Medical positioning system

• US 6,233,476 B1
• Filed: 05/18/1999
• Issued: 05/15/2001
• Est. Priority Date: 05/18/1999
• Status: Expired due to Term

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: MediGuide Ltd (Abbott Laboratories Incorporated)
• Inventors: Strommer, Gera M, Eichler, Uzi
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): MANTIS MERCADER, ELENI M
• Application Number:
  US09/314,474
• Time in Patent Office: 728 Days
• Field of Search: 600/424, 600/410, 600/409, 600/411, 600/437, 600/439, 600/462, 600/461, 600/463, 600/407, 600/109, 600/112, 600/114, 600/118, 128/916
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 2090/3958 emitting a signal
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/015 By temperature mapping of body part
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/352 Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4254 : using sensors mounted on the probe
• CPC Class Codes: A61B 8/463 : characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/483 : involving the acquisition of a 3D volume of data
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras

Abstract

Medial device comprising a housing, a magnetic detection probe, for detecting a plurality of magnetic fields, a biometric unit and a controller, connected to said magnetic detection probe, said biometric unit and said storage unit, wherein said controller receives magnetic field detection information from said magnetic detection probe, and wherein said controller operates said biometric unit in association with said magnetic field detection information.

Claims

1. Apparatus for determining the position and orientation of a surgical tool relative to a reference frame, in association with an image, comprising:

a magnetic field transmitter, including at least one magnetic field generating element;

a detection probe including at least one magnetic field detector;

a signal generation module, connected to said at least one magnetic field generating element;

a detection processor, connected to said detection probe; and

mounting means, for mounting onto said surgical tool,

said signal generation module determining a multiple frequency transmit signal and providing said multiple frequency transmit signal to said magnetic field transmitter, said detection processor receiving a detected signal from said detection probe, at least a portion of said detected signal corresponding to said multiple frequency transmitted signal, determining the location and orientation of said detection probe from the power of said at least a portion of said detected signal and indicating the location of said surgical tool within said image.

2. The apparatus according to claim 1, wherein said detection probe includes at least three magnetic field detectors.

3. The apparatus according to claim 1, wherein the number of said at least one magnetic generating element is at least three.

4. The apparatus according to claim 1, wherein said signal generation module comprises an digital to analog converter and a signal processor connected thereto, said signal processor determining a digital transmit signal, said digital to analog converter converting said digital signal to a respective analog signal and providing said analog signal to said magnetic field transmitter.

5. The apparatus according to claim 4, wherein said digital signal includes at least one channel.

6. The apparatus according to claim 5, wherein each said at least one channel includes at least one frequency.

7. The apparatus according to claim 5, wherein each said at least one channel includes a plurality of frequencies and wherein said frequencies are transmitted in accordance with a predetermined sequence.

8. The apparatus according to claim 1, wherein said transmit signal channel includes at least one frequency.

9. The apparatus according to claim 1, wherein each said at least one channel includes at least three frequencies.

10. The apparatus according to claim 1, further comprising:

an ultrasound detector, connected to said detection processor, said ultrasound detector capturing a plurality of ultrasound frames; and

an image location and orientation detector, mounted on said ultrasound detector, and connected to said detection processor, said image location and orientation detector detecting the location and orientation of each said ultrasound frames,

wherein said detection processor constructs said image from said ultrasound frames and the detected location and orientation of each said frames with respect to the detected location and orientation of said surgical tool.

11. The apparatus according to claim 1, wherein said a detection probe is wirelessly connected to said detection processor.

12. A medial device comprising:

a housing

a magnetic detection probe, for detecting a plurality of magnetic fields;

a biometric unit; and

a controller, connected to said magnetic detection probe, said biometric unit and a storage unit,

wherein said controller receives magnetic field detection information from said magnetic detection probe,

wherein said controller operates said biometric unit in association with said magnetic field detection information.

13. The medial device according to claim 12, further comprising a transmitter connected to said controller for transmitting said magnetic field detection information.

14. The medial device according to claim 12, wherein said biometric unit includes at least one of the devices in the list consisting of:

an image detection unit;

a substance releasing unit; and

a biometric sampling unit.

15. The medial device according to claim 12 further comprises a storage unit, connected to said controller, for storing said magnetic field detection information.

16. The medial device according to claim 15, wherein said biometric unit comprises a biomedical sensor, wherein said biometric unit provides said controller detected biometric information and wherein said controller produces a plurality of records, each said records including a portion of said biometric information and a respective portion of said detected magnetic field information.

17. The medial device according to claim 16 further comprising a storage unit, wherein said controller stores said records in said storage unit.

18. The medial device according to claim 16 further comprising a wireless transmitter, connected to said controller, wherein said controller provides said records to said wireless transmitter and wherein said transmitter transmits said records to an external receiver.

19. The medial device according to claim 12 wherein said plurality of magnetic fields are generated by an external transmitter.

20. The medial device according to claim 19 wherein said plurality of magnetic fields are generated by said external transmitter in accordance with a predetermined sequence.

21. The medial device according to claim 19 wherein said plurality of magnetic fields are generated by said external transmitter, continuously.

22. Method for calibrating a reference image onto a volume, from which the image is produced, the method comprising the steps of:

determining a plurality of locations in said volume, said locations being visible, said locations being present in said reference image;

detecting a magnetic field reading in each said locations; and

calibrating said reference image with respect to said magnetic field readings, onto said volume.

23. The method according to claim 22, further comprising the steps of:

receiving additional magnetic field readings, each in an additional location within said volume; and

determining the location and orientation of said additional location, within said reference frame.

24. Imaging system comprising:

an inner body ultrasound detector; and

a location and orientation detector, located in proximity of said inner body ultrasound detector,

wherein said inner body ultrasound detector detects a plurality of two-dimensional images,

wherein said location and orientation detector detects the location and orientation of each said two-dimensional images.

25. The imaging system according to claim 24, further comprising a three dimensional image generator, connected to said inner body ultrasound detector and to said location and orientation detector, wherein said three dimensional image generator processes said two-dimensional images, each with its respecting location and orientation information, thereby producing a three dimensional image.

26. The imaging system according to claim 25, further comprising a storage unit connected between said three dimensional image generator and said inner body ultrasound detector and said location and orientation detector, for intermediately storing said two-dimensional images, each with its respecting location and orientation information.

27. The imaging system according to claim 25, further comprising a combining processor, connected to said three dimensional image and interfacing at least one additional location and orientation detector,

wherein said combining processor receives additional location and orientation information from said at least one additional location and orientation detector, and

wherein said combining processor produces an indication of said additional location and orientation information onto said three-dimensional image.

28. The imaging system according to claim 24, wherein said inner body ultrasound detector includes an angular ultrasound transceiver.

29. The imaging system according to claim 24, wherein said inner body ultrasound detector includes a radial ultrasound transceiver.

30. The imaging system according to claim 24, wherein said location and orientation detector includes at least one axial magnetic detector.

31. The imaging system according to claim 24, wherein said location and orientation detector detects magnetic field in at least one axial magnetic direction.

32. The imaging system according to claim 31, wherein said location and orientation detector detects magnetic field in at least one frequency in each said at least one axial magnetic direction.

33. The imaging system according to claim 24, wherein said location and orientation detector detects magnetic field in at least one frequency.

34. The imaging system according to claim 24, wherein said location and orientation detector is mounted on said inner body ultrasound detector.

35. The imaging system according to claim 24, wherein said inner body ultrasound detector is mounted on a catheter and wherein said location and orientation detector is mounted on the tip of said catheter, in the vicinity of said inner body ultrasound detector.

36. The imaging system according to claim 24, wherein said inner body ultrasound detector includes an inner vascular ultrasound transceiver.

37. The imaging system according to claim 24, further comprising a surgical tool location and orientation detector, to be mounted on a surgical tool, said surgical tool location and orientation detector detecting the location and orientation of said surgical tool, in the coordinate system of said location and orientation detector.

38. The imaging system according to claim 24, further comprising a processor, for reconstructing a three dimensional image from said two dimensional images, by placing said two dimensional images in a three dimensional volume, each according to its respective detected location and orientation.

39. The imaging system according to claim 38, further comprising a surgical tool location and orientation detector, to be mounted on a surgical tool, said surgical tool location and orientation detector detecting the location and orientation of said surgical tool, in the coordinate system of said location and orientation detector.

40. The imaging system according to claim 39, wherein said processor further adds a representation of said surgical tool onto said three dimensional volume, according to detected location and orientation of said surgical tool.

41. Method for producing a three dimensional image, comprising the steps of:

detecting a plurality of two-dimensional ultrasound images, from the inner section of a scanned volume;

detecting the location and orientation of a selected vector in each said two dimensional ultrasound images; and

determining a three dimensional representation for each said two-dimensional images, according to the location and orientation thereof.

42. The method according to claim 41, further comprising the step of producing a three-dimensional image from said three-dimensional representations.

43. The method according to claim 42, further comprising the step of receiving additional location and orientation information and producing an indication thereof onto said three-dimensional image.

44. The method according to claim 43, further comprising the step of producing a visible representation of said three-dimensional image and said indication.

45. The method according to claim 41, further comprising the step of inserting an ultrasound detector into said inner section of said scanned volume.

46. The method according to claim 41, wherein said two-dimensional ultrasound images include angular two-dimensional ultrasound images.

47. The method according of claim 41, wherein said two-dimensional ultrasound images include angular two-dimensional ultrasound images.