System and method for a magnetic catheter tip

• US 7,873,401 B2
• Filed: 01/13/2006
• Issued: 01/18/2011
• Est. Priority Date: 07/16/2002
• Status: Expired due to Fees

• Current Assignee: Neuro-Kinesis Corporation
• Original Assignee: Magnetecs Incorporated
• Inventors: Shachar, Yehoshua
• Primary Examiner(s): Hindenburg; Max
• Assistant Examiner(s): SZMAL, BRIAN SCOTT
• Application Number:
  US11/331,485
• Publication Number:
  US 20060116633A1
• Time in Patent Office: 1,831 Days
• Field of Search: 600/435, 600/424, 600/461, 600/437, 600/447, 604/95.01, 128/916
• US Class Current: 600/424
• CPC Class Codes: A61B 17/22 Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for dilators A61M29/00
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• 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 5/7455 characterised by tactile indication, e.g. vibration or electrical stimulation
• CPC Class Codes: A61M 25/0158 with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials

Abstract

A system whereby a magnetic tip attached to a surgical tool is detected, displayed and influenced positionally so as to allow diagnostic and therapeutic procedures to be performed rapidly, accurately, simply, and intuitively is described. The tools that can be so equipped include catheters, guidewires, and secondary tools such as lasers and balloons, in addition biopsy needles, endoscopy probes, and similar devices. The tip position and orientation information and the dynamic body part position information are also utilized to provide a display that allows three dimensional viewing of the magnetic tip position and orientation relative to the body part.

Claims

1. A catheter tip assembly, comprising;

a flexible portion proximate to a distal end of a catheter;

a rigid portion disposed at said distal end of said catheter and adjacent to said a distal end of said flexible portion;

a permanent magnet responsive to an applied magnetic field to move said catheter tip assembly, said permanent magnet disposed in said rigid portion; and

a plurality of piezoelectric rings disposed in said relatively rigid portion, said piezoelectric rings responsive to an applied ultrasonic signal, said piezoelectric rings producing data to measure a rotation of a north pole of said permanent magnet, a first piezoelectric ring of said plurality of piezoelectric rings disposed proximate to a distal end of said permanent magnet and a second piezoelectric ring of said plurality of piezoelectric rings disposed proximate to a proximal end of said permanent magnet.

2. The assembly of claim 1 further comprising a computer that determines an angle of said rotation.

3. The assembly of claim 2 wherein said computer further determines said rotation relative to a stereotactic framing.

4. The assembly of claim 1 wherein said distal end comprises one or more magnetic field sensors and one or more temperature sensors.

5. The assembly of claim 4 wherein said temperature sensors measure a temperature of said one or more magnetic field sensors.

6. The assembly of claim 1 further comprising a control system configured to calculate respective torque and associated current for a magnetic source to configure a magnetic field to move said distal end to a desired location.

7. The assembly of claim 1 further comprising a display of a visual representation of said distal end in substantially real time as said distal end moves through a body.

8. The assembly of claim 1 further comprising controlling one or more electromagnets to produce an external magnetic field.

9. The assembly of claim 2, wherein said computer determines a current position of said distal end in comparison to a desired location.

10. The assembly of claim 9, wherein said computer computes a position error of said distal end.

11. The assembly of claim 10 further comprising a tactile feedback system that is configured to produce a tactile feed back if said position error exceeds a predetermined amount along at least one axis.