Medical device navigation system

• US 9,326,702 B2
• Filed: 03/13/2014
• Issued: 05/03/2016
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: St. Jude Medical International Holding SARL (Abbott Laboratories Incorporated)
• Original Assignee: MediGuide Ltd (Abbott Laboratories Incorporated)
• Inventors: Eichler, Uzi, Izmirli, Alon, Vaknin, Yuval, Raveh, Adi
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US14/208,120
• Publication Number:
  US 20140275998A1
• Time in Patent Office: 782 Days
• Field of Search: 600/407
• US Class Current: 1/1
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2090/3764 with a rotating C-arm having a cone beam emitting source
• 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 6/00 Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment instruments measuring radiation intensity for application in the field of nuclear medicine, e.g. in vivo counting, G01T1/161; apparatus for taking X-ray photographs G03B42/02
• CPC Class Codes: A61B 6/102 Protection against mechanical damage, e.g. anti-collision devices
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/5258 involving detection or reduction of artifacts or noise
• CPC Class Codes: A61B 6/527 using data from a motion artifact sensor
• CPC Class Codes: A61B 6/54 Control of apparatus or devices for radiation diagnosis
• CPC Class Codes: A61B 6/545 involving automatic set-up of acquisition parameters
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 6/586 Detection of faults or malfunction of the device
• CPC Class Codes: A61B 6/589 Setting distance between source unit and patient
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A system for navigating a medical device is provided. In one embodiment, a magnetic field generator assembly generates a magnetic field. Position sensors on the medical device, on an imaging system and on the body generate signals indicative of the positions within the magnetic field. The generator assembly and reference sensors are arranged such that a correlation exists between them and the positions of the body and of a radiation emitter and a radiation detector of the imaging system. An electronic control unit (ECU) determines, responsive to signals generated by the sensors, a position of the medical device, a position of one of the radiation emitter and detector and a distance between the emitter and detector. Using this information, the ECU can, for example, register images from the imaging system in a coordinate system and superimpose an image of the device on the image from the imaging system.

Claims

1. A system for navigating a medical device relative to a body, comprising:

a magnetic field generator assembly configured to generate a magnetic field, said medical device comprising a device position sensor configured to generate a device position signal responsive to a position of said device position sensor within said magnetic field;

first and second reference position sensors, said first reference position sensor configured to be affixed to an imaging system of a type comprising a structure movable relative to said body and comprising an arm, a radiation emitter coupled to said arm and a radiation detector coupled to said arm and movable relative to said arm, said second reference position sensor configured to be affixed to said imaging system or said body, said first and second reference position sensors generating first and second reference position signals, respectively, responsive to positions of said first and second reference position sensors within said magnetic field wherein a position of a first member of said magnetic field generator assembly, said first reference position sensor and said second reference position sensor is correlated to a position of said radiation emitter, a position of a second member of said magnetic field generator assembly, said first reference position sensor and said second reference position sensor is correlated to a position of said radiation detector and a position of a third member of said magnetic field generator assembly, said first reference position sensor and said second reference position sensor is correlated to a position of said body; and

,

an electronic control unit configured to

receive said device position signal and said first and second reference position signals; and

determine;

a device position of said medical device within a first coordinate system;

a reference position of one of said radiation detector and said radiation emitter within said first coordinate system; and

,

a distance between said radiation detector and said radiation emitter.

2. The system of claim 1 wherein said magnetic field generator assembly is configured to be attached to said imaging system.

3. The system of claim 1 wherein said reference position includes correlation to an orientation of said one of said radiation detector and said radiation emitter within said first coordinate system.

4. The system of claim 1 wherein said electronic control unit is further configured to register an image generated by said imaging system in said first coordinate system.

5. The system of claim 4 wherein said electronic control unit is further configured to superimpose an image of said medical device on said image responsive to said device position signal.

6. The system of claim 1 wherein said electronic control unit is further configured to display said reference position on a display.

7. The system of claim 1 wherein said electronic control unit is further configured to compare said reference position with a position of said magnetic field generator assembly.

8. The system of claim 1 wherein said magnetic field generator assembly is configured to be attached to a table supporting said body.

9. The system of claim 8 wherein said magnetic field generator assembly is configured to be disposed underneath said table.

10. The system of claim 1 wherein said magnetic field generator assembly includes a translucent conductor.

11. The system of claim 1 wherein said electronic control unit is configured to compare said position of said body with said reference position of one of said radiation detector and said radiation emitter.

12. The system of claim 1 further comprising a third reference position sensor configured to be affixed to a table supporting said body, said third reference position sensor generating a third reference position signal responsive to a position of said third reference position sensor within said magnetic field, said electronic control unit further configured to determine a position of said table within said first coordinate system responsive to said third reference position signal.

13. The system of claim 1 further comprising a motion sensor connected to another component of said imaging system, said motion sensor generating a motion signal indicative of movement of said another component and said electronic control unit configured to receive said motion signal.

14. The system of claim 13 wherein said component comprises a control pedal of said imaging system.

15. The system of claim 1 wherein said electronic control unit is further configured to receive image data output by said imaging system for displaying an image on a display.

16. The system of claim 15 wherein said electronic control unit is configured to identify a fiducial marker in said image data.

17. The system of claim 15 wherein said image data includes a time associated with said image.

18. The system of claim 15 wherein said image data includes a magnification level.

19. The system of claim 1 wherein said electronic control unit is further configured to receive control data input to said imaging system and wherein said control data comprises an actuation command from a control pedal of said imaging system.

20. The system of claim 1 further comprising a radiation detection sensor configured to detect radiation emissions from said imaging system, wherein said electronic control unit is further configured to determine a time associated with said radiation emission responsive to a signal generated by said radiation detection sensor.