Movable transmit or receive coils for location system

• US 6,366,799 B1
• Filed: 09/25/1998
• Issued: 04/02/2002
• Est. Priority Date: 02/15/1996
• Status: Expired due to Term

• Current Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Original Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Inventors: Acker, David E., Zilberstein, Joel
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/117,791
• Time in Patent Office: 1,285 Days
• Field of Search: 600/411, 600/414, 600/417, 600/426, 600/427, 600/429, 600/424, 128/899, 606/130
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• 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 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2090/3975 active
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A system for determining the disposition of a probe within the body of a patient includes a probe having probe field transducers and one or more reference field transducers. The reference field transducers are affixed to a rigid but repositionable frame constructed to allow the transducers to be positioned in close proximity to the body. Non-ionizing fields are transmitted and detected between the probe and reference field transducers, and from the detected fields the relative disposition of the probe with respect to the reference field transducers is determined.

Claims

1. A system for determining the disposition of a probe within the body of a patient, comprising:

(a) a probe having one ore more probe field transducers mounted therein;

(b) one or more reference field transducers mounted on a frame;

(c) means for mounting said frame for movement relative to the patient so that said reference field transducers can be selectively positioned in different positions in close proximity to the body of the patient;

(d) transmission means to transmit one or more non-ionizing fields between said probe field transducers and said reference field transducers;

(e) detection means to detect each such transmitted field;

(f) calculation means to determine the relative disposition of said probe with respect to said reference field transducers from properties of the detected fields and from the relative dispositions of said reference field transducers with respect to one another; and

(g) translation means to translate the disposition of said probe relative to said reference field transducers to a known disposition relative to the body of the patient, said translation means including one or more fiducial transducers attachable to the body of the patient, said disposition of said one or more reference field transducers being determined by transmitting and receiving non-ionizing fields between the one or more fiducial transducers and the one or more reference field transducers.

2. A system as claimed in claim 1, wherein said one or more reference field transducers are in a known spatial relationship with respect to one another.

3. A system as claimed in claim 1, wherein said frame is rigid and holds said reference field transducers in fixed position relative to one another.

4. A system as claimed in claim 1, wherein said means for mounting comprises a flexible arm.

5. A method for determining the disposition of a probe within the body of a patient, comprising:

(a) providing a probe having one or more probe field transducers mounted therein;

(b) providing one or more reference field transducers mounted on a frame having means for mounting said frame for movement relative to the patient so that said reference field transducers can be selectively positioned in different positions in close proximity to the body of the patient;

(c) adjusting said frame so that said reference field transducers are positioned in a first location in close proximity to the body of the patient;

(d) transmitting one or more non-ionizing fields between probe field transducers and said reference field transducers;

(e) detecting each such transmitted field;

(f) calculating the relative disposition of said probe with respect to said reference field transducers from properties of the detected fields and from the relative dispositions of said reference field transducers with respect to one another; and

(g) translating the disposition of said probe relative to said reference field transducers to a known disposition relative to the body of the patient, said translating step including the step of detecting non-ionizing fields transmitted between said reference field transducers and one or more fiducial transducers attached to the body of the patient.

6. A method as claimed in claim 5 further comprising the step of repositioning said one or more reference field transducers and then repeating the aforesaid steps.

7. A system for determining the disposition of a probe within the body of a patient, comprising:

(a) a probe having one or more probe field transducers mounted therein;

(b) one or more reference field transducers mounted on a frame;

(c) means for mounting said frame for movement relative to the patient so that said reference field transducers can be selectively positioned in different positions in close proximity to the body of the patient;

(d) transmission means to transmit one or more non-ionizing fields between said probe field transducers and said reference field transducers;

(e) detection means to detect each such transmitted field;

(f) calculation means to determine the relative disposition of said probe with respect to said reference field transducers from properties of the detected fields and from the relative dispositions of said reference field transducers with respect to one another; and

(g) translation means to translate the disposition of said probe relative to said reference field transducers to a known disposition relative to the body of the patient, said translation means including means for determining the disposition of said reference field transducers relative to the patient including one or more patient reference transducers attachable to the body of the patient and computing the disposition of the probe relative to the patient based on the disposition of the reference field transducers relative to the patient, wherein the disposition of the reference field transducers is determined by transmitting and receiving non-ionizing fields between the one or more patient reference transducers and the reference field transducers.

8. A method for determining the disposition of a probe within the body of a patient, comprising:

(a) providing a probe having one or more probe field transducers mounted therein;

(b) providing one or more reference field transducers mounted on a frame so that said reference field transducers can be selectively positioned in different positions in close proximity to the body of the patient;

(c) attaching one or more patient reference field transducers to the body of the patient;

(d) adjusting said frame so that said reference field transducers are positioned in a first location in close proximity to the body of the patient;

(e) transmitting one or more non-ionizing fields between probe field transducers and said reference field transducers;

(f) detecting each such transmitted field;

(g) calculating the relative disposition of said probe with respect to said reference field transducers from properties of the detected fields and from the relative dispositions of said reference field transducers with respect to one another; and

(h) translating the disposition of said probe relative to said reference field transducers to a known disposition relative to the body of the patient, said translating step including the steps of determining the disposition of said reference field transducers relative to the patient by transmitting and receiving non-ionizing fields between the reference field transducers and the patient reference field transducers and computing the disposition of the probe relative to the patient based on the disposition of the reference field transducers relative to the patient.

9. A method as claimed in claim 8 further comprising the step of repositioning said one or more reference field transducers and then repeating the aforesaid steps.