Method and system for navigating a catheter probe in the presence of field-influencing objects

• US 8,290,572 B2
• Filed: 09/13/2010
• Issued: 10/16/2012
• Est. Priority Date: 10/28/1999
• Status: Expired due to Term

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Martinelli, Michael A., Kessman, Paul, Jascob, Bradley A.
• Primary Examiner(s): Kish, James
• Application Number:
  US12/880,460
• Publication Number:
  US 20100331671A1
• Time in Patent Office: 764 Days
• Field of Search: 600/407, 600/410, 600/422, 600/423, 600/433, 600/434, 128/899, 324244-247, 324256-259, 324/301, 324/302
• 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 2090/0481 against EM radiation, e.g. microwave
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A system for and method of determining and compensating for the effect of a field influencing object on a field sensor, preferably a coil, that is within a navigational domain. The navigational domain contains navigational magnetic energy and disturbing magnetic energy, and the field influencing object produces the disturbing magnetic energy in response to the navigational magnetic energy. The correction system includes a first transmitter for projecting into the navigational domain field energy in a first waveform sufficient to induce a first signal value in the sensing coil. The system also includes a second transmitter for projecting into the navigational domain field energy in a second waveform sufficient to induce a second signal value in the sensing coil. The system further includes a signal processor for receiving the first signal value and for receiving the second signal value to determine the effect of the electrically conductive object on the field sensor. In other embodiments, the correction system may utilize a second sensing coil to receive and process an alternate aspect of the field energy from a position that is different from the first field sensor, or the system may utilize a storage device that contains information relating to the effect of the field influencing device within the navigational domain.

Claims

1. A navigation system to compensate for distortion of an electromagnetic (EM) field caused by a tool in the EM field, comprising:

a plurality of coils, wherein each of the plurality of coils is configured to generate an EM field;

a tool positionable relative to a patient to assist in performing a procedure on the patient, wherein the tool includes a ferromagnetic material that distorts the EM field generated by each of the plurality of coils to form a distorted field;

a tool coil positioned adjacent to at least a portion of the tool, wherein the tool coil is configured to sense the EM field generated by each of the plurality of coils and the distorted field and further configured to generate a tool coil signal based on the sensed EM field generated by each of the plurality of coils and the distorted field;

a sensor coil configured to sense the EM field generated by each of the plurality of coils and the distorted field and further configured to generate a sensor coil signal based on the sensed EM field generated by each of the plurality of coils and the distorted field; and

a signal processor configured to receive the tool coil signal and the sensor coil signal

and further configured to determine a proper orientation and position of the sensor coil by adjusting the sensor coil signal with the tool coil signal to compensate for the distorted field.

2. The navigation system of claim 1, wherein the plurality of coils includes:

three unidirectional coil sets, each of the unidirectional coil sets being driven by a unit capable of driving the unidirectional coil sets at a first waveform at a first frequency, and

six delta coil sets, each of the delta coil sets being driven by a drive unit capable of driving the delta coil sets at the first waveform at the first frequency, such that the three unidirectional coil sets and the six delta coil sets generate the EM field at said first frequency.

3. The navigation system of claim 2, wherein the tool includes at least one of a drill and a microscope.

4. The navigation system of claim 2, wherein the tool forms the distorted field by non-linearly distorting the EM field generated by each of the plurality of coils.

5. The system of claim 4, wherein the EM field generated by each of the plurality of coils or the distorted field is generated in a region and the sensor coil is navigated in a navigation domain defined by at least a portion of the EM field generated by each of the plurality of coils or the distorted field;

wherein the tool is positioned in a peripheral domain outside of the navigation domain.

6. The navigation system of claim 4, wherein the EM field generated by each of the plurality of coils or the distorted field is generated in a region and the sensor coil is navigated in a navigation domain defined by at least a portion of the EM field generated by each of the plurality of coils or the distorted field;

wherein the tool is positioned in the navigation domain in which the instrument coil is operable to be positioned and navigated.

7. The navigation system of claim 4, further comprising:

a memory system configured to store a look-up-table of magnetic field amplitude values within the navigation domain relating to positions of the sensor coil EM field generated by each of the plurality of coils;

wherein the tool coil signal from the tool coil is operable to be used to subtract out the non-linear distortion on the EM field generated by each of the plurality of coils of a voltage induced on the sensor coil that generates the sensor coil signal;

wherein the proper orientation and position of the sensor coil is determined by comparison of the subtracted out non-linear distortion on the EM field generated by each of the plurality of coils to the look-up-table.

8. A navigation system to compensate for distortion of an electromagnetic (EM) field, comprising:

a transmitter having a plurality of coils, wherein the plurality of coils includes three unidirectional coil sets, each of the unidirectional coil sets being driven by a unit capable of driving each of the unidirectional coil sets at a first waveform at a first frequency and six delta coil sets, each of the delta coil sets being driven by the drive unit at the first waveform at the first frequency, such that the three unidirectional coil sets and the six delta coil sets generate an EM field at the first frequency;

a tool positionable relative to a patient to assist in performing a procedure on the patient, wherein the tool includes a ferromagnetic material that distorts the EM field generated by each of the plurality of coils to form a distorted field;

a tool coil positioned adjacent to at least a portion of the tool, wherein the tool coil is configured to sense the EM field generated by each of the plurality of coils and the distorted field and generate a tool coil signal based on the sensed EM field generated by each of the plurality of coils and the distorted field;

a sensing coil configured to sense the EM field generated by each of the plurality of coils and the distorted field and generate a sensing coil signal based on the sensed EM field generated by each of the plurality of coils and the distorted field; and

a signal processor configured to receive the tool coil signal and the sensing coil signal;

wherein the signal processor is further configured to determine a proper orientation and position of the sensing coil by using the tool coil signal and the sensing coil signal to compensate for the distorted field.

9. The navigation system of claim 8, wherein the distorted field is created by the tool by non-linearly distorting the EM field generated by each of the plurality of coils.

10. The navigation system of claim 9, wherein three unidirectional coil sets include:

a first unidirectional coil set including a first pair of coils that are generally on a single plane and a second pair of coils generally perpendicular to the single plane, wherein the first unidirectional coil set generates a x-directed field;

a second unidirectional coil set including a third pair of coils that are generally on the single plane that generate a y-directed field; and

a third unidirectional coil set including a fourth pair of coils that are generally on the single plane positioned generally perpendicular to the first pair of coils and a fifth pair of coils generally perpendicular to the single plane and perpendicular to the second pair of coils, wherein the third unidirectional coil set generates a z-directed field.

11. The navigation system of claim 10, wherein six delta coil sets includes three pairs of delta coils, wherein each of the three pairs of delta coils includes a long coil and a short coil;

wherein each of the three pairs of delta coils are positioned around a central axis.

12. The navigation system of claim 11, wherein the EM field generated by each of the plurality of coils or the distorted field is generated in a region and the sensing coil is navigated in a navigation domain defined by at least a portion of the region in which the EM field is generated by each of the plurality of coils or the distorted field;

wherein the tool forms the distorted field in the navigation domain when the tool is positioned in a peripheral domain outside of the navigation domain or in the navigation domain in which the sensing coil is operable to be positioned and navigated.

13. The navigation system of claim 12, further comprising:

a memory system that stores a look-up-table of magnetic field amplitude values within the navigation domain relating to positions of the sensing coil based on the EM field generated by each of the plurality of coils;

wherein the tool coil signal from the tool coil is operable to be used to subtract out the non-linear distortion on the EM field generated by each of the plurality of coils of a voltage induced on the sensing coil that generates the sensing coil signal;

wherein the proper orientation and position of the sensing coil is determined by comparison of the subtracted out non-linear distortion on the EM field generated by each of the plurality of coils to the look-up-table.

14. A method of navigating a probe in a navigational domain having a distorted field caused by a tool, comprising:

generating an electromagnetic (EM) field at least in part in a navigational domain;

providing a database of magnetic field amplitudes relating to three-dimensional coordinates in the navigational domain based on the generated EM field;

distorting the EM field including within the navigational domain with a tool;

generating a tool coil signal with a tool coil that is adjacent to at least a portion of the tool, wherein the tool coil signal is based on the distorted EM field;

generating a sensing coil signal with a sensing coil based on the distorted EM field in the navigational domain;

subtracting the tool coil signal from the sensing coil signal to determine an undistorted signal value after subtracting the tool coil signal from the sensing coil signal; and

determining a proper orientation and position of the sensing coil by comparing the undistorted signal to the provided database.

15. The method of claim 14, wherein the tool coil signal is based on sensing a voltage drop sensed with the tool coil, wherein the voltage drop is based on an induced voltage from the distorted EM field.

16. The method of claim 15, wherein the sensing coil signal is based on sensing a voltage in the navigational domain with the sensing coil.

17. The method of claim 15, further comprising:

providing a transmitter including a selected coil configuration, wherein the coil is formed of an electrically conductive material.

18. The method of claim 17, wherein the selected coil configuration further includes providing a plurality of coils, wherein the plurality of coils includes three unidirectional coil sets and six delta coil sets.

19. The method of claim 18, further comprising:

driving each of the unidirectional coil sets with a drive unit at a first waveform at a first frequency; and

driving each of the delta coil sets with the drive unit at the first waveform at the first frequency;

wherein the three unidirectional coil sets and the six delta coil sets generate the EM field at the first frequency.

20. The method of claim 19, wherein comparing the undistorted signal to the provided database includes executing instructions with a navigation system processor to compare the determined undistorted signal with the database.

21. The method of claim 17, further comprising:

generating the database with a computational analysis of the magnetic field amplitude patterns generated by the selected coil configuration.

22. The method of claim 14, further comprising:

placing the tool coil around the tool.