Method and apparatus using shaped field of repositionable magnet to guide implant

• US 6,507,751 B2
• Filed: 04/02/2001
• Issued: 01/14/2003
• Est. Priority Date: 11/12/1997
• Status: Expired due to Fees

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Hogg, Bevil J., Ritter, Rogers C., Blume, Walter M., Werp, Peter R.
• Primary Examiner(s): LAYNO, CARL HERNANDZ
• Application Number:
  US09/824,425
• Publication Number:
  US 20010021805A1
• Time in Patent Office: 652 Days
• Field of Search: 600/9-12, 600/15, 600/300, 600/407, 600/424, 604/510, 606/130
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/733 arranged only on one side of the patient, e.g. under a table
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery

Abstract

Methods and apparatuses for displaying and using a shaped field of a repositionable magnet to move, guide, and/or steer a magnetic seed or catheter in living tissue for medicinal purposes. A moveable magnet assembly and a portion of a patient'"'"'s body undergoing magnetically-aided surgery are both provided with fiducial markers. The portion of the patient'"'"'s body is fixed in a location in which the fiducial markers are sensed and located by a set of localizers. The positions of the fiducial markers are determined by a processor, which operates on a stored representation of the magnetic field of a magnet in the magnet assembly to provide a display of the present magnetic field of the magnet. This display may be superimposed over an MRI, X-ray or CAT image during surgery. The repositionable magnet can be an electromagnet. In some embodiments, a computer calculates orientations and currents for an external electromagnet to move the implanted magnetic object in the patient'"'"'s body through a desired path. The display can provide real-time imaging of the implanted magnetic object in comparison to the desired path as the object is moved.

Claims

1. An apparatus for providing rapid interactive display of at least one of the aligning torque and the magnetic pulling directions of a magnet, the apparatus comprising:

(a) a moveable magnet assembly having a plurality of fiducial marks thereon;

(b) a localizer comprising a plurality of imaging sensors configured to sense a position in threedimensional space of the fiducial marks to thereby provide an indication of a location of the moveable magnet; and

(c) a processor including memory having stored therein a representation of a magnetic field generated by the magnet assembly and a display configured to present a graphical representation of the magnetic field, the processor being configured to be responsive to the indication of the location of the moveable magnet provided by the localizer so that the display provides an indication of the magnetic field within a selected volume of space resulting from the magnet assembly when the magnet is at a position indicated by the localizer.

2. The apparatus of claim 1 and further comprising a medical imaging device, and wherein an image sensed by the medical imaging device is superimposed upon the indication of the magnetic field within the selected volume of space.

3. The apparatus of claim 2 wherein the moveable magnet assembly is coupled to the processor and further comprising an operator input device coupled to the processor and operable to control a location and orientation of the magnet assembly.

4. The apparatus of claim 3 in which the operator input device is configured for non-tactile operator input.

5. The apparatus of claim 4 in which the non-tactile operator input device comprises a voice-recognition device.

6. The apparatus of claim 5 wherein the moveable magnet assembly comprises an electromagnet.

7. The apparatus of claim 6 wherein at least some of the fiducial marks on the moveable magnet assembly comprise light emitting diodes (LEDs).

8. The apparatus of claim 1 and further comprising a plurality of fiducial markers configured for positioning on a portion of a patient'"'"'s body.

9. A method for providing a rapid interactive display of at least one of the aligning torque and the magnetic pulling directions of a magnet, the method comprising:

(a) providing a plurality of fiducial marks on the magnet assembly;

(b) sensing a location and orientation of the fiducial marks;

(c) computing a magnetic field in a selected volume of space produced by the magnet assembly when the magnetic assembly is in the sensed location and orientation; and

(d) displaying a representation of the magnetic field in the selected volume of space.

10. The method of claim 9 and further comprising:

(a) placing a magnetic seed in a tissue of a living body;

(b) providing fiducial marks on an external surface of the living body proximate the tissue;

(c) sensing a location and orientation of the living body; and

(d) selecting the selected volume of space to include the tissue of the living body.

11. A method for providing a rapid interactive display of at least one of the aligning torque and the magnetic pulling directions of a magnet, the method comprising:

(a) positioning a body part of a patient in a fixed position in space relative to a plurality of localizers;

(b) displaying a view of the body part within a field of view of the localizers on a display;

(c) identifying landmarks on the body part;

(d) locating fiducial marks on a moveable magnet assembly;

(e) computing a position and orientation of the magnet assembly;

(f) determining relationships between a coordinate system of the display, the magnetic assembly, and a stored representation of a magnetic field produced by the magnet assembly;

(g) converting the representation of the magnetic field into display coordinates; and

(h) displaying a representation of the magnetic field in display coordinates on the display.

12. The method of claim 11 wherein the identification step comprises the touching of markers selected from the group consisting of anatomical landmarks and fiducial