Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging
First Claim
1. An apparatus for controlling the movement of a catheter inside a body of a patient, comprising:
- a magnetic field source for generating a magnetic field, said magnetic field source comprising;
a first coil corresponding to a first magnetic core and a second coil corresponding to a second magnetic core, a third magnetic core corresponding to a third coil, and a fourth magnetic core corresponding to a fourth coil, wherein said first, second, third and fourth cores and coils are arranged in a first semi-spherical symmetry cluster,a fifth coil corresponding to a fifth magnetic core, a sixth coil corresponding to a sixth magnetic core, a seventh coil corresponding to a seventh magnetic core, and an eighth coil corresponding to an eighth magnetic core, wherein said fifth, sixth, seventh and eighth poles and coils are arranged in a second semi-spherical symmetry cluster; and
wherein at least said first magnetic core of said first semi-spherical symmetry cluster is moveable with respect to said second magnetic core of said first semi-spherical symmetry cluster and said first magnetic core extends and retracts relative to said first coil; and
a servo system controller configured to control extension and retraction of at least said first magnetic core to position said first magnetic core of said first semi-spherical symmetry cluster, said servo system controller configured to receive position data regarding said current position of said distal end of a catheter, said servo system controller further configured to control currents in said first, second, third, fourth, fifth, sixth, seventh and eighth coils to control a movement of a distal end of a catheter to a desired position with torque control fields according to the following equation;
BTq=BXY·
cos(θ
)and with force control fields according to the following equation;
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Accused Products
Abstract
A variable magnet system for manipulating a magnetic catheter is described. In one embodiment, a cluster of electromagnets is configured to generate a desired magnetic field. In one embodiment, one or more poles of the cluster are moveable with respect to other poles in the cluster to allow shaping of the magnetic field. In one embodiment, one or more magnetic poles can be extended or retracted to shape the magnetic field. In one embodiment, the electromagnets can be positioned to generate magnetic fields that exert a desired torque and/or movement force on the catheter. In one embodiment, the catheter guidance system includes a closed-loop servo feedback system. In one embodiment, a radar system is used to determine the location of the distal end of the catheter inside the body, thus, minimizing or eliminating the use of ionizing radiation such as X-rays. The catheter guidance system can also be used in combination with an X-ray system (or other imaging systems) to provide additional imagery to the operator. The magnetic system used in the magnetic catheter guidance system can also be used to locate the catheter tip to provide location feedback to the operator and the control system. In one embodiment, a magnetic field source is used to create a magnetic field of sufficient strength and orientation to move a magnetically-responsive catheter tip in a desired direction by a desired amount.
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Citations
33 Claims
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1. An apparatus for controlling the movement of a catheter inside a body of a patient, comprising:
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a magnetic field source for generating a magnetic field, said magnetic field source comprising; a first coil corresponding to a first magnetic core and a second coil corresponding to a second magnetic core, a third magnetic core corresponding to a third coil, and a fourth magnetic core corresponding to a fourth coil, wherein said first, second, third and fourth cores and coils are arranged in a first semi-spherical symmetry cluster, a fifth coil corresponding to a fifth magnetic core, a sixth coil corresponding to a sixth magnetic core, a seventh coil corresponding to a seventh magnetic core, and an eighth coil corresponding to an eighth magnetic core, wherein said fifth, sixth, seventh and eighth poles and coils are arranged in a second semi-spherical symmetry cluster; and wherein at least said first magnetic core of said first semi-spherical symmetry cluster is moveable with respect to said second magnetic core of said first semi-spherical symmetry cluster and said first magnetic core extends and retracts relative to said first coil; and a servo system controller configured to control extension and retraction of at least said first magnetic core to position said first magnetic core of said first semi-spherical symmetry cluster, said servo system controller configured to receive position data regarding said current position of said distal end of a catheter, said servo system controller further configured to control currents in said first, second, third, fourth, fifth, sixth, seventh and eighth coils to control a movement of a distal end of a catheter to a desired position with torque control fields according to the following equation;
BTq=BXY·
cos(θ
)and with force control fields according to the following equation; - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An apparatus for controlling the movement of a catheter having a distal end responsive to a magnetic field and configured to be inserted into the body of patient, comprising:
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a magnetic field source for generating a magnetic field outside the body said magnetic field source comprising; a first coil corresponding to a first magnetic core and a second coil corresponding to a second magnetic core, a third coil corresponding to a third magnetic core, and a fourth coil corresponding to a fourth magnetic core, wherein the first, second, third and fourth coils and cores are arranged in a first semi-spherical symmetry cluster, a fifth coil corresponding to a fifth magnetic core, a sixth coil corresponding to a sixth magnetic core, a seventh coil corresponding to a seventh magnetic core, and an eighth coil corresponding to an eighth magnetic core, wherein the fifth, sixth, seventh and eighth coils and cores are arranged in a second semi-spherical symmetry cluster; a hydraulic system to extend and retract at least the first magnetic core of said first semi-spherical symmetry cluster with respect to said second magnetic core of said first semi-spherical symmetry cluster and with respect to the first coil to control a shape of a magnetic field produced by said magnetic field source with respect to the body; a location system to measure a current location of said distal end of said catheter; a sensor system to measure positions of a plurality of fiduciary markers; a user input device for inputting commands to move said distal end; and a servo system controller configured to receive said current position data of said distal end of said catheter, said servo system controller further configured to control said magnetic field source in response to inputs from said user input device, said location system, and said magnetic sensors, said system controller configured to control currents in said first, second, third, fourth, fifth, sixth, seventh and eighth coils to control a movement of a distal end of said catheter to a desired position with torque control fields according to the following equation;
BTq=BXY·
cos(θ
)and with force control fields according to the following equation; - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification