Intrabody navigation system for medical applications

• US 6,593,884 B1
• Filed: 01/21/2000
• Issued: 07/15/2003
• Est. Priority Date: 08/02/1998
• Status: Expired due to Term

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Super Dimension Ltd.
• Inventors: Gilboa, Pinhas, Blecher, Danny
• Primary Examiner(s): Phan, Dao
• Application Number:
  US09/463,177
• Time in Patent Office: 1,271 Days
• Field of Search: 342/417, 342/427, 342/445, 342/457, 342/448, 342/450
• US Class Current: 342/448
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 8/08 Detecting organic movements or changes, e.g. tumours, cysts, swellings A61B8/02 - A61B8/06 take precedence
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient

Abstract

A system and method for tracking the position and orientation of a probe. Three at least partly overlapping planar antennas are used to transmit electromagnetic radiation simultaneously, with the radiation transmitted by each antenna having its own spectrum. A receiver inside the probe includes sensors of the three components of the transmitted field, with sensors for at least two of the three components being pairs of sensors, such as coils, on opposite sides of a common reference point. In one variant of the receiver, the coils are collinear and are wound about cores that are mounted in pairs of diametrically opposed apertures in the housing of the probe. Each member of a pair of coils that sense the same component of the transmitted field is connected to a different input of a differential amplifier. The position and orientation of the receiver relative to the antennas are determined noniteratively.

Claims

1. A system for tracking a position and an orientation of a probe, comprising:

(a) three first sensors, each of said first sensors for detecting a different component of a vector force field, each of said first sensors including two sensor elements disposed symmetrically about a common reference point in the probe, said first sensors being mounted inside the probe, wherein first said sensor elements of said three first sensors are interleaved about a first circle and wherein second said sensor elements of said three first sensors are interleaved about a second circle, each of said circles having a center, said common reference point being a midpoint of a line connecting said centers of said circles.

2. The system of claim 1, wherein said vector force field is an electromagnetic field.

3. The system of claim 1, wherein each of said sensor elements includes a coil.

4. The system of claim 3, wherein, for each of said first sensors, said coils are mutually parallel.

5. The system of claim 3, wherein, for each of said first sensors, said coils are connected in series.

6. The system of claim 5, wherein, for each of said first sensors, said coils have identical helicities.

7. The system of claim 5, wherein, for each of said first sensors, said coils have opposite helicities.

8. The system of claim 1, wherein said sensor elements are collinear.

9. The system of claim 1, wherein said circles define a cylindrical surface, each of said sensor elements having a shape that conforms to said surface.

10. The system of claim 1, further comprising:

(b) a second sensor including a sensor element centered on said common reference point.

11. The system of claim 10, wherein said sensor elements of said first and second sensors are coils.

37. The system of claim 3, further comprising:

(b) for at least one of said first sensors;

for each of said coils;

(i) a pair of diametrically opposed apertures in the probe, and

(ii) a core, mounted in said pair of apertures, said each coil being wound about said core.

12. A method for determining a position and an orientation of an object with respect to a reference frame, comprising the steps of:

(a) providing the object with three independent sensors of electromagnetic radiation;

(b) providing three independent transmitting antennas of said electromagnetic radiation, each of said transmitting antennas having a fixed position in the reference frame, at least one of the transmitting antennas being spatially extended;

(c) transmitting said electromagnetic radiation, using said transmitting antennas, a first of said transmitting antennas transmitting said electromagnetic radiation of a first spectrum, a second of said transmitting antennas transmitting said electromagnetic radiation of a second spectrum independent of said first spectrum, and a third of said transmitting antennas transmitting said electromagnetic radiation of a third spectrum independent of said first spectrum;

(d) receiving signals corresponding to said electromagnetic radiation, at all three of said sensors, at a plurality of times, in synchrony with said transmitting of said electromagnetic radiation; and

(e) inferring the position and the orientation of the object noniteratively from said signals.

13. The method of claim 12, wherein said third spectrum is independent of said second spectrum.

14. The method of claim 13, wherein said transmitting of said electromagnetic radiation by said first, second and third transmitting antennas is effected simultaneously.

15. The method of claim 12, wherein said inferring includes the steps of:

(i) calculating, for said signals corresponding to said electromagnetic radiation from each of said transmitting antennas, an antenna amplitude; and

(ii) forming a sum amplitude and two independent difference amplitudes from said antenna amplitudes.

16. The method of claim 12, further comprising the step of:

(f) calibrating said inferring of the position and orientation of the object.

17. The method of claim 16, wherein said calibrating includes predicting said signals at a number of calibration positions and a number of calibration orientations.

18. The method of claim 17, wherein said number of calibration positions is at least 36 and said number of calibration orientations are at least 36.

19. The method of claim 16, wherein said calibrating includes measuring said signals at a number of calibration positions and a number of calibration orientations.

20. The method of claim 19, wherein said number of calibration positions is at least 36 and said number of calibration orientations are at least 36.

21. A system for determining a position and an orientation of an object, comprising:

(a) a plurality of at least partly overlapping transmitter antennas;

(b) a mechanism for exciting said transmitter antennas to transmit electromagnetic radiation simultaneously, said electromagnetic radiation transmitted by each of said transmitter antennas having a different spectrum;

(c) at least one electromagnetic field sensor, associated with the object, operative to produce signals corresponding to said electromagnetic radiation; and

(d) a mechanism for inferring the position and the orientation of the object from said signals.

22. The system of claim 21, wherein each of said frequency spectra includes a single frequency.

23. The system of claim 21, wherein said mechanism for exciting said transmitter antennas includes, for each said transmitter antenna, a mechanism for decoupling said each transmitter antenna from said electromagnetic radiation transmitted by every other said transmitter antenna.

24. The system of claim 23, wherein each of said frequency spectra includes a single frequency, and wherein said mechanism for decoupling said each transmitter antenna from said electromagnetic radiation includes:

(i) a signal generator for generating a transmitted signal at said single frequency of said each transmitter antenna; and

(ii) at least one active circuit element coupled to said signal generator.

25. The system of claim 23, wherein one of said at least one active circuit element is a differential amplifier having two inputs and an output, one of said inputs being coupled to said signal generator, and another of said inputs and said output being coupled to said each transmitter antenna.

26. The system of claim 21, wherein said transmitter antennas are substantially coplanar.

27. The system of claim 26, including three said transmitter antennas, a first and a second of said transmitter antennas being adjacent, and a third of said transmitter antennas at least partly overlapping both said first transmitter antenna and said second transmitter antenna.

38. The system of claim 21, wherein each said at least one electromagnetic field sensor includes:

(i) two sensing elements, each of said sensing elements including a first lead and a second lead, said first leads being electrically connected to each other and to ground, and

(ii) a differential amplifier, each of said second leads being electrically connected to a different input of said differential amplifier.

39. The system of claim 21, wherein each said at least one electromagnetic field sensor includes:

(i) a pair of diametrically opposed apertures in the object,

(ii) a core mounted in said pair of apertures, and

(iii) a coil of electrically conductive wire wound about said core.

28. A system for determining a position and an orientation of an object, comprising:

(a) a plurality of at least partly overlapping transmitter antennas;

(b) a mechanism for exciting each of said transmitter antennas to transmit electromagnetic radiation of a certain single independent frequency and phase, said mechanism including, for each of said transmitter antennas, a mechanism for decoupling said each transmitter antenna from said electromagnetic radiation transmitted by every other said transmitter antenna;

(c) at least one electromagnetic field sensor, associated with the object, operative to produce signals corresponding to said electromagnetic radiation; and

(d) a mechanism for inferring the position and the orientation of the object from said signals.

29. The system of claim 28, wherein said mechanism for decoupling said each transmitter antenna from said electromagnetic radiation includes:

(i) a signal generator for generating a transmitted signal at said frequency of said each transmitter antenna; and

(ii) at least one active circuit element coupled to said signal generator.

30. The system of claim 29, wherein one of said at least one active circuit element is a differential amplifier having two inputs and an output, one of said inputs being coupled to said signal generator, and another of said inputs and said output being coupled to said each transmitter antenna.

40. The system of claim 28, wherein each said at least one electromagnetic field sensor includes:

(i) two sensing elements, each of said sensing elements including a first lead and a second lead, said first leads being electrically connected to each other and to ground, and

(ii) a differential amplifier, each of said second leads being electrically connected to a different input of said differential amplifier.

41. The system of claim 28, wherein each said at least one electromagnetic field sensor includes:

(i) a pair of diametrically opposed apertures in the object,

(ii) a core mounted in said pair of apertures, and

(iii) a coil of electrically conductive wire wound about said core.

31. A method for determining a position and an orientation of an object with respect to a reference frame, comprising the steps of:

(a) providing the object with three independent sensors of electromagnetic radiation;

(b) providing three independent transmitting antennas of said electromagnetic radiation, each of said transmitting antennas having a fixed position in the reference frame, at least one of the transmitting antennas being spatially extended;

(c) transmitting said electromagnetic radiation, using said transmitting antennas, a first of said transmitting antennas transmitting said electromagnetic radiation of a first spectrum, a second of said transmitting antennas transmitting said electromagnetic radiation of a second spectrum independent of said first spectrum, and a third of said transmitting antennas transmitting said electromagnetic radiation of a third spectrum independent of said first spectrum;

(d) receiving signals corresponding to said electromagnetic radiation, at all three of said sensors, at a plurality of times, in synchrony with said transmitting of said electromagnetic radiation;

(e) setting up an overdetermined set of linear equations relating said signals to a set of amplitudes, there being, for each of said sensors;

for each said transmitting antennas;

one of said amplitudes; and

(f) solving said set of linear equations for said amplitudes.

32. A system for determining a position and an orientation of an object, comprising:

(a) at least one transmitter antenna for transmitting an electromagnetic field;

(b) a first electromagnetic field sensor, associated with the object and including two sensing elements responsive to a first component of said transmitted electromagnetic field, each of said sensing elements including a first lead and a second lead, said first leads being electrically connected to each other and to ground; and

(c) a first differential amplifier, each of said second leads being electrically connected to a different input of said first differential amplifier.

33. The system of claim 32, wherein each of said sensing elements includes a coil.

34. The system of claim 33, wherein said coils are geometrically parallel.

35. The system of claim 32, wherein said sensing elements are disposed eccentrically with respect to the point.

36. The system of claim 32, further comprising:

(d) a second electromagnetic field sensor, associated with the object and including two sensing elements responsive to a second component of said transmitted electromagnetic field that is independent of said first component of said transmitted electromagnetic field, each of said sensing elements of said second electromagnetic field sensor including a first lead and a second lead, said first leads of said sensing elements of said second electromagnetic field sensor being electrically connected to each other and to ground; and

(e) a second differential amplifier, each of said second leads of said sensing elements of said second electromagnetic field sensor being electrically connected to a different input of said second differential amplifier.

42. The system of claim 33, wherein said first electromagnetic field sensor includes:

for each of said coils;

(i) a pair of diametrically opposed apertures in the object, and

(ii) a core, mounted in said pair of apertures, said each coil being wound about said core.

43. A system for tracking a position and an orientation of a probe, comprising:

(a) a plurality of first sensors, each of said first sensors for detecting a different component of a vector force field, each of said first sensors including two coils disposed symmetrically about a common reference point in the probe, said first sensors being mounted inside the probe; and

(b) a second sensor including a coil centered on said common reference point;

wherein said coils are disposed along a line through said common reference point, said coil of said second sensor being oriented parallel to said line, said coils of said first sensors being oriented perpendicular to said line.

44. A system for tracking a position and an orientation of a probe, comprising:

(a) a plurality of first sensors, each of said first sensors for detecting a different component of a sector force field, each of said first sensors including two sensor elements disposed symmetrically about a common reference point in the probe, said first sensors being mounted inside the probe; and

(b) for each of said plurality of first sensors;

(i) for each said sensor elements, a first lead and a second lead, said first leads being electrically connected to each other and to ground, and

(ii) a differential amplifier, each of said second leads being electrically connected to a different input of said differential amplifier.

45. A system for tracking a position and an orientation of a probe, comprising:

(a) a plurality of first sensors, each of said first sensors for detecting a different component of a vector force field, each of said first sensors including two sensor elements disposed symmetrically about a common reference point in the probe, said first sensors being mounted inside the probe; and

(b) a second sensor including a sensor element centered on said common reference point.

46. A system for tracking a position and an orientation of a probe, comprising:

(a) a plurality of sensors, each of said sensors for detecting a different component of a vector force field, each of said sensors including two coils disposed symmetrically about a common reference point in the probe, said sensors being mounted inside the probe; and

(b) for at least one of said sensors;

for each of said coils

(i) a pair of diametrically opposed apertures in the probe, and

(ii) a core, mounted in said pair of apertures said each coil being wound about said core.

47. A system for tracking a position and an orientation of a probe, comprising a plurality of sensors, each of said sensors for detecting a different component of a vector force field, each of said sensors including two coils disposed symmetrically about a common reference point in the probe, said sensors being mounted inside the probe, at least one of said coils having an axis that avoids said common reference point.

48. The system of claim 47, wherein each said coil has an axis that avoids said common reference point.

49. A system for tracking a position and an orientation of a probe, comprising a plurality of sensors, each of said sensors for detecting a different component of a vector force field, each of said sensors including two sensor elements disposed symmetrically about a common reference point in the probe, said sensors being mounted inside the probe, all said sensor element being disposed collinearly along an axis of the probe.

50. A probe comprising:

(a) a housing made of an electrically conducting material; and

(b) a plurality of sensors, each of said sensors for detecting a different component of an electromagnetic field, each of said sensors including two sensor elements disposed symmetrically about a common reference point in the probe, said sensors being mounted inside said housing.

51. The probe of claim 50, wherein said material is an electrically conducting metal.

52. The probe of claim 51, wherein said metal is nonmagnetic.

53. A probe comprising:

(a) a housing including two sections connected by a flexible connector; and

(b) a plurality of sensors, each of said sensors for detecting a different component of a vector force field, each of said sensors including a first and a second sensor element disposed symmetrically about a common reference point in the probe, said first sensor elements being mounted inside a first of said two sections, said second sensor elements being mounted inside a second of said two sections.