Method and apparatus for generating controlled torques on objects particularly objects inside a living body

• US 6,594,517 B1
• Filed: 11/14/2000
• Issued: 07/15/2003
• Est. Priority Date: 05/15/1998
• Status: Expired due to Fees

• Current Assignee: Robin Medical Inc.
• Original Assignee: Robin Medical Inc.
• Inventors: Nevo, Erez
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/700,312
• Time in Patent Office: 973 Days
• Field of Search: 600/411, 600/424, 600/114, 600/117, 600/145, 600/146, 128/899
• US Class Current: 600/411
• CPC Class Codes: A61B 1/00147 Holding or positioning arrangements
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/005 Flexible endoscopes
• 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 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/4839 combined with drug delivery
• CPC Class Codes: H02K 2201/18 Machines moving with multiple degrees of freedom
• CPC Class Codes: H02K 41/03 Synchronous motors; Motors moving step by step; Reluctance motors H02K41/035 takes precedence
• CPC Class Codes: H02K 99/20 Motors

Abstract

A method and apparatus for generating a controlled torque of a desired direction and magnitude in an object within a body, particularly in order to steer the object through the body, such as a catheter through a blood vessel in a living body, by producing an external magnetic field of known magnitude and direction within the body, applying to the object a coil assembly including preferably three coils of known orientation with respect to each other, preferably orthogonal to each other, and controlling the electrical current through the coils to cause the coil assembly to generate a resultant magnetic dipole interacting with the external magnetic field to produce a torque of the desired direction and magnitude.

Claims

1. A method of generating a controlled torque of a desired direction and magnitude in an object within a body, comprising:

producing an external magnetic field of known magnitude and direction within said body, said magnetic field having a coordinate system;

applying to said object a coil assembly including at least three coils whose axes are of known orientation with respect to each other, and have components in three orthogonal planes;

tracking the orientation of said object with respect to the coordinate system of said external magnetic field;

applying an electrical current and controlling the electrical current through said coils to cause the coil assembly to generate a resultant magnetic dipole interacting with said external magnetic field to produce a torque of said desired direction and magnitude.

2. The method according to claim 1, wherein said body and said object are imaged on a display during the steering of the object within said body.

3. The method according to claim 1, wherein said step of producing an external magnetic field comprises producing an external magnetic field by an MRI (Magnetic Resonance Imaging) system, and wherein said step of tracking comprises using the gradient fields of said MRI system as a reference field for tracking.

4. A method of steering a medical device through a passageway within a body, comprising:

producing an external magnetic field of known magnitude and direction within said body, said magnetic field having a coordinate system;

providing a medical device located within said body;

applying to said medical device at least one coil;

tracking the orientation of said medical device with respect to the coordinate system of said external magnetic field;

applying an electrical current and controlling the electrical current through said coil to cause it to generate a resultant magnetic dipole interacting with said external magnetic field to produce a torque steering said medical device in a desired direction.

5. The method according to claim 4, wherein said step of producing an external magnetic field comprises producing an external magnetic field by an MRI (Magnetic Resonance Imaging) system.

6. The method according to claim 5, wherein said step of tracking comprises using the gradient fields of said MRI system as a reference field for tracking.

7. Apparatus for generating a controlled torque of a desired direction and magnitude to be applied to an object within a body, comprising:

means for producing an external magnetic field of known magnitude and direction within said body, said magnetic field having a coordinate system;

an object adapted to be located within said body;

a coil assembly attached to said object and including at least three coils whose axes are of known orientation with respect to each other, and have components in three orthogonal planes;

means for tracking the orientation of said object with respect to the coordinate system of said external magnetic field;

and a drive system for applying controlled electrical current trough said coils to cause the coil assembly to generate a resultant magnetic dipole interacting with said external magnetic field to produce a torque of said desired direction and magnitude.

8. The apparatus according to claim 7, wherein said coils have axes oriented orthogonally with respect to each other.

9. The apparatus according to claim 7, wherein said external magnetic field is a steady, homogenous magnetic field.

10. The apparatus according to claim 7, wherein said object is a medical device to be steered by said controlled torque through a path within a living body to perform a diagnostic or interventional procedure.

11. The apparatus of according to claim 10, wherein said medical device is selected from the group consisting of a catheter, endoscope, or optical fiber.

12. The apparatus according to claim 10, wherein said medical device is a biopsy or surgical tool.

13. The apparatus according to claim 7, wherein said apparatus further includes an MRI system having a display for imaging said body and said object during the steering of the object through said body.

14. The apparatus according to claim 7, wherein said means for producing an external magnetic field comprises an MRI (Magnetic Resonance Imaging) system, and wherein said means for tracking comprises the gradient fields of said MRI system as a reference field for tracking.

15. Apparatus for steering a medical device through a passageway within a body, comprising:

a medical device adapted to be located within said body;

means for producing an external magnetic field of known magnitude and direction within said body;

at least one coil attached to said medical device;

means for tracking the orientation of said medical device with respect to the coordinate system of said external magnetic field;

and a drive system for applying controlled electrical current through said coil to cause the coil to generate a resultant magnetic dipole interacting with said external magnetic field to produce a torque steering said medical device in a desired direction.

16. The apparatus according to claim 15, wherein said coil is a part of a coil assembly having at least two coils whose axes are of known orientation with respect to each other and have components in at least two different orthogonal planes.

17. The apparatus according to claim 16, wherein said coil assembly includes three coils having axes oriented orthogonally with respect to each other.

18. The apparatus according to claim 15, wherein said means for producing an external magnetic field comprises an MRI (Magnetic Resonance Imaging) system.