Correction of measured values for a magnetic localization device

• US 7,652,468 B2
• Filed: 02/11/2005
• Issued: 01/26/2010
• Est. Priority Date: 02/18/2004
• Status: Active Grant

• Current Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Original Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Inventors: Timinger, Holger, Wischmann, Hans-Aloys, Borgert, Jorn, Kruger, Sascha, Sabczynski, Jorg
• Primary Examiner(s): Patidar; Jay M
• Application Number:
  US10/598,013
• Publication Number:
  US 20080157755A1
• Time in Patent Office: 1,810 Days
• Field of Search: 32420712-20725, 324/225, 702 94- 95, 702/150, 600/117, 600/424
• US Class Current: 324/207.12
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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

Abstract

The invention relates to a device and a method for correction of the position (x) of a field sensor (4) measured by means of a magnetic localization device. External field distortions, such as caused for example by the rotating components (1a, 1b) of a computer tomograph (1), are then determined with the help of reference sensor (3) placed at a known position. It is possible to deduce, for example, the current angle of rotation (Φ) of the computer tomograph (1) from the measurement signals of the reference sensor (3). Based on an empirically determined correction (δ(x, Φ)), the uncorrected determined positions (x) of the field sensor (4) can then be converted to corrected positions (x′) in relation to the field distortions. The field generator (2) and the reference sensor (3) are preferably fastened to the gantry in order to eliminate the dependency of the field distortions on an inclination of the gantry.

Claims

1. A magnetic localization device, comprising:

a) a field generator for generating a magnetic field;

b) a field sensor for measuring the magnetic field;

c) a reference sensor for measuring the magnetic field at a known reference position; and

d) a control unit, which is arranged for determining a position of the field sensor relative to the field generator and thereby compensating for external field distortions by taking the reference sensor into consideration and correcting the determined position of the field sensor if external field distortions are present.

2. A localization device as claimed in claim 1, wherein the spatial position of the field generator is known.

3. A localization device as claimed in claim 1, wherein at least one of the field generator and the reference sensor is fastened to the gantry of a computer tomograph.

4. A localization device as claimed in claim 1, wherein the control unit contains a memory with a calibration function, which provides a correction shift for an uncorrected determined position of the field sensor based on measured signals of the reference sensor and the field sensor.

5. A localization device as claimed in claim 4, wherein the correction shift is further based on empirical measurements taken with a probe sensor at one or more support points in a volume of interest.

6. A localization device as claimed in claim 4, wherein the measured signals of the reference sensor are used to determine a correction parameter describing an angle of rotation of a computer tomograph situated in the vicinity of the localization device.

7. A method for position measurement with a magnetic localization device, comprising the steps of:

a) collecting the signals of at least one of a field sensor and a field generator;

b) collecting the signals of a magnetic reference sensor, which is placed at a known spatial position relative to the field generator or to the field sensor; and

c) determining a position of the field sensor relative to the field generator, where external field distortions are compensated for by taking the signals of the reference sensor into consideration and correcting the determined position of the field sensor if external field distortions are present.

8. A method as claimed in claim 7, wherein a correction function is determined, which indicates a correction shift for an uncorrected determined position of the field sensor in dependence on the signal of the reference sensor and the uncorrected determined position of the field sensor.

9. A method as claimed in claim 8, wherein the correction shift further depends on empirical measurements taken with a probe sensor at one or more support points in a volume of interest.

10. A method as claimed in claim 8, wherein the signal of the reference sensor is used to determine a correction parameter describing an angle of rotation of a computer tomograph situated in the vicinity of the localization device.

11. A method as claimed in claim 7, wherein a parameter is determined from the signal of the reference sensor, which parameter characterizes the external field distortion.

12. A method for position measurement with a magnetic localization device, comprising the steps of:

a) collecting the signals of at least one of a field sensor and a field generator;

b) collecting the signals of a magnetic reference sensor, which is placed at a known spatial position relative to the field generator or to the field sensor;

c) determining the position of the field sensor relative to the field generator, where external field distortions are compensated for by taking the signals of the reference sensor into consideration;

d) wherein a correction function is determined, which indicates a correction shift for an uncorrected determined position of the field sensor in dependence on the signal of the reference sensor and the uncorrected determined position of the field sensor; and

e) wherein the correction function for support points in a volume of interest is empirically determined and extended by extrapolation or interpolation respectively on the whole volume.

13. A method for position measurement with a magnetic localization device, comprising the steps of;

a) collecting the signals of at least one of a field sensor and a field generator;

b) collecting the signals of a magnetic reference sensor, which is placed at a known spatial position relative to the field generator or to the field sensor;

d) determining the position of the field sensor relative to the field generator, where external field distortions are compensated for by taking the signals of the reference sensor into consideration;

d) wherein a parameter is determined from the signal of the reference sensor, which parameter characterizes the external field distortion; and

e) wherein the parameter describes the angle of rotation of a computer tomograph situated in the vicinity of the localization device.