Resolution of magnetic dipole ambiguity in position tracking measurements

• US 8,180,430 B2
• Filed: 03/03/2006
• Issued: 05/15/2012
• Est. Priority Date: 02/22/2005
• Status: Active Grant

• Current Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Original Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Inventors: Govari, Assaf, Bar-tal, Meir, Reznick, Dudi, Ludwin, Doron, Shalgi, Avi, Keidar, Yaron
• Primary Examiner(s): JAWORSKI, FRANCIS J
• Application Number:
  US11/368,243
• Publication Number:
  US 20060241394A1
• Time in Patent Office: 2,265 Days
• Field of Search: 600407-436, 128/899, 324/200, 32420711-20713, 324260-262
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/3958 emitting a signal
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A method for position tracking includes using first and second field generators located at respective different first and second locations to generate respective first and second magnetic fields in a vicinity of first and second objects. The first and second fields are measured using first and second position sensors respectively associated with the first and second objects. First and second potential relative coordinates of the first object relative to the second object are calculated responsively to the first and second magnetic field. The potential relative coordinates are processed in order to determine a correct relative coordinate of the first object relative to the second object.

Claims

1. A method for position tracking, comprising:

using a co-axial pair of first and second field generators fixed at a respective known offset from one another along a common axis in a location pad, generating respective first and second magnetic fields in a vicinity of an object;

measuring the first and second magnetic fields using a position sensor associated with the object;

calculating ambiguous position coordinates of the object with respect to the location pad based on the measured first and second magnetic fields using at least eight vectors;

invalidating all position coordinates not similarly measured by first and second magnetic fields using the at least eight vectors; and

calculating unambiguous position coordinates of the object with respect to the location pad from similarly measured position coordinates from the at least eight vectors based on the measured first and second magnetic fields and the known offset.

2. The method according to claim 1, and comprising generating additional magnetic fields using one or more additional co-axial pairs of field generators fixed at respective known offsets from one another along respective different axes, and measuring the additional magnetic fields by the position sensor, wherein calculating the unambiguous position coordinates comprises calculating the coordinates responsively to the measured additional magnetic fields and the respective known offsets.

3. The method according to claim 1, wherein generating the first and second magnetic fields comprises driving the first and second field generators with respective first and second drive signals having respective different first and second frequencies.

4. A position tracking system, comprising:

a location pad comprising a co-axial pair of first and second field generators fixed at a known offset from one another along a common axis, which are arranged to generate respective first and second magnetic fields in a vicinity of an object;

a position sensor associated with the object, which is arranged to measure the first and second magnetic fields; and

a processor, which is arranged to calculate ambiguous position coordinates of the object with respect to the location pad based on the measured first and second magnetic fields using at least eight vectors and to invalidate all position coordinates not similarly measured by first and second magnetic fields using the at least eight vectors and to calculate unambiguous position coordinates of the object with respect to the location pad from similarly measured position coordinates from the at least eight vectors based on the measured first and second magnetic fields and the known offset.

5. The system according to claim 4, wherein the location pad comprises one or more additional co-axial pairs of field generators fixed at respective known offsets from one another along respective different axes, which are arranged to generate additional magnetic fields, wherein the position sensor is further arranged to measure the additional magnetic fields, and wherein the processor is arranged to calculate the unambiguous position coordinates responsively to the measured additional magnetic fields and the respective known offsets.

6. The system according to claim 4, wherein the first and second field generators are driven with respective first and second drive signals having respective different first and second frequencies.