance with claim 2, wherein determining the characteristic of the induced energy fields comprises:

receiving a first signal responsive to the energy field in the absence of the field-responsive article;

introducing the article into the vicinity of the object;

receiving a second signal responsive to the energy field in the presence of the article; and

processing the first and second signals to determine the characteristic.

4. A method in accordance with claim 3, wherein processing the first and second signals comprises:

finding a first amplitude A and a first phase φ

of the first signal;

finding a second amplitude and a second phase φ

^total of the second signal; and

determining a phase shift φ

'"'"', associated with the induced field, based on the first and second amplitudes and the first and second phases.

5. A method in accordance with claim 4, wherein determining the phase shift φ

'"'"' comprises finding values of φ

'"'"' and of a third amplitude A'"'"' associated with the induced field, substantially as given by;

##EQU4##

6. A method in accordance with claim 5, wherein determining spatial coordinates comprises:

measuring an uncorrected amplitude I and an uncorrected phase φ

_un of the signals received at one of the plurality of locations of the object;

finding a corrected amplitude A_cor, using the phase shift φ

'"'"'; and

calculating the coordinates based on the corrected amplitude.

7. A method in accordance with claim 6, wherein the corrected amplitude is substantially as given by:

##EQU5##

8. A method in accordance with claim 7, and comprising detecting a malfunction in a system for tracking the object by finding a variability in one or more of the first and second phases.

9. A method in accordance with claim 8, wherein the characteristic is not determined from measurements made at the location.

10. A method in accordance with claim 1, and comprising detecting the second energy field and notifying a user that the article has been introduced.

11. A method in accordance with claim 10, wherein determining the spatial coordinates of the object comprises estimating an error bound on the coordinates in the presence of the article.

12. A method in accordance with claim 11, wherein producing the energy fields comprises producing magnetic fields.

13. A method in accordance with claim 12, wherein receiving the signals comprises receiving electrical signals which are generated responsive to the magnetic field.

14. An object tracking system, comprising:

a radiator, which generates an energy field in the vicinity of the object;

a sensor, fixed to the object, which generates signals responsive to the energy field; and

signal processing circuitry, which receives the signals from the sensor and determines position coordinates of the object responsive thereto, while detecting interference in the signals due to introduction into the vicinity of the object of an article responsive to the energy field wherein the circuitry detects a phase shift in the signals due to the introduction of the article.

15. A system according to claim 14, wherein based on the detected phase shift, the circuitry corrects the position coordinates for errors induced due to the interference.

16. A system according to claim 15, wherein the circuitry detects a malfunction in the system by finding a variability in the phase shift.

17. A system according to claim 16, wherein the circuitry notifies a user of the system that the article has been introduced, based on the detected interference.

18. A system according to claim 17, wherein the circuitry determines an error bound on the coordinates, based on the detected interference.

19. A system according to claim 18, wherein the energy field comprises a magnetic field, and wherein the signals comprise electrical currents generated responsive to the magnetic field.