Position sensing system with integral location pad and position display

• US 7,174,201 B2
• Filed: 06/17/2002
• Issued: 02/06/2007
• Est. Priority Date: 03/11/1999
• Status: Expired due to Term

• Current Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Original Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Inventors: Govari, Assaf, Schwartz, Yitzhack
• Primary Examiner(s): Casler; Brian L.
• Assistant Examiner(s): Roy; Baisakhi
• Application Number:
  US10/173,298
• Publication Number:
  US 20030023161A1
• Time in Patent Office: 1,695 Days
• Field of Search: 600/447, 600/437, 600/300, 600/562, 382/124, 606/1, 606/32, 604/65
• US Class Current: 600/424
• CPC Class Codes: A61B 10/0041 Detection of breast cancer mammography by transillumination A61B5/0091, by X-rays A61B6/502, by ultrasonic means A61B8/0825
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2010/045 Needles pointed biopsy devices with vacuum aspiration A61B10/0283
• CPC Class Codes: A61B 2017/008 Removal of tumors
• CPC Class Codes: A61B 2017/3413 guided by ultrasound
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/3908 Soft tissue, e.g. breast tissue
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• 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 5/061 : Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• 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: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers

Abstract

Apparatus for performing a medical procedure on a tissue within a body of a subject includes a wireless tag which is fixed to the tissue and includes a first sensor coil. A second sensor coil is fixed to a medical device for use in performing the procedure. An integral processing and display unit includes a plurality of radiator coils, along with processing circuitry and a display. The radiator coils generate electromagnetic fields in a vicinity of the tissue, thereby causing currents to flow in the sensor coils. The processing circuitry processes the currents so as to determine coordinates of the tag relative to the medical device. The display is driven by the processing circuitry so as to present a visual indication to an operator of the medical device of an orientation of the device relative to the tag.

Claims

1. Apparatus for performing a medical procedure on a tissue within a body of a subject, comprising:

a wireless tag configured to be fixed to the tissue and comprising a first sensor coil;

a medical device having a second sensor coil fixed to the medical device for use in performing the procedure; and

a processing and display unit, comprising;

a plurality of radiator coils, which generate electromagnetic fields in a vicinity of the tissue, thereby causing a first current and a second currents to flow, respectively, in the first sensor coil of the wireless tag and the second sensor coil of the medical device;

processing circuitry for receiving a first signal and a second signal from the wireless tag and from the medical device, respectively, indicative of the first current and the second current, and to process the signals so as to determine position and orientation coordinates of the tag relative to the medical device;

a display, coupled to the processing circuitry so as to present a visual indication to an operator of the medical device of a position and orientation of the medical device relative to the tag; and

a case, containing the plurality of radiator coils, processing circuitry and display as an integral unit.

2. Apparatus according to claim 1, wherein the case is positionable by the operator in a location adjacent to the body and in proximity to the tissue.

3. Apparatus according to claim 1, wherein the tag further comprises a radio-frequency (RF) transmitter, which is adapted to transmit the first signal over the air, and wherein the processing and display unit comprises a RF receiver, which is adapted to receive the first signal over the air.

4. Apparatus according to claim 3, and comprising one or more acoustic transmitters, which are adapted to transmit acoustic energy into the body in a vicinity of the tissue, and wherein the tag is adapted to receive and use the acoustic energy in generating the first signal.

5. Apparatus according to claim 1, wherein the display is further adapted to present a visual indication of a distance from the probe to the tag.

6. Apparatus according to claim 1, wherein the medical device comprises an invasive medical tool, which is adapted to penetrate into the body so as to reach the tissue, and wherein the display is adapted to present the visual indication of the orientation of the tool within the body.

7. Apparatus according to claim 6, wherein the display is adapted to present a further visual indication of a distance from the tool to the tag.

8. Apparatus according to claim 6, wherein the invasive medical tool is adapted to perform a surgical procedure on the tissue.

9. Apparatus according to claim 6, wherein the invasive medical tool comprises an endoscope.

10. A method for performing a medical procedure on a tissue within a body of a subject, comprising:

fixing a wireless tag to the tissue, the tag comprising a first sensor coil;

coupling a second sensor coil to a medical device for use in performing the procedure; and

placing an integral processing and display unit in a location adjacent to the body and in proximity to the tissue, the unit comprising the following elements within a common package;

a plurality of radiator coils, which generate electromagnetic fields in a vicinity of the tissue, thereby causing a first current and a second currents to flow, respectively, in the first sensor coil of the wireless tag and the second sensor coil of the medical device;

processing circuitry, adapted to receive a first signal and a second signal from the wireless tag and from the medical device, respectively, indicative of the first current and the second current, and to process the signals so as to determine position and orientation coordinates of the tag relative to the medical device; and

a display, coupled to the processing circuitry so as to present a visual indication to an operator of the medical device of a position and orientation of the medical device relative to the tag; and

a case, containing the radiator coils, processing circuitry and display as an integral unit; and

generating electromagnetic fields in a vicinity of the tissue with the plurality of radiator coils;

performing the medical procedure on the tissue by using the medical device relative to the wireless tag;

receiving the first signal and the second signal from the wireless tag and from the medical device, respectively, with the processing circuitry and processing the first signal and the second signal so as to determine position and orientation coordinates of the wireless tag relative to the medical device; and

displaying a visual indication of the position and orientation of the medical device relative to the tag to an operator.

11. A method according to claim 10, wherein the tag further comprises a radio-frequency (RF) transmitter, which is adapted to transmit the first signal over the air, and comprising receiving the first signal over the air at the integral processing and display unit.

12. A method according to claim 10, and comprising actuating the tag by transmitting acoustic energy into the body in a vicinity of the tissue, causing the tag to receive and use the acoustic energy in generating the first signal.

13. A method according to claim 10, wherein the display is further adapted to present a visual indication of a distance from the probe to the tag.

14. A method according to claim 10, wherein coupling the second sensor coil comprises fixing the second sensor coil to an invasive medical tool, and comprising introducing the invasive medical tool into the body so as to reach the tissue, wherein the display is adapted to present the visual indication of the orientation of the tool within the body.

15. A method according to claim 14, wherein the display is adapted to present a further visual indication of a distance from the tool to the tag.

16. A method according to claim 14, wherein introducing the invasive medical tool comprises performing a surgical procedure on the tissue using the tool.

17. A method according to claim 14, wherein introducing the invasive medical tool comprises introducing an endoscope into the body.