Method and apparatus for control and location of an instrument or appliance

• US 7,668,583 B2
• Filed: 06/10/2003
• Issued: 02/23/2010
• Est. Priority Date: 06/10/2002
• Status: Active Grant

• Current Assignee: Rayonex Schwingungstechnik GmbH
• Original Assignee: Rayonex Schwingungstechnik GmbH
• Inventors: Schultze, Volkmar, Andra, Wilfried, Fegert, Stephan, Hoenig, Eckhardt
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): BOR, HELENE CATHERINE
• Application Number:
  US10/517,640
• Publication Number:
  US 20050288576A1
• Time in Patent Office: 2,450 Days
• Field of Search: 600/409, 600/424, 600/117, 324/244, 128/899
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• 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 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: E21B 47/0232 at least one of the energy sources or one of the detectors being located on or above the ground surface
• CPC Class Codes: E21B 47/024 of devices in the borehole determining slope or direction of the borehole E21B47/022

Abstract

The invention relates to an apparatus for location of an instrument or appliance having at least one magnet which produces a magnetic moment at right angles to the appliance shaft and can be rotated independently of the instrument or appliance. This results in a location system which allows precise location at an accurate time, determination of the axis direction and control of an appliance which is being operated in a channel or medium.

Claims

1. An apparatus for locating an instrument, comprising:

an instrument having a body;

at least one magnet disposed inside the body of the instrument, the at least one magnet being rotatable independently of a rotation of the body of the instrument and adapted to produce a moving magnetic field extending outside the body of the instrument to generate a magnetic moment which is perpendicular to an axis of the instrument;

a drive for rotating the at least one magnet independent of the body of the instrument;

variation means for varying the magnetic field generated outside the body of the instrument by the at least one magnet, thereby creating a variable magnetic field component which relates to a roll angle of the instrument; and

a receiver outside the body of the instrument configured for measuring the variable magnetic field component to determine the roll angle of the instrument.

2. The apparatus as claimed in claim 1, wherein the receiver is configured to detect three time-dependent magnetic field components.

3. The apparatus as claimed in claim 1, further comprising an evaluation unit for determining from the variable magnetic field component at least one parameter selected from the group consisting of position, direction of the instrument axis, and roll angle of the instrument.

4. The apparatus as claimed in claim 1, wherein the drive is an electrical drive.

5. The apparatus as claimed in claim 1, wherein the drive is a hydraulic drive using liquid to drive the magnet.

6. The apparatus as claimed in claim 1, further comprising means for providing a reproducible deflection of the magnet from its rotation axis.

7. The apparatus as claimed in claim 1, further comprising a coupling which temporarily interrupts the rotation of the magnet.

8. The apparatus as claimed in claim 1, wherein the magnet is composed of magnet elements that move with respect to one another and whose elements are shifted by a driver at a specific roll angle.

9. The apparatus as claimed in claim 1, wherein the instrument has a member selected from the group consisting of drill, culling or impact apparatus, at least one needle, and at least one set of forceps.

10. The apparatus as claimed in claim 1, wherein the instrument has at least one opening for ejection of a liquid.

11. The apparatus as claimed in claim 1, wherein the instrument has an apparatus for production/emission of light beams, laser beams, radioactive beams, sound waves or ultrasound waves.

12. The apparatus as claimed in claim 1, wherein the instrument has an apparatus for recording optical images or ultrasound images.

13. The apparatus as claimed in claim 1, wherein the instrument has an apparatus for emission of electrical pulses or for recording electrical data.

14. The apparatus as claimed in claim 1, further comprising two or more transmitters and/or additional receivers for processing signals commensurate with a position of the instrument at different points.

15. The apparatus as claimed in claim 14, wherein each transmitter is constructed as a permanent magnet and/or electromagnet and configured for a transmitter identification by different frequencies, amplitudes and/or by the production of different analog or digital values.

16. The apparatus as claimed in claim 1, further comprising a frequency modulation for varying the magnetic field generated by the magnet.

17. The apparatus as claimed in claim 1, further comprising a gradual shielding of the magnet.

18. A method of determining a location of an instrument, comprising the steps of:

rotating at least one magnet disposed inside a body of the instrument independent of a rotation of the instrument to produce a magnetic field to generate a magnetic moment outside the body of the instrument perpendicular to an axis of the instrument;

detecting three time-dependent magnetic field components of the magnetic field;

modulating a frequency of the rotation for variation of the magnetic field generated by the magnet to minimize the influence of a disturbing external magnetic field or to distinguish the magnetic field from another magnetic field; and

determining a location of the instrument based on the detected magnetic field components.

19. A method of determining a location of an instrument, comprising the steps of:

producing a magnetic field by a rotating magnet inside a body of the instrument independent of a rotation of the body of the instrument to generate a magnetic moment perpendicular to an axis of the instrument, with the magnet configured as a transmitter;

detecting with a receiver three time-dependent magnetic field components produced by the rotating magnet outside the body of the instrument; and

modulating a frequency of the rotation for variation of the magnetic field generated by the magnet to minimize the influence of a disturbing external magnetic field or to distinguish the magnetic field from another magnetic field; and

determining a location of the instrument based on the detected magnetic field components.