Endoscopic examining apparatus particularly useful in MRI, a probe useful in such apparatus, and a method of making such probe

• US 6,871,086 B2
• Filed: 03/24/2003
• Issued: 03/22/2005
• Est. Priority Date: 02/15/2001
• Status: Expired due to Fees

• Current Assignee: Robin Medical Inc.
• Original Assignee: Robin Medical Inc.
• Inventors: Roth, Abraham, Nevo, Erez
• Primary Examiner(s): Evans, Robin
• Application Number:
  US10/394,190
• Publication Number:
  US 20030187347A1
• Time in Patent Office: 729 Days
• Field of Search: 600/424, 600/410, 600/117, 600/407, 600/109, 600/101, 600/160, 600/423, 600/411, 128/897, 606/130, 324/207.13, 324/207.17, 324/207.22, 324/260, 324/326
• US Class Current: 600/424
• CPC Class Codes: A61B 1/00006 of control signals
• CPC Class Codes: A61B 1/00097 Sensors
• 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 5/415 the glands, e.g. tonsils, adenoids or thymus
• CPC Class Codes: A61B 5/418 lymph vessels, ducts or nodes

Abstract

Endoscopic examining apparatus, particularly useful in MRI, includes a probe movable through the body cavity; a set of tracking coils carried by the probe; and a set of imaging coils carried by the probe. A control system controls the tracking coils to sense and indicate the location and orientation of the probe within the body cavity, and controls the imaging coils to image selected areas within the body cavity. Also described are a novel probe particularly useful in such apparatus, and a novel method of making such probes by a printed circuit technique.

Claims

1. Endoscopic examining apparatus for examining the interior of a body cavity, comprising:

a probe movable through said body cavity;

coil assembly including a plurality of coils carried by said probe, said coil assembly including at least one imaging coil and a separate set of at least two orthogonal tracking coils;

and a control system for controlling said tracking coils to sense and indicate the location and orientation of said probe within said body cavity, and said imaging coil to image selected areas within said body cavity.

2. The apparatus according to claim 1, wherein said set of tracking coils includes at least two pairs of orthogonal coils.

3. The apparatus according to claim 1, wherein said at least one imaging coil includes two pairs of orthogonal coils extending longitudinally of the probe to provide radial sensitivity to the probe, and at least one additional coil extending transversally at the tip of the probe to provide a forward imaging capability to the probe.

4. The apparatus according to claim 1, wherein said set of tracking coils includes two pairs of orthogonal coils extending longitudinally of the probe, and a third pair of orthogonal coils extending transversely of the probe to provide three-dimensional sensitivity to the tracking coils.

5. The apparatus according to claim 1, wherein each of said tracking coils has a larger number of turns than each of said imaging coils.

6. The apparatus according to claim 1, wherein each of said tracking coils is coaxial with one of said imaging coils.

7. The apparatus according to claim 1, wherein:

said apparatus is an MRI apparatus having gradient coils for generating gradient electromagnetic fields in an imaging space occupied by the probe within the body cavity;

said imaging coil is controlled by said control system for imaging said selected areas within the body cavity;

and said tracking coils are controlled by said control system to sense the instantaneous electromagnetic field within said imaging space and, thereby, to indicate the location and orientation of the probe within said body cavity.

8. The apparatus according to claim 1, wherein said probe is of a hollow construction and defines a continuous passageway therethrough.

9. The apparatus according to claim 1, wherein said coils are carried by at least one planar dielectric substrate which is formed into an annular configuration.

10. The apparatus according to claim 9, wherein said dielectric substrate is flexible and is flexed into a cylindrical configuration.

11. MRI apparatus for examining the interior of a body cavity, comprising:

means for providing a main magnetic field through the body cavity to be examined;

a plurality of gradient coils for generating gradient electromagnetic fields within said body cavity;

a probe movable through said body cavity and carrying a coil assembly including a set of at least two orthogonal tracking coils and at least one imaging coil;

and a control system for controlling said gradient coils to generate said gradient electromagnetic field, said tracking coils to sense and indicate the location and orientation of said probe within said body cavity, and said at least one imaging coil to image selected areas within said body cavity.

12. The MRI apparatus according to claim 11, wherein said probe includes a separate set of at least two orthogonal imaging coils.

13. The MRI apparatus according to claim 12, wherein each of said sets of coils carried by said probe includes at least two pairs of orthogonal coils.

14. The MRI apparatus according to claim 12, wherein said set of imaging coils carried by said probe includes two pairs of orthogonal coils extending longitudinally of the probe to provide radial sensitivity to the probe, and at least one additional coil extending transversally at the tip of the probe to provide a forward imaging capability to the probe.

15. The MRI apparatus according to claim 11, wherein said set of tracking coils carried by said probe includes two pairs of orthogonal coils extending longitudinally of the probe, and a third pair of orthogonal coils extending transversely of the probe to provide three-dimensional sensitivity to the tracking coils.

16. The MRI apparatus according to claim 11, wherein said probe and said tracking and imaging coils carried thereby, are of a hollow construction and define a continuous passageway therethrough.

17. The MRI apparatus according to claim 11, wherein each of said tracking coils has a larger number of turns than said imaging coil.

18. The MRI apparatus according to claim 11, wherein each of said tracking coils is coaxial with an imaging coil.

19. The MRI apparatus according to claim 11, wherein said tracking and imaging coils are carried by at least one dielectric substrate which is formed into an annular configuration.

20. The MRI apparatus according to claim 19, wherein said dielectric substrate is flexible and is flexed into a cylindrical configuration.

21. A probe movable within a body cavity for examining the interior of selected areas thereof;

said probe comprising;

a set of tracking coils including at least two orthogonal coils constructed and oriented on said probe to sense the location and orientation of the probe when moved within the body cavity;

and a set of imaging coils including at least two orthogonal coils constructed and oriented to image selected areas within the body cavity.

22. The probe according to claim 21, wherein each of said sets of coils includes at least two pairs of orthogonal coils.

23. The probe according to claim 21, wherein said set of imaging coils includes two pairs of orthogonal coils extending longitudinally of the probe to provide radial sensitivity to the probe, and at least one additional coil extending transversally at the tip of the probe to provide a forward imaging capability to the probe.

24. The probe according to claim 21, wherein said set of tracking coils includes two pairs of orthogonal coils extending longitudinally of the probe, and a third pair of orthogonal coils extending transversely of the probe to provide three-dimensional sensitivity to the tracking coils.

25. The probe according to claim 21, wherein said probe is of a hollow construction and defines a continuous passageway therethrough for insertion of a guidewire, for injection of a contrast material, for removal of a tissue sample, or for other purpose.

26. The probe according to claim 21, wherein each of said tracking coils has a larger number of turns than each of said imaging coils.

27. The probe according to claim 21, wherein each of said tracking coils is coaxial with one of said imaging coils.

28. The probe according to claim 21, wherein said tracking and imaging coils are carried by at least one, dielectric substrate which is formed into an annular configuration.

29. The probe according to claim 28 wherein said dielectric substrate is flexible and is flexed into a cylindrical configuration.

30. Endoscopic examining apparatus for examining the interior of a body cavity, comprising:

a probe movable through said body cavity;

a coil assembly including a plurality of coils carried by said probe;

and a control system for controlling the coils in said assembly to sense and indicate the location and orientation of said probe within said body cavity, and also to image selected areas within said body cavity;

wherein said coils are carried by at least one dielectric substrate which is formed into an annular configuration.

31. The apparatus according to claim 30, wherein said dielectric substrate is flexible and is flexed into a cylindrical configuration.

32. Endoscopic examining apparatus for examining the interior of a body cavity, comprising:

a probe movable through said body cavity;

a coil assembly including a plurality of coils carried by said probe;

and a control system for controlling the coils in said assembly to sense and indicate the location and orientation of said probe within said body cavity, and also to image selected areas within said body cavity;

wherein said coil assembly includes a single set of coils; and

wherein said control system includes a tracking sub-system, an imaging sub-system, and a switching circuit for selectively utilizing said single set of coils for sensing and indicating the location and orientation of said probe within said body cavity, and also for imaging selected areas within said body cavity.

33. The apparatus according to claim 32, wherein said probe is of a hollow construction and defines a continuous passageway therethrough.

34. The apparatus according to claim 32, wherein said coils are carried by at least one dielectric substrate which is formed into an annular configuration.

35. The apparatus according to claim 34, wherein said dielectric substrate is flexible and is flexed into a cylindrical configuration.