Magnetically directable remote guidance systems, and methods of use thereof

• US 6,304,769 B1
• Filed: 10/16/1997
• Issued: 10/16/2001
• Est. Priority Date: 10/16/1997
• Status: Expired due to Term

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Roberts, Timothy, Arenson, Ronald L., Hassenzahl, William V.
• Primary Examiner(s): Casler, Brian L.
• Application Number:
  US08/951,620
• Time in Patent Office: 1,461 Days
• Field of Search: 600/424, 600/411, 600/427, 600/114, 600/117, 600/102, 600/103, 600/9, 600/11-14, 128/899, 128/897, 128/898, 604/528, 604/523
• US Class Current: 600/424
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• 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 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61M 25/0127 Magnetic means; Magnetic markers
• CPC Class Codes: G01R 33/285 Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR

Abstract

A magnetically directable guidance system useful in, for example, medical magnetic resonance imaging is provided, as well as methods of directing the traverse of a device directable by the remote guidance system to a remote destination. A directable device and methods of use thereof are also disclosed. In one embodiment, the device is a catheter directable using a magnetic resonance imaging system. In another embodiment, the method includes interventional radiological diagnostic and therapeutic procedures.

Claims

1. An apparatus for orienting a directable device, comprising;

(a) a directable device adapted for insertion into a patient comprising a substrate wrapped with a multi-coil package comprising overlapping or overlaid coaxial coils, which package is adapted for conducting multiple, independent electric currents such that when the currents are passed through the multi-coil package a local directable magnetic moment is created;

(b) a means for selectively applying electric currents through the multi-coil package to orient the substrate; and

(c) a means external to the patient for generating a magnetic field to which the directable device is exposed,

wherein the local directable magnetic moment is at a controllable angle with respect to the substrate to orient the substrate in the magnetic field.

2. The apparatus of claim 1, wherein the means for generating an external magnetic field is generated by a magnet of a magnetic resonance imaging device.

3. The apparatus of claim 1, wherein the directable device further comprises a transmit/receive coil.

4. The apparatus of claim 3, wherein the transmit/receive coil is one or more coils in the multi-coil package.

5. The apparatus of claim 1, wherein the directable device further comprises a receiver coil.

6. The apparatus of claim 5, wherein the receiver coil is one or more coils in the multi-coil package.

7. The apparatus of claim 1, wherein the multi-coil package comprises three coils, wherein each coil is capable of independently conducting electric current such that currents passed through the individual coils produce three mutually orthogonal magnetic moments.

8. The apparatus of claim 7, wherein the directable device further comprises a transmit/receive coil.

9. The apparatus of claim 8, wherein the transmit/receive coil is a coil of the multi-coil package.

10. The apparatus of claim 7, wherein the directable device further comprises a receiver coil.

11. The apparatus of claim 10, wherein the receiver coil is a coil of the multi-coil package.

12. The apparatus of claim 7, wherein the directable device is a catheter comprising an elongate tube having a proximal end;

a distal end comprising a tip;

an inner surface;

an outer surface; and

a wall interposed between the inner and outer surfaces.

13. The apparatus of claim 12, wherein the three coils are situated near the tip of the distal end of the elongate tube.

14. The apparatus of claim 12, wherein the three coils of the multi-coil package are situated on the outer surface of the elongate tube.

15. The apparatus of claim 12, wherein the three coils are embedded in the wall of the elongate tube.

16. The apparatus of claim 12, wherein the catheter further comprises a sheath that encases the multi-coil package.

17. The apparatus of claim 12, wherein the means for applying electric currents through the coils comprises electric leads attached to each of the coils and to sources of electric current.

18. The apparatus of claim 12, wherein the means for applying electric currents through the coils comprises a source of a radio frequency (RF) energy.

19. The apparatus of claim 12, wherein the catheter further comprises at least one of a means for performing an interventional diagnostic action or a means for performing an interventional therapeutic activity.

20. The apparatus of claim 19, wherein the means for performing an interventional diagnostic action is selected from the group consisting of means for introducing a radiographic diagnostic agent, means for taking a biopsy sample, means for local delivery of electric current, means for performing cryosurgery, means for performing hyperthermia treatments, means for introducing a stent, means for introducing a balloon placement, means for administering a pharmacologic agent, means for performing electrocautery, means for deploying a coil, and means for deposing a radioactive implant.

21. The apparatus for claim 1, wherein the directable device is a catheter comprising an elongate tube having a proximal end;

a distal end, which distal end is intended to be situated in a body cavity, duct or vessel and comprises tip;

an inner surface;

an outer surface; and

a wall interposed between the inner and outer surfaces.

22. The apparatus for claim 21, wherein the multi-coil package is situated near the tip of the distal end of the elongate tube.

23. The apparatus of claim 21, wherein the multi-coil package is situated on the outer surface of the elongate tube.

24. The apparatus of claim 21, wherein the multi-coil package is embedded in the wall of the elongate tube.

25. The apparatus of claim 21, wherein the catheter further comprises a sheath that encases the multi-coil package.

26. The apparatus of claim 21, wherein the means for applying electric currents through the multi-coil package comprises electric leads attached to the multi-coil package and to sources of electric current.

27. The apparatus of claim 21, wherein the means for applying electric currents through the multi-coil package comprises a source of a radio frequency (RF) energy.

28. The apparatus of claim 21, wherein the catheter further comprises at least one of a means for performing an interventional diagnostic action or a means for performing an interventional therapeutic activity.

29. The apparatus of claim 28, wherein the means for performing an interventional diagnostic action is selected from the group consisting of means for introducing a radiographic diagnostic agent, means for taking a biopsy sample, means for local delivery of electric current, means for performing cryosurgery, means for performing hyperthermia treatments, means for introducing a stent, means for introducing a balloon placement, means for administering a pharmacologic agent, means for performing electrocautery, means for deploying a coil, and means for depositing a radioactive implant.

30. The apparatus of claim 1, wherein the device is a guide wire.

31. The apparatus of claim 1, wherein the means for applying electric currents through the multi-coil package comprises electric leads attached to each coil of the multi-coil package and to sources of electric current.

32. The apparatus of claim 1, wherein the means for applying an electric current through the multi-coil package comprises a source of a radio frequency (RF) energy.

33. The apparatus of claim 32, 27, or 18, wherein the source of RF energy is a RF transmit coil of a magnetic resonance imaging apparatus.

34. The apparatus of claim 1, wherein the multi-coil package comprises three coil layers.

35. The apparatus of claim 1, wherein the multi-coil package comprises concentric layers.

36. The apparatus of claim 1, wherein the multi-coil package comprises concentric coils.

37. A method of orienting a directable device, comprising:

(a) inserting a directable device into a patient, the directable device comprising a substrate wrapped with a multi-coil package comprising overlapping or overlaid coaxial coils, which package is adapted for conducting electric currents such that currents passed through the multi-coil package create a local directable magnetic moment;

(b) selectively applying independent electric currents through individual coils of the multi-coil package to orient the substrate; and

(c) generating a magnetic field external to the patient at a strength and frequency sufficient to effect orienting of the directable device in a desired direction;

wherein the local directable magnetic moment is at a controllable angle with respect to the substrate to orient the substrate in the external magnetic field.

38. The method of claim 37, wherein the means for generating an external magnetic field is a magnet of a magnetic resonance imaging device.

39. The method of claim 37, wherein the directable device further comprises a transmit/receive coil.

40. The method of claim 39, wherein the transmit/receive coil is one or more coils in the multi-coil package.

41. The method of claim 37, wherein the directable device further comprises a receiver coil.

42. The method of claim 41, wherein the receiver coil is one or more coils in the multi-coil package.

43. The method of claim 37, wherein the multi-coil package comprises three coils, wherein each coil is capable of independently conducting electric current such that currents passed through the coils produce three mutually orthogonal magnetic moments.

44. The method of claim 43, wherein the directable device further comprises a transmit/receive coil.

45. The method of claim 44, wherein the transmit/receive coil is one or more coils of the multi-coil package.

46. The method of claim 43, wherein the directable device further comprises a receiver coil.

47. The method of claim 46, wherein the receiver coil is one or more coils of the multi-coil package.

48. The method of claim 43, wherein the directable device is a catheter comprising an elongate tube having a proximal end, a distal end comprising a tip, an inner surface, an outer surface, and a wall interposed between the inner and outer surfaces.

49. The method of claim 48, wherein the three coils are situated near the tip of the distal end of the elongate tube.

50. The method of claim 48, wherein the three coils are situated on the outer surface of the elongate tube.

51. The method of claim 48, wherein the three coils are embedded in the wall of the elongate tube.

52. The method of claim 48, wherein the catheter further comprises a sheath that encases the multi-coil package.

53. The method of claim 48, wherein the means for applying electric currents through the coils comprises electric leads attached to each of the coils and to sources of electric current.

54. The method of claim 48, wherein the means for applying electric currents through the coils comprises a source of a radio frequency (RF) energy.

55. The method of claim 48, wherein the catheter further comprises at least one of a means for performing an interventional diagnostic action or a means for performing an interventional therapeutic activity.

56. The method of claim 55, wherein the means for performing an interventional diagnostic action is selected from the group consisting of means for introducing a radiographic diagnostic agent, means for taking a biopsy sample, means for local delivery of electric current, means for performing cryosurgery, means for performing hyperthermia treatments, means for introducing a stent, means for introducing a balloon placement, means for administering a pharmacologic agent, means for performing electrocautery, means for deploying a coil, and means for depositing a radioactive implant.

57. The method of claim 37, wherein the directable device is a catheter comprising an elongate tube having a proximal end, a distal end comprising a tip, an inner surface, an outer surface, and a wall interposed between the inner and outer surfaces.

58. The method of claim 57, wherein the multi-coil package is situated near the tip of the distal end of the elongate tube.

59. The method of claim 57, wherein the multi-coil package is situated on the outer surface of the elongate tube.

60. The method of claim 57, wherein the multi-coil package is embedded in the wall of the elongate tube.

61. The method of claim 57, wherein the catheter further comprises a sheath that encases the multi-coil package.

62. The method of claim 57, wherein the means for applying electric currents through the multi-coil package comprises electric leads attached to individual coils of the multi-coil package and to sources of electric current.

63. The method of claim 57, wherein the means for applying electric currents through the coils comprises a source of a radio frequency (RF) energy.

64. The method of claim 57, wherein the catheter further comprises at least one of a means for performing an interventional diagnostic action or a means for performing an interventional therapeutic activity.

65. The method of claim 64, wherein the means for performing an interventional diagnostic action is selected from the group consisting of means for introducing a radiographic diagnostic agent, means for taking a biopsy sample, means for local delivery of electric current, means for performing cryosurgery, means for performing hyperthermia treatments, means for introducing a stent, means for introducing a balloon placement, means for administering a pharmacologic agent, means for performing electrocautery, means for deploying a coil, and means for depositing a radioactive implant.

66. The method of claim 37, wherein the device is a guide wire.

67. The method of claim 37, wherein the means for applying electric currents through the multi-coil package comprises electric leads attached to the multi-coil package and to sources of electric current.

68. The method of claim 37, wherein the means for applying electric currents through the coils comprises a source of a radio frequency (RF) energy.

69. The method of claim 59, 63, or 54, wherein the source of RF energy is a RF transmit coil of a magnetic resonance imaging apparatus.

70. The method of claim 37, wherein the multi-coil package comprises three coil layers.

71. The method of claim 37, wherein the multi-coil package comprises concentric layers.

72. The method of claim 37, wherein the multi-coil package comprises concentric coils.

73. A directable catheter comprising:

(a) a flexible elongate substrate having a proximal end and a distal end adapted to be situated in a body cavity, duct or vessel, wherein the distal end comprises a tip; and

(b) a multi-coil package comprising overlapping or overlaid coaxial coils, which multi-coil package is attached to the substrate, the multi-coil package comprising a conductive material, wherein the multi-coil package is adapted for conducting multiple, independent electric currents such that currents passed through the multi-coil package create a local directable magnetic moment;

wherein the local directable magnetic moment is at a controllable angle with respect to the substrate to provide a torque to orient the substrate in a magnetic field generated external to the body cavity, duct or vessel.

74. The directable catheter of claim 73, wherein the multi-coil package comprises three coils, each coil being capable of independently conducting electric current such that current passed through the coils produces three mutually orthogonal magnetic moments.

75. The directable catheter of claim 74, wherein the multi-coil package is embedded in the substrate.

76. The directable catheter of claim 74, wherein the multi-coil package is wrapped around an outer surface of the substrate.

77. The directable catheter of claim 74, further comprising a transmit/receive coil.

78. The directable catheter of claim 77, wherein the transmit/receive coil is one of the three coils.

79. The directable catheter of claim 74, further comprising a receiver coil.

80. The directable catheter of claim 79, wherein the receiver coil is one of the coils of the multi-coil package.

81. The directable catheter of claim 74, wherein the multi-coil package is situated near the tip of the distal end of the elongate substrate.

82. The directable catheter of claim 74, wherein the catheter further comprises a sheath encasing the multi-coil package.

83. The directable catheter of claim 73, wherein the multi-coil package is embedded in the substrate.

84. The directable catheter of claim 73, wherein the multi-coil package is wrapped around an outer surface of the substrate.

85. The directable catheter of claim 73, further comprising a transmit/receive coil.

86. The directable catheter of claim 85, wherein the transmit/receive coil is one or more coils of the multi-coil package.

87. The directable catheter of claim 86, wherein the receiver coil is one or more coils of the multi-coil package.

88. The directable catheter of claim 73, further comprising a receiver coil.

89. The directable catheter of claim 73, wherein the multi-coil package is situated near the tip of the distal end of the elongate substrate.

90. The directable catheter of claim 73, wherein the catheter further comprises a sheath encasing the multi-coil package.

91. The directable catheter of claim 73, wherein the multi-coil package comprises three coil layers.

92. The directable catheter of claim 73, wherein the multi-coil package comprises concentric layers.

93. The directable catheter of claim 73, wherein the multi-coil package comprises concentric coils.

94. The directable catheter of claim 73, wherein the substrate is tubular.

95. The directable catheter of claim 73, wherein the substrate comprises an inner wall and an outer wall.