Contact over-torque with three-dimensional anatomical data

• US 8,369,934 B2
• Filed: 07/06/2010
• Issued: 02/05/2013
• Est. Priority Date: 12/20/2004
• Status: Active Grant

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Viswanathan, Raju R.
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): HOFFA, ANGELA MARIE
• Application Number:
  US12/830,708
• Publication Number:
  US 20110022029A1
• Time in Patent Office: 945 Days
• Field of Search: None
• US Class Current: 600/424
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• 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 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/6885 Monitoring or controlling sensor contact pressure

Abstract

A method is provided for establishing contact of a medical device against a three-dimensional surface geometry within a subject body, the method comprising obtaining a three-dimensional tissue surface geometry of an anatomical region within the subject body, obtaining a target location on the surface for the device to contact, determining local surface geometry information in a neighborhood of the target location, and using this information to determine a change of at least one control variable for effecting an over-torque of the medical device to enhance contact of the device with the target surface.

Claims

1. A method for establishing contact of a magnetically navigable medical device against a three-dimensional target surface geometry within a subject body, the method comprising:

obtaining a three dimensional geometry of a tissue surface of an anatomical region within a subject body;

identifying a desired target location on the tissue surface geometry and a local plane tangent to the target location;

defining at least two points within the local tangent plane which are spaced a predetermined distance from the desired target location;

incrementally stepping a minimum distance from the at least two points in a direction opposite the outward normal to the tangent plane, to determine whether a surface threshold has been crossed so as to indicate a curvature of a target surface local to the target location;

using the indicated curvature, determining a rotation of a magnetic field vector for providing an over-torque magnetic field for improving the contact of a medical device with the target surface;

suitably registering the tissue surface geometry with the subject body; and

applying the determined rotation of a magnetic field vector to force the medical device against the target surface.

2. The method of claim 1 wherein the crossing of the threshold is determined within a model of the three-dimensional target surface geometry.

3. The method of claim 1 wherein the stepping process is performed for a virtual medical device within a three-dimensional model of the target surface geometry to determine if an image surface threshold is crossed.

4. The method of claim 3 wherein the rotation of a field vector for providing an over-torque magnetic field is utilized to effect a movement of the virtual medical device and to predict the over-torque of the medical device against the target surface.

5. The method of claim 1 wherein the medical device is a localized device and the stepping process is performed for the localized device using a three-dimensional model of the target surface geometry to determine if an image surface threshold is crossed.

6. The method of claim 5 wherein the step of determining whether a threshold has been crossed determines whether the surface has at least one direction of negative curvature.

7. The method of claim 6 wherein the rotation of the magnetic field vector is based on whether the surface has at least one direction of negative curvature.

8. The method of claim 1 wherein the three-dimensional tissue surface geometry is a pre-operative image that is suitably registered with the subject body.

9. The method of claim 1 wherein the three-dimensional tissue surface geometry is obtained from a localization system that maps the local surface geometry.

10. The method of claim 1 wherein the incremental stepping process comprises incrementally moving a minimum distance from the at least two points, and determines whether a threshold has been crossed to discern if the surface is negatively curved or positively curved.

11. The method of claim 10 wherein the at least two points are spaced a predetermined distance from the target, and the two points are within the local tangent plane containing the target location point.

12. The method of claim 11 wherein the predetermined distance is in the range of 4 to 7 millimeters.

13. The method of claim 12 wherein the incremental stepping of a minimum distance is in the range of about 1 to 5 millimeters.

14. The method of claim 1, wherein the applying of a magnetic field comprises a magnetic navigation system applying a magnetic field that leads the orientation of the medical device tip by a pre-determined amount in the same plane as that of the device.

15. The method of claim 1, wherein the applying of a magnetic field comprises a magnetic navigation system applying a magnetic field that leads the orientation of the medical device tip by a user-selected amount in the same plane as that of the device.

16. The method of claim 1 wherein the method further comprises comparing the angular lag between the magnetic field vector and the actual orientation of the tip of the medical device to determine whether the medical device has established over-torque contact.

17. A method for determining a control variable for establishing over-torque of a medical device against a three-dimensional tissue surface geometry within a subject body, the method comprising:

obtaining local surface geometry information in an anatomical region of a subject body;

identifying a desired target location on the surface;

defining at least one point spaced from the desired target;

evaluating an image model of the surface at the at least one point for the presence of an image threshold crossing;

determining a change of at least one control variable, based on the evaluation, for effecting an over-torque of a medical device to improve contact of the device against the surface; and

configuring a navigation system to effect the over-torque based on the change of the at least one control variable and based on a suitable registration of the surface with the subject body.