Magnetic tracking system

• US 7,096,148 B2
• Filed: 12/22/2004
• Issued: 08/22/2006
• Est. Priority Date: 03/27/2002
• Status: Expired due to Term

• Current Assignee: Northern Digital Inc. (Roper Technologies, Inc.)
• Original Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Inventors: Beauregard, Gerald L., Cherry, Christopher D., Anderson, Peter T.
• Primary Examiner(s): Nghiem, Michael
• Assistant Examiner(s): Le, John
• Application Number:
  US11/024,925
• Publication Number:
  US 20050165297A1
• Time in Patent Office: 608 Days
• Field of Search: 702/134, 702150-153, 324/207.11, 324/207.12, 324/207.17, 324/207.18, 324/318, 342/448, 343/895, 600/424, 600/429
• US Class Current: 702/134
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3958 emitting a signal
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

The present invention provides an electromagnetic tracking system that includes a field generator and a field sensor arranged to generate and detect, respectively, an electromagnetic field. Both the transmitter and receiver coils are connected to signal conditioning and processing circuitry to provide outputs indicative of the coil signals. A processor operates on the signals to determine the coordinates of the sensing assembly relative to the generator assembly. The signal processor produces ratiometric outputs, and applies a mutual inductance model to solve for position/orientation coordinates. In some embodiments, a disturber in the form of a conductive ring or a sheath is disposed about an interfering piece of equipment to moderate and standardize disturbances due to eddy currents.

Claims

1. An electromagnetic tracking system comprising:

a magnetic field generating unit having at least one field generating coil driven by a drive signal,

a field sensing unit having at least one field sensing coil generating a sensing signal responsive to a changing magnetic field, said changing magnetic field including a position-dependent field produced by said magnetic field generating unit,

the generating and sensing units being arranged to generate and to sense, respectively, an electromagnetic field in an arena of interest, and wherein at least one of said units is movable,

signal measurement and conditioning circuitry connected to said units to (i) synchronously sample and digitize drive signal data and sensing signal data for respective pairs of field generating and field sensing coils, cumulating the digitized data to form a raw signal matrix, and (ii) determine a mutual inductance matrix from the raw signal matrix, and

a processor that utilizes the mutual inductance matrix to determine coordinates of the movable unit.

2. The electromagnetic tracking system of claim 1, wherein the field sensing unit is fixed to a structure and the field generating unit is movable.

3. The electromagnetic tracking system of claim 2, wherein the processor determines coordinates of the movable unit by approximating coordinates of the field sensing unit relative to the field generating unit, and iteratively adjusting the approximated coordinates to determine coordinates of the movable unit.

4. The electromagnetic tracking system of claim 1, wherein the processor normalizes the raw signal matrix with respect to drive signal and sensing unit coil coupling response.

5. The electromagnetic tracking system of claim 1, wherein the drive signal is any of a drive current or a drive voltage.

6. An electromagnetic tracking system comprising

a magnetic field generating unit and a magnetic field sensing unit, at least one said units being movable relative to the other, the sensing unit having a sensing signal responsive to a changing magnetic field produced by said magnetic field generating unit

the generating and sensing units being arranged to generate and to sense, respectively an electromagnetic field in an arena of interest,

signal measurement and conditioning circuitry connected to said units to sample and condition field generating and field sensing signal values,

a processor operative on sampled and conditioned signal values to determine relative position and orientation of said units,

wherein the signal measurement and conditioning circuitry includes a common gain stage amplifier connected to plural coils and a high precision analog to digital converter that converts amplified coil signals to high precision digital values such that coil outputs over a work arena may be digitally processed without patching or conversion of gains in different regions of the work arena.

7. An electromagnetic tracking system comprising

a magnetic field generating unit driven by a drive signal,

a field sensing unit having a sensing signal responsive to a changing magnetic field, said changing magnetic field including a position-dependent field produced by said magnetic field generating unit,

the generating and sensing units being arranged to generate and to sense, respectively, an electromagnetic field in an arena of interest, and wherein at least one of said units is movable,

signal measurement and conditioning circuitry connected to said units to sample and digitize signal data for the field generating and field sensing units,

a distorter having a structure optimal for shielding one or more objects in the arena of interest, said distorter being disposed so as to substantially shield magnetic fields generated by said objects, and

a processor operative on the sampled and digitized signal data to determine relative coordinates and orientations of said field generating or field sensing unit, said processor modeling the distorter and the generating and sensing units to generate modeled signal data and fitting said modeled signal data to measured signal values to determine coordinates and orientations of said field generating and field sensing units.