System and method for magnetic position tracking

• US 9,603,548 B2
• Filed: 06/27/2016
• Issued: 03/28/2017
• Est. Priority Date: 06/27/2012
• Status: Active Grant

• Current Assignee: Northern Digital Inc. (Roper Technologies, Inc.)
• Original Assignee: Ascension Technology Corporation (Roper Technologies, Inc.)
• Inventors: Ashe, Westley S.
• Primary Examiner(s): Hollington, Jermele M
• Assistant Examiner(s): RAJAPUTRA, SURESH KS
• Application Number:
  US15/193,344
• Publication Number:
  US 20160302872A1
• Time in Patent Office: 274 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 8/4254 using sensors mounted on the probe
• CPC Class Codes: G01B 7/003 for measuring position, not involving coordinate determination coordinate measuring G01B7/004

Abstract

An improved system for magnetic position tracking of a device includes a magnetic transmitter, a magnetic sensor, a computing system and a polarity inverter. The magnetic transmitter includes at least one transmitter coil that outputs a transmitted magnetic field having a time derivative component. The magnetic sensor includes at least one sensor coil that has coil terminals having a polarity, and the sensor coil is responsive to the time derivative component of the transmitted magnetic field and outputs a sensor signal. The computing system computes position and angular orientation data of a device based on the sensor signal and the polarity inverter is configured to connect to the coil terminals and to cause the polarity of the coil terminals to be reversed according to a switching signal.

Claims

1. A system for magnetic position tracking of a device comprising:

a transmitter configured to transmit a magnetic field having a time derivative component;

a sensor including terminals having a polarity, wherein the sensor is responsive to the time derivative component of the transmitted magnetic field and outputs a sensor signal;

a computing system for computing data representative of one or both of position and angular orientation of a device based on the sensor signal; and

a polarity inverter configured to cause the polarity of the terminals to be reversed according to a switching signal,

wherein magnetic field errors that are caused by conductors that are responsive to the time derivative component of the transmitted magnetic field are substantially removed from the sensor signal.

2. The system of claim 1, wherein the conductors comprise conductive connections.

3. The system of claim 1, wherein the conductors comprise one or both of a connector and a trace.

4. The system of claim 1, wherein the transmitter comprises a magnetic transmitter including at least one coil.

5. The system of claim 1, wherein the sensor comprises a magnetic sensor including at least one coil.

6. The system of claim 1, wherein the polarity inverter is configured to connect to the terminals.

7. The system of claim 1, further comprising a sign inverter configured to invert a digitized output from an analog to digital (A/D) converter, wherein the sign inverter is operated concurrently with the switching signal such that the polarity of the terminals is maintained at an input of the computing system.

8. The system of claim 7, further comprising a synchronizer configured to operate concurrently with the transmitter.

9. The system of claim 7, wherein the sign inverter is configured to invert the sensor signal at an input of the A/D converter.

10. The system of claim 1, wherein the transmitted magnetic field represents a time division multiplexed signal.

11. The system of claim 1, the transmitted magnetic field being representable by one or more of a trapezoidal, a triangular, a half sinusoid, an exponential, and a square amplitude versus time characteristics shape.

12. The system of claim 1, wherein the polarity inverter is located adjacent to the sensor.

13. The system of claim 1, wherein the polarity inverter is configured to connect to the sensor via a twisted pair cable.

14. The system of claim 1, wherein the polarity inverter comprises an analog switch.

15. The system of claim 1, wherein the switching signal is transmitted wirelessly.

16. The system of claim 7, further comprising averaging means configured to sum signals received with opposite polarity from the sign inverter.

17. The system of claim 16, wherein the averaging means comprises a lowpass filter.

18. A method for magnetic position tracking of a device comprising:

providing a transmitter configured to transmit a magnetic field having a time derivative component;

providing a sensor including terminals having a polarity, wherein the sensor is responsive to the time derivative component of the transmitted magnetic field and outputs a sensor signal;

providing a computing system for computing data representative of one or both of position and angular orientation of a device based on the sensor signal;

providing a polarity inverter configured to cause the polarity of the terminals to be reversed according to a switching signal; and

substantially removing, from the sensor signal, magnetic field errors that are caused by conductors that are responsive to the time derivative component of the transmitted magnetic field.

19. The method of claim 18, wherein the conductors comprise conductive connections.

20. The method of claim 18, wherein the conductors comprise one or both of a connector and a trace.

21. The method of claim 18, wherein the transmitter comprises a magnetic transmitter including at least one coil.

22. The method of claim 18, wherein the sensor comprises a magnetic sensor including at least one coil.

23. The method of claim 18, wherein the polarity inverter is configured to connect to the terminals.

24. A method comprising:

transmitting, by a transmitter, a magnetic field having a time derivative component;

outputting, by a sensor that is responsive to the time derivative component of the transmitted magnetic field, a sensor signal;

computing data representative of one or both of position and angular orientation of the sensor based on the sensor signal;

reversing a polarity of terminals of the sensor according to a switching signal; and

substantially removing, from the sensor signal, magnetic field effects that are caused by conductors that are responsive to the time derivative component of the transmitted magnetic field.

25. The method of claim 24, wherein the conductors comprise conductive connections.

26. The method of claim 24, wherein the conductors comprise one or both of a connector and a trace.

27. The method of claim 24, wherein the transmitter comprises at least one transmitter coil.

28. The method of claim 24, wherein the sensor comprises at least one sensor coil.