Electromagnetic tracking system and method using a three-coil wireless transmitter

• US 7,015,859 B2
• Filed: 06/16/2004
• Issued: 03/21/2006
• Est. Priority Date: 11/14/2003
• Status: Active Grant

• Current Assignee: Northern Digital Inc. (Roper Technologies, Inc.)
• Original Assignee: General Electric Company
• Inventors: Anderson, Peter Traneus
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US10/869,396
• Publication Number:
  US 20050104776A1
• Time in Patent Office: 643 Days
• Field of Search: 342/357.07, 342/450, 342/457, 342/463, 455/456.1, 455/457
• US Class Current: 342/450
• CPC Class Codes: A61B 17/16 Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans arthroscopic bone cutters A61B17/320016; dental implant drills potentially for other surgical use A61C8/0089; bone grinders A61F2/4644, A22C17/06; A61B17/1662 takes precedence over all other subgroups except A61B17/17
• CPC Class Codes: A61B 17/1707 using electromagnetic effects, e.g. with magnet and external sensors
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• CPC Class Codes: A61B 2090/3975 active
• 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: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G01V 15/00 Tags attached to, or associated with, an object, in order to enable detection of the object record carriers for use with machines having a detectable tag or marker G06K19/00

Abstract

Certain embodiments of the present invention provide a system and method for electromagnetic tracking using a three-coil wireless transmitter. The electromagnetic tracking system includes an instrument manipulated by a user to perform a task, a wireless transmitter for broadcasting a wireless signal, a receiver assembly for receiving the wireless signal, and electronics for determining positioning information for the instrument based on a relationship between the receiver assembly and the wireless transmitter. In an embodiment, the wireless transmitter includes a wireless transmitter coil trio. In an embodiment, the receiver assembly includes two receiver coil trios.

Claims

1. An electromagnetic tracking system, said system comprising:

an instrument manipulated by a user to perform a task;

a wireless transmitter for broadcasting a wireless signal, said wireless transmitter located on said instrument;

a receiver assembly for receiving said wireless signal; and

electronics for determining positioning information for said instrument based on a relationship between said receiver assembly and said wireless transmitter.

2. The system of claim 1, wherein said positioning information comprises at least one of position and orientation of said instrument.

3. The system of claim 1, wherein said wireless transmitter comprises a wireless transmitter coil trio.

4. The system of claim 1, wherein said receiver assembly comprises two receiver coil trios.

5. The system of claim 1, wherein said relationship comprises triangulation between said wireless transmitter and said receiver assembly.

6. The system of claim 1, wherein said task involves manipulating said instrument outside of said user'"'"'s line of sight.

7. The system of claim 1, wherein said instrument comprises a medical instrument.

8. The system of claim 1, further comprising a wired transmitter located away from said instrument.

9. The system of claim 7, wherein said wired transmitter is located on an instrument guide for said instrument.

10. The system of claim 1, wherein said receiver assembly is located on an instrument guide for said instrument.

11. The system of claim 1, wherein said positioning information is determined by a range and a gain ratio between said wireless transmitter and said receiver assembly.

12. The system of claim 1, wherein said positioning information is determining using mutual inductance between said wireless transmitter and said receiver assembly.

13. A method for tracking a position of an instrument, said method comprising:

transmitting a signal from a wireless transmitter located on an instrument;

receiving said signal at a receiver assembly; and

determining positioning information for said wireless transmitter based on said signal and a relationship between said wireless transmitter and said receiver assembly.

14. The method of claim 13, further comprising transmitting a signal from a second transmitter to determine said position information.

15. The method of claim 13, wherein said determining step further comprises determining positioning information for said wireless transmitter by triangulating between said wireless transmitter and said receiver assembly.

16. The method of claim 13, wherein said determining step further comprises determining positioning information for said wireless transmitter by determining a range and a gain ratio between said wireless transmitter and said receiver assembly.

17. The method of claim 13, further comprising determining a magnitude and phase of said signal.

18. The method of claim 13, further comprising calculating a sum of products of said signal.

19. The method of claim 13, further comprising determining a mutual inductance between said wireless transmitter and said receiver assembly.

20. The method of claim 13, further comprising refining said positioning information using a solution fitter.

21. The method of claim 13, further comprising displaying said positioning information with respect to a reference system.

22. An improved wireless electromagnetic tracking system, said system comprising:

a wireless transmitter coil trio attached to an object, said wireless coil trio transmitting a signal;

a receiver assembly with at least two receiver coil trios; and

a tracker electronics for determining positioning information for said wireless coil based on said wireless coil and said at least two receiver coil trios.

23. The system of claim 22, wherein said positioning information is determined based on said signal and a triangulation of signals between said wireless coil trio and said at least two receiver coil trios.

24. The system of claim 22, wherein said positioning information is determined based on a mutual inductance between said wireless coil trio and said at least two receiver coil trios.

25. The system of claim 22, wherein said position information is determined based on said signal and a gain ratio for said receiver assembly.

26. The system of claim 22, further comprising a display for displaying said positioning information.