Simultaneous display during surgical navigation

• US 6,374,134 B1
• Filed: 01/21/2000
• Issued: 04/16/2002
• Est. Priority Date: 08/14/1992
• Status: Expired due to Term

• Current Assignee: British Telecommunications PLC (BT Group PLC)
• Original Assignee: British Telecommunications PLC (BT Group PLC)
• Inventors: Bladen, John Stuart, Anderson, Alan Patrick
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): SHAW, SHAWNA JEANNINE
• Application Number:
  US09/489,034
• Time in Patent Office: 816 Days
• Field of Search: 600/407, 600/424, 600/585, 600/109, 600/117, 128/899, 324/207.11, 324/260, 324/207.13
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• 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 2034/742 Joysticks
• 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 5/6806 Gloves
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• 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
• CPC Class Codes: H01F 2005/027 wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer

Abstract

Methods and apparatus are provided for locating the position, preferably in three dimensions, of a sensor by generating magnetic fields which are detected at the sensor. The magnetic fields are generated from a plurality of locations and, in one embodiment of the invention, enable both the orientation and location of a single coil sensor to be determined. The present invention thus finds application in many areas where the use of prior art sensors comprising two or more mutually perpendicular coils is inappropriate.

Claims

1. A method of monitoring a medical instrument within an anatomical body, the method comprising:

moving the medical instrument within the anatomical body, the medical instrument having a single magnetic field sensor movable therewith;

activating external to the anatomical body, at least three electromagnetic field sources, wherein the at least three electromagnetic field sources generate at least three magnetic fields, and wherein each of the three magnetics fields has a moment different from moments of each of the other two magnetic fields;

detecting with the sensor within the anatomical body, electromagnetic radiation resulting from activation of the at least three electromagnetic field sources;

ascertaining a position of the sensor based upon the electromagnetic radiation detected by the sensor, wherein the position includes both a location and an orientation of the sensor;

displaying a representation of the ascertained position of the sensor;

simultaneously displaying local information corresponding to an area in the anatomical body where the sensor is located while displaying the representation of the ascertained position of the sensor.

2. The method of claim 1, wherein the local information is an image.

3. The method of claim 2, further comprising, prior to simultaneously displaying the image, obtaining the image using a camera.

4. The method of claim 1, wherein the magnetic field sensor is a single coil sensor.

5. The method of claim 1, wherein the displayed representation reflects the ascertained position in three dimensions.

6. The method of claim 1, wherein the sensor includes a coil and the position of the sensor is ascertained by inducing a voltage in the coil, measuring the induced voltage, and employing an algorithm for ascertaining the location as a function of the induced voltage.

7. The method of claim 6, wherein the location and orientation are calculated from the induced voltage and result in a relationship defined by the equation:

$V_s=k_c<br><br>k_s<br><br>\left[\frac{\left(2<br><br>z^2-x^2-y^2\right)<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}+3<br><br>z<br><br>\text{\hspace{1em}<br><br>}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}<br><br>\left(x<br><br>\text{\hspace{1em}<br><br>}<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\phi <br><br>}+y<br><br>\text{\hspace{1em}<br><br>}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\phi <br><br>}\right)}{{\left(x^2+y^2+z^2\right)}^{5/2}}\right]$

where V_s is an induced voltage;

k_c is known and is calculated as a function of a current through, diameter of, and number of turns of the coil;

k_s is known and is a function of a frequency of the field and characteristics of the sensing coil;

x, y, and z are cartesian coordinates of the sensor, and θ and

φ

are elevational and rotational angles of the sensor, respectively.

8. A method of overlapping and displaying a structural position on an image projected on a display device, the method comprising:

projecting an image on the display device;

generating at least three magnetic fields, wherein each of the three magnetic fields has a moment different from moments of each of the other two magnetic fields;

moving, within the at least three magnetic fields, a structure having a single magnetic sensor connected thereto;

measuring, using the sensor, the at least three magnetic fields;

calculating a position of the structure using the at least three measured magnetic fields, wherein the position includes both a location and an orientation of the sensor;

correlating the calculated position of the structure with the image projected on the display device; and

overlaying, on the display device, a representation of the calculated position on the projected image.

9. The method of claim 8, wherein the calculated position includes both a location and an orientation of the sensor, wherein the field source induces a voltage in the sensor, and wherein the location and orientation are calculated from the induced voltage and result in a relationship defined by the equation:

$V_s=k_c<br><br>k_s<br><br>\left[\frac{\left(2<br><br>z^2-x^2-y^2\right)<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}+3<br><br>z<br><br>\text{\hspace{1em}<br><br>}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}<br><br>\left(x<br><br>\text{\hspace{1em}<br><br>}<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\phi <br><br>}+y<br><br>\text{\hspace{1em}<br><br>}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\phi <br><br>}\right)}{{\left(x^2+y^2+z^2\right)}^{5/2}}\right]$

wherein V_s is in induced voltage;

k_c is known and is calculated as a function of a current through, diameter of, and number of turns of the coil;

k_s is known and is a function of a frequency of the field and characteristics of the sensing coil;

x, y, and z are cartesian coordinates of the sensor, and θ and

φ

are elevational and rotational angles of the sensor, respectively.

10. The method of claim 8, wherein the magnetic field sensor is a single coil sensor.

11. The method of claim 8, wherein the displayed representation reflects the calculated position in three dimensions.

12. The method of claim 8, wherein the sensor includes a coil and the position of the sensor is ascertained by inducing a voltage in the coil, measuring the induced voltage, and employing an algorithm for ascertaining the location as a function of the induced voltage.

13. A method of monitoring a position of a medical instrument within an anatomical body, the method comprising:

positioning the medical instrument within the anatomical body, the medical instrument having a single coil sensor movable therewith;

generating external to the anatomical body, at least three electromagnetic fields to thereby induce a voltage in the single coil sensor, wherein each of the three magnetic fields has a moment different from moments of each of the two other magnetic fields;

ascertaining a location and an orientation of the single coil sensor using an algorithm resulting in the ascertained location and orientation being related by the formula;

$V_s=k_c<br><br>k_s<br><br>\left[\frac{\left(2<br><br>z^2-x^2-y^2\right)<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}+3<br><br>z<br><br>\text{\hspace{1em}<br><br>}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}<br><br>\left(x<br><br>\text{\hspace{1em}<br><br>}<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\phi <br><br>}+y<br><br>\text{\hspace{1em}<br><br>}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\phi <br><br>}\right)}{{\left(x^2+y^2+z^2\right)}^{5/2}}\right]$

where V_s is an induced voltage;

k_c is known and is calculated as a function of a current through, diameter of, and number of turns of the coil;

k_s is known and is a function of a frequency of the field and characteristics of the sensing coil;

x, y, and z are cartesian coordinates of the sensor, and θ and

φ

are elevational and rotational angles of the sensor, respectively;

displaying a representation of the ascertained sensor location and orientation; and

simultaneously displaying with the representation of the sensor location and orientation, an image of an area in the anatomical body corresponding to the ascertained location and orientation.

14. A method of monitoring a medical instrument within an anatomical body, the method comprising:

moving the medical instrument within the anatomical body, the medical instrument having a magnetic field sensor movable therewith;

activating, external to the anatomical body, at least one electromagnetic field source;

detecting with the sensor within the anatomical body, electromagnetic radiation resulting from activating the at least one electromagnetic field source;

ascertaining a position of the sensor based upon the electromagnetic radiation detected by the sensor;

displaying a representation of the ascertained position of the sensor;

simultaneously displaying local information corresponding to an area in the anatomical body where the sensor is located while displaying the representation of the ascertained position of the sensor in three dimensions, wherein the three dimensions are represented by color coding.

15. The method of claim 14, further including rotating the representation of the ascertained position of the sensor in three dimensions.

16. The method of claim 14, further including magnifying the representation of the ascertained position of the sensor in three dimensions.

17. The method of claim 14, wherein the local information includes an image.

18. The method of claim 17, including, prior to simultaneously displaying, obtaining the image using a camera.

19. The method of claim 14, wherein the magnetic field sensor is a single coil sensor.

20. The method of claim 19, wherein the position includes both a location and an orientation of the sensor.

21. A method of monitoring a medical instrument within an anatomical body, the method comprising:

moving the medical instrument from a first position within the anatomical body to a second position within the anatomical body, the medical instrument having at least one field sensor movable therewith;

activating, external to the anatomical body, at least one magnetic field;

detecting with the at least one sensor within the anatomical body, the at least one magnetic field;

continuously ascertaining positions of the at least one sensor based upon the at least one magnetic field detected by the at least one sensor; and

displaying a continuous representation of the positions of the sensor as it moves from the first position to the second position, the continuous representation including a representation of the first position, a representation of the second position, and representation of the positions between the first position and the second position.

22. The method of claim 21, further including simultaneously displaying local information corresponding to an area in the anatomical body where the sensor is located while displaying the representation of the position of the sensor.

23. The method of claim 22, wherein the local information includes an image.

24. The method of claim 23, further comprising obtaining the image using a camera prior to simultaneously displaying the image.

25. The method of claim 21, wherein the field sensor is a single coil sensor.

26. The method of claim 25, wherein the ascertained positions includes both a location and an orientation of the at least one sensor.

27. The method of claim 21, wherein the displayed representation reflects the positions in three dimensions.

28. The method of claim 21, wherein the at least one sensor includes a coil and the position of the at least one sensor is ascertained by inducing a voltage in a coil, measuring the induced voltage, and employing an algorithm for ascertaining the location as a function of the induced voltage.

29. A method of monitoring a medical instrument within an anatomical body by overlaying and displaying a position of the medical instrument on an image projected on a display device, the method comprising:

projecting the image on the display device;

generating at least three magnetic fields, wherein each of the three magnetic fields has a moment different from moments of the other two magnetic fields;

moving, within the at least three magnetic fields, the medical instrument having a single coil sensor connected thereto;

measuring, using the sensor, the at least three magnetic fields;

calculating a position of the medical instrument using the measured at least three magnetic fields;

correlating the calculated position of the medical instrument with the image projected on the display device; and

overlaying, on the display device, a representation of the calculated position on the projected image.

30. The method of claim 29, including simultaneously displaying local information corresponding to an area in the anatomical body where the sensor is located while simultaneously displaying the representation of the calculated position.

31. The method of claim 29, wherein the position of the sensor is ascertained by inducing a voltage in the sensor coil, measuring the induced voltage, and employing an algorithm for ascertaining the location as a function of the induced voltage.

32. A method of monitoring a medical instrument within an anatomical body, the method comprising:

moving the medical instrument within the anatomical body, the medical instrument having a magnetic field sensor movable therewith;

activating external to the anatomical body, at least three electromagnetic field sources, wherein the at least three electromagnetic field sources generate at least three magnetic fields, and wherein each of the three magnetic fields has a moment different from moments of each of the other two magnetic fields;

detecting with the sensor within the anatomical body, electromagnetic radiation resulting from activation of the at least three electromagnetic field sources;

ascertaining a position of the sensor based upon the electromagnetic radiation detected by the sensor;

displaying a representation of the ascertained position of the sensor;

calibrating the magnetic field sensor to determine the position and orientation of the sensor relative to the at least three electromagnetic field sources, before moving the medical instrument within the anatomical body; and

simultaneously displaying local information corresponding to an area in the anatomical body where the sensor is located while displaying the representation of the ascertained position of the sensor.

33. The method of claim 32, wherein the local information is an image.

34. The method of claim 33, further comprising, prior to simultaneously displaying the image, obtaining the image using a camera.

35. The method of claim 32, wherein the magnetic field sensor is a single coil sensor.

36. The method of claim 32, wherein the displayed representation reflects the ascertained position in three dimensions.

37. The method of claim 32, wherein the ascertained position includes both a location and an orientation of the sensor.