Method and apparatus for refinably accurate localization of devices and instruments in scattering environments

• US 6,968,846 B2
• Filed: 03/07/2002
• Issued: 11/29/2005
• Est. Priority Date: 03/07/2002
• Status: Expired due to Term

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Viswanathan, Raju R.
• Primary Examiner(s): Jaworski, Francis J.
• Application Number:
  US10/093,367
• Publication Number:
  US 20030171673A1
• Time in Patent Office: 1,363 Days
• Field of Search: 128/899, 600407-471, 324/424, 73/17.9
• US Class Current: 128/899
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 5/062 using magnetic field
• CPC Class Codes: G01D 5/2086 by movement of two or more coils with respect to two or more other coils
• CPC Class Codes: G01V 3/104 using several coupled or uncoupled coils G01V3/101 takes precedence

Abstract

A method of localizing a device, medical or otherwise, within a three dimensional environment, the method comprising: (a) transmitting time varying magnetic fields from at least three transmitters, (b) receiving the transmitted electromagnetic radiation as induced voltage signals from at least one receiver mounted on or within said device, and (c) a processing scheme for processing said received voltage signals in order to extract position and orientation localization information for said device, said processing scheme including correction for conducting materials in the vicinity by the use of information gathered from at least three distinct transmission frequencies for each of said transmitters.

Claims

1. A method of localizing a device, medical or otherwise, within a three dimensional environment, the method comprising:

(a) transmitting time varying magnetic fields from at least three transmitters, (b) receiving the transmitted electromagnetic radiation as induced voltage signals from at least one receiver mounted on or within said device, and (c) processing said received voltage signals in order to extract position and orientation localization information for said device, said processing including phase-shifting and correction for conducting materials in the vicinity by the use of information gathered from fitting said phase-shifted induced voltage signals with polynomial functions having terms in powers of freguency using at least three distinct transmission frequencies for each of said transmitters.

2. The method according to claim 1 wherein the at least one receiver is a coil.

3. The method according to claim 1 wherein the at least one receive is a magnetic field sensor.

4. The method of claim 1, where the distinct transmitters emit electromagnetic radiation at different frequencies in frequency multiplexed form.

5. The method of claim 1, where the transmitters emit electromagnetic radiation as a transmission cycle of time multiplexed batches, each said batch comprising frequency modulated signals.

6. The method of claim 5, where said transmission cycle is repeated and averaged so as to increase signal to noise ratio.

7. The method of claim 5, where said transmission cycle includes the use of batches of multiplexed frequencies and further time multiplexing the batches in successively circularly permuted sequence of frequencies, said time multiplexed batches being equal in number to the total number of distinct frequencies employed, so that each frequency is transmitted by each transmitter in exactly one batch of each said transmission cycle.

8. The method of claim 7, where said transmission cycle generation is controlled by a microprocessor-based controller.

9. The method of claim 1, where the total number of transmission frequencies equals or exceeds the number of transmitters.

10. The method of claim 5, where the generation of currents driving said transmission cycle is controlled by a microprocessor-based controller.

11. A method for processing signals received by a receiver at multiple frequencies from each of a number of transmitters, where said processing includes, for each pair of receiver and transmitter:

(a) producing polynomial fits of given order to the signal as a function of frequency, (b) said polynomial fit produced by a fitting procedure, weighted or otherwise, that in the case of a weighted procedure may employ different weights for different frequencies in order to improve the fit over desired frequency ranges, and (c) extracting the coefficient of the linear term in the polynomial fit as the flux in the receiver produced by each said transmitter.

12. The method of claim 11, where said given order of polynomial is fixed electronically by construction.

13. The method of claim 11, where said given order of polynomial is programmable by a user by means of electronic or other input.

14. The method of claim 11, where said processing may be refined by picking higher orders for the polynomial fit by means of an automated system which checks for a measure of goodness of fit.

15. A system for generating, acquiring and processing signals for the purpose of localizing position and orientation of a device in three dimensional space by electromagnetic means, said system comprising:

(a) a main computer and programmable interface for refining the accuracy of localization estimation by signal generation, acquisition and processing, (b) a microprocessor controlled signal generation system linked to said main computer, (c) a set of at least three transmitters located at known fixed locations and orientations in three dimensional space, (d) at least one receiver mounted on or within the device at which location position and orientation is desired to be found, said transmitters configured to be driven by said signal generation system at a plurality of frequencies in time and frequency multiplexed fashion to induce voltage signals in the at least one receiver, and (e) processing software for producing polynomial fits to phase-shifted induced voltage signals in powers of frequency using at least three of said frequencies to provide at least three polynomial coefficients for use in correcting the voltage signals for conducting materials present in the surrounding three dimensional space.

16. The system according to at least claim 15 wherein the at least one receiver is a coil.

17. The system of claim 16, where area of flux-capturing cross section of said receiver coil is made small enough to reduce secondary scattering effects.

18. The receiver coil of claim 16, where the material of construction for said receiver coil may incorporate metals, conducting metallic alloys or non-metallic conductors whose resistance is higher than that of copper.

19. The system according to claim 15 wherein the at least one receiver is a magnetic field sensor.

20. The system of claim 15 where said processing software is implemented in the main computer.

21. The system of claim 15 where said processing software is implemented in the microprocessor-based controller.

22. The system of claim 15 where said microprocessor-based controller is programmed from and controlled by said main computer.

23. The method of claim 15, where said processing software includes a means of refining the localization estimate by picking higher orders for the polynomial fit by means of an automated system which checks for a measure of goodness of fit.

24. A method of localizing a medical device within a three-dimensional environment, the method comprising:

transmitting time varying magnetic fields at at least three frequencies from each of at least three transmitters;

receiving electromagnetic radiation of the transmitted fields as an induced voltage signal from at least one receiver of the device;

phase-shifting the induced voltage signal;

curve-fitting the phase-shifted induced voltage signal as a function of frequency to obtain a polynomial expansion in powers of frequency;

using the linear term coefficient of the polynomial expansion to determine a flux induced in the at least one receiver from each transmitter; and

using the fluxes to determine a position and orientation of the device.

25. A method of localizing a medical device within a three-dimensional environment, the device including at least one receiver that can receive signals from at least three transmitters in the environment, the method comprising:

selecting an order of polynomial fit;

selecting a plurality of transmission frequencies based on the selected order;

driving the transmitters to transmit signals at the selected frequencies in frequency-multiplexed batches;

for each of the at least one receiver;

receiving voltage signals induced in the receiver by the transmitted signals;

curve-fitting at the selected order of fit to components of the voltage signals as a function of frequency to obtain for each receiver at least one polynomial expansion in powers of frequency;

extracting a linear term coefficient from each of the polynomial expansions; and

using the coefficients to correct device localization for conducting material in the environment.

26. The method of claim 25 wherein driving the transmitters comprises allowing transmitter currents to vary with the selected frequencies.

27. An apparatus for processing a signal received by a receiver mounted on or within a medical device at a plurality of frequencies from each of a plurality of transmitters, the apparatus comprising, for each pair of the receiver and one of the transmitters:

means for producing polynomial fits to the signal as a function of frequency, wherein the polynomial fit production means employs different weights for different frequencies to improve the fits over desired frequency ranges; and

means for extracting a coefficient of a linear term of each of the polynomial fits to determine flux in the receiver produced by each said transmitter.