Anti-distortion electromagnetic sensor method and system

• US 7,508,195 B2
• Filed: 01/18/2007
• Issued: 03/24/2009
• Est. Priority Date: 01/18/2007
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: General Electric Company
• Inventors: Anderson, Peter Traneus
• Primary Examiner(s): WHITTINGTON, KENNETH
• Application Number:
  US11/654,878
• Publication Number:
  US 20080174303A1
• Time in Patent Office: 796 Days
• Field of Search: 324/207.15, 324/207.16, 324/207.17, 324/207.23, 324/207.26, 324/247, 336/200, 336/232, 343/895, 343/824, 600/424
• US Class Current: 324/207.16
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G01B 7/003 for measuring position, not involving coordinate determination coordinate measuring G01B7/004
• CPC Class Codes: G01D 5/208 using polyphase currents

Abstract

A source for inducing an electromagnetic magnetic field, comprising: a substrate, a conductive layer coupled to the substrate, and a planar coil coupled to the substrate, wherein the planar coil comprises non-concentric rings, and wherein the non-concentric rings are configured such that a drive current applied across the non-concentric rings provides a magnetic field, and wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the planar coil. Also provided are a method of electromagnetic tracking, a method of manufacture of a planar coil, and an electromagnetic sensor.

Claims

1. A source for inducing an electromagnetic magnetic field, comprising:

a substrate;

a conductive layer coupled to the substrate;

a planar coil coupled to the substrate, wherein the planar coil comprises non-concentric rings, wherein the non-concentric rings are configured such that a drive current applied across the non-concentric rings provides a magnetic field, and wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the planar coil; and

a generally dipole wound coil, wherein the generally dipole wound coil is configured to modify the angle of the moment vector.

2. The source of claim 1, wherein the non-concentric rings are shifted from an origin in a direction parallel to the plane, and wherein each of the non-concentric rings are shifted in the same direction.

3. The source of claim 2, wherein the non-concentric rings are shifted a distance proportional to the radius of each respective ring.

4. The source of claim 2, wherein the dipole moment vector is tilted at an angle from the normal of the plane of the planar coil in a direction parallel to the direction of the shift.

5. The source of claim 4, wherein the angle is derived from:

Tan(θ

)=(shift of ring)/(radius of ring);

wherein θ

is the angle, the shift of ring is the distance from an origin of the planar coil to a shifted center of one of the non-concentric rings, and the radius of ring is the radius of the one of the non-concentric rings in the direction of shift.

6. The source of claim 1, wherein the non-concentric rings are generally circular or generally elliptical in shape.

7. The source of claim 1, comprising one or more additional planar coils.

8. The source of claim 1, comprising a second planar coil, wherein the second planar coil comprises non-concentric rings, and wherein the non-concentric rings are configured such that a drive current applied across the non-concentric rings provides a magnetic field, wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the second planar coil, and comprising a third planar coil, wherein the third planar coil comprises non-concentric rings, and wherein the non-concentric rings are configured such that a drive current applied across the non-concentric rings provides a magnetic field, wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the third planar coil.

9. The source of claim 8, wherein the dipole moment vectors of the planar coil, the second planar coil, and the third planar coil are generally orthogonal.

10. The source of claim 8, wherein the planar coil, the second planar coil, and the third planar coil are oriented on parallel planes, wherein an origin of each of the planar coils is generally located on a single axis, wherein the axis is normal to the particular planar coil, and wherein the planar coils are rotated approximately 120 degrees from one another about the axis.

11. The source of claim 1, wherein the source has mechanical flexibility such that the flexibility provides for the source to be rolled-up for storage.

12. A method of electromagnetic tracking, comprising:

inducing a drive current into a planar coil located on one side of an electrically conductive layer, wherein the planar coil comprises non-concentric rings, and wherein the non-concentric rings are configured such that inducing the drive current across the planar coil provides a magnetic field, wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the planar coil; and

energizing a generally dipole wound coil, wherein energizing the generally dipole wound coil modifies the angle of the moment vector of the magnetic field.

13. The method of claim 12, wherein the electrically conductive layer is positioned between the planar coil and a distorting object, wherein the electrically conductive layer shields the magnetic field from distortions.

14. The method of claim 12, comprising sensing a magnetic field generated by the planar coil, wherein sensing the magnetic field comprises detecting at least one characteristic of the magnetic field with at least one receiver and transmitting the at least one characteristic as a signal to a processor.

15. The method of claim 14, comprising positioning at least one instrument in the magnetic field, wherein the at least one instrument is coupled to the at least one receiver.

16. The method claim 14, comprising processing the signal from the at least one receiver with the processor, wherein processing comprises determining the position and/or orientation of the at least one receiver.

17. The method of claim 12, comprising inducing a drive current into at least one additional planar coil to provide at least one magnetic field comprising a moment vector that is tilted at an angle from the normal to a plane of the additional planar coil.

18. The method of claim 17, wherein the magnetic fields provided by the planar coil and the at least one additional planar coil comprise generally orthogonal moment vectors.

19. The method of claim 17, wherein the magnetic fields generated by the planar coil and the at least one additional planar coil are distinguishable from one another by phase and frequency.

20. An electromagnetic sensor, comprising:

an insulating layer having a first surface and a second surface, the second surface being opposite the first surface;

a conductive layer coupled to the second surface of the insulating layer; and

a planar coil coupled to the first surface of the insulating layer, wherein the planar coil comprises non-concentric rings, wherein the non-concentric rings are configured such that a drive current applied across the non-concentric rings provides a magnetic field, and wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal to a plane of the planar coil; and

a generally dipole wound coil coupled to the planar coil, wherein the generally dipole wound coil is configured to modify the angle of the moment vector.

21. The electromagnetic sensor of claim 20, further comprising a ferromagnetic layer coupled to the conductive layer.

22. A method of manufacture of a planar coil assembly, comprising:

coupling a planar coil to an electrically conductive layer, wherein the planar coil comprises non-concentric rings, and wherein the non-concentric rings are configured such that a inducing drive current across the planar coil provides a magnetic field, wherein the magnetic field comprises a moment vector that is tilted at an angle from the normal of a plane of the planar coil; and

coupling a generally dipole wound coil to the planar coil, wherein the generally dipole wound coil is configured to modify the angle of the moment vector.

23. The method of claim 22, comprising forming an insulating substrate about the planar coil.

24. The method of claim 22, comprising coupling a plurality of additional planar coils to the electrically conductive layer.

25. The method of claim 24, wherein an insulating substrate is provided, wherein the substrate is configured to electrically insulate the planar coils.

26. The method of claim 24, wherein coupling the plurality of planar coils comprises orienting the planar coils parallel to one another, wherein an origin of each of the planar coils is generally located on an axis, wherein the axis is normal to the plane of the planar coil, wherein the planar coils are rotated approximately 120 degrees from one another about the axis, and wherein the plurality of planar coils are configured to be electrically insulated from one another.