Magnetic medical devices with changeable magnetic moments and method of navigating magnetic medical devices with changeable magnetic moments

• US 7,341,063 B2
• Filed: 03/24/2006
• Issued: 03/11/2008
• Est. Priority Date: 02/16/2000
• Status: Expired due to Fees

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Garbibaldi, Jeffrey M., Hastings, Roger N.
• Primary Examiner(s): Lacyk; John P
• Application Number:
  US11/389,547
• Publication Number:
  US 20070088197A1
• Time in Patent Office: 718 Days
• Field of Search: 128/899, 600/12, 600/585, 604/276, 604/95, 606/108, 606/130
• US Class Current: 128/899
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 2018/00023 closed, i.e. without wound contact by the fluid
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61M 25/0127 Magnetic means; Magnetic markers

Abstract

A method of navigating a medical device having a changeable magnetic moment within an operating region within a patient, the method includes applying a navigating magnetic field to the operating region with an external source magnet, and changing the direction of the magnetic moment in the medical device to change the orientation of the medical device in a selected direction within the operating region. The magnet moment of the medical device can be created by one or more electromagnet coils, in which case the magnetic moment can be changed by changing the current to the coil. Alternatively, the magnetic moment of the medical device can be created by one or more permanent magnets, in which case the magnetic moment can be changed by mechanically or magnetically manipulating the permanent magnet.

Claims

1. A method of operating a source magnet to navigate a medical device within an operating region within a patient, the source magnet external to the region, the medical device having a magnetic moment in a distal end of the device, the magnetic moment having a direction changeable in the operating region independent of the source magnet, the method comprising:

operating the source magnet in cooperation with a magnetic field local to the device to cause the magnetic moment of the device distal end to orient the distal end in a desired orientation position; and

applying a navigating magnetic field of the source magnet to advance the oriented distal end.

2. The method of claim 1 wherein a permanent magnet of the medical device is used to provide the local magnetic field.

3. The method of claim 1 wherein one or more electromagnetic coils of the medical device are used to provide the local magnetic field.

4. The method of claim 1 wherein operating the source magnet in cooperation with the local magnetic field comprises reducing and/or eliminating a magnetic field of the source magnet to allow the local magnetic field to prevail in orienting the distal end.

5. The method of claim 1 wherein the source magnet includes one or more electromagnets.

6. The method of claim 1 wherein the source magnet includes one or more permanent magnets.

7. The method of claim 1 wherein the source magnet includes one or more superconducting magnets.

8. A method of operating a source magnet to navigate a medical device within an operating region in the body of a patient, the source magnet external to the region, the medical device having a magnetic moment in a distal end of the device, the method comprising:

using the source magnet to apply a navigating magnetic field to navigate the device;

reducing the source magnet'"'"'s navigating field intensity acting on the medical device while the magnetic moment in the device distal end is changed by another magnetic field local to the device to orient the distal end in a desired orientation position; and

increasing the navigating magnetic field intensity to act upon the changed magnetic moment.

9. A method of using a source magnet external to the body of a patient to navigate an elongate medical device within an operating region of the body, a distal end of the medical device having a direction changeable by a magnetic moment local to the distal end and independent of the source magnet, the method comprising:

using the source magnet to provide a configuring magnetic field;

controlling the configuring field to provide, together with a magnetic field stronger than the configuring field and provided from the device distal end, an orienting magnetic field to orient the distal end of the device; and

strengthening the configuring magnetic field to navigate the oriented device.

10. The method of claim 9 further comprising changing a direction of the configuring magnetic field to navigate the oriented device.

11. The method of claim 9 wherein the stronger magnetic field is provided at least in part by a permanent magnet in the device distal end.

12. The method of claim 9 wherein the stronger magnetic field is provided at least in part by one or more electromagnetic coils in the device distal end.

13. The method of claim 9 wherein the source magnet includes one or more electromagnets.

14. The method of claim 9 wherein the source magnet includes one or more permanent magnets.

15. The method of claim 9 wherein the source magnet includes one or more superconducting magnets.

16. A method of operating a source magnet to navigate a medical device within an operating region in the body of a patient, the source magnet external to the region, the medical device including a distal end having a permanent magnet that can be locked into an orientation position, the method comprising:

applying a first external source field to navigate the device;

modifying the first external source field, mechanically orienting the permanent magnet of the device distal end to a desired orientation position and locking the permanent magnet; and

after the permanent magnet is locked in the desired orientation position, applying a second external source field to navigate the device.

17. The method of claim 16 wherein modifying the first external source field comprises reducing and/or eliminating the first external source field.

18. The method of claim 16, wherein the first and second external source fields have different directions and/or intensities.

19. A method of operating a source magnet to navigate a medical device within an operating region in the body of a patient, the source magnet external to the region, the medical device including a distal end having one or more electromagnetic coils that can be energized to move the distal end into an orientation position, the method comprising:

applying a first external source field to navigate the device;

modifying the first external source field while one or more of the one or more coils of the device distal end are energized to orient the distal end; and

after the distal end is moved to a desired orientation position, applying a second external source field to navigate the device.

20. The method of claim 19 wherein the second external source field is applied after the one or more coils are de-energized.

21. The method of claim 19 wherein modifying the first external source field comprises reducing and/or eliminating the first external source field.

22. The method of claim 19, wherein the first and second external source fields have different directions and/or intensities.

23. A method of operating a source magnet to navigate a medical device within an operating region in the body of a patient, the source magnet external to the region, the medical device having a magnetic moment in a distal end of the device, the magnetic moment having a direction changeable in the operating region independent of the source magnet, the method comprising:

operating the source magnet to apply a navigating magnetic field;

reducing the navigating magnetic field intensity to allow a magnetic field local to the device to prevail in changing the magnetic moment of the device distal end to orient the distal end in a desired orientation position; and

increasing the navigating magnetic field intensity to advance the oriented distal end.

24. The method of claim 23 further comprising changing a direction of the navigating magnetic field to advance the oriented distal end.

25. The method of claim 23 wherein reducing the navigating magnetic field intensity comprises removing the navigating field.

26. The method of claim 23 wherein the source magnet includes one or more electromagnets.

27. The method of claim 23 wherein the source magnet includes one or more permanent magnets.

28. The method of claim 23 wherein the source magnet includes one or more superconducting magnets.