Medical device navigation system

• US 9,724,166 B2
• Filed: 04/04/2016
• Issued: 08/08/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: St. Jude Medical International Holding SARL (Abbott Laboratories)
• Original Assignee: MediGuide Ltd (Abbott Laboratories)
• Inventors: Vaknin, Yuval, Raveh, Adi, Eichler, Uzi, Izmirli, Alon
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US15/090,368
• Publication Number:
  US 20160287343A1
• Time in Patent Office: 491 Days
• 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:

an electronic control unit (ECU) comprising a processor, the ECU configured to;

receive a device position signal from a device position sensor disposed on the medical device, the device position sensor generating the device position signal responsive to a position of the device position sensor within a magnetic field generated by a magnetic field generator assembly;

receive first and second reference position signals from a first position sensor and a second position sensor, respectively, the first reference position sensor configured to be affixed to an imaging system of a type comprising a structure movable relative to the body and comprising an arm, a radiation emitter coupled to the arm and a radiation detector coupled to the arm and movable relative to the arm, the second reference position sensor configured to be affixed to the imaging system, the first and second reference position signals responsive to positions of the first and second reference position sensors within the magnetic field; and

determine, responsive to the device position sensor and the first and second reference position signals, a device position of the medical device within a first coordinate system;

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

, a distance between the radiation detector and the radiation emitter.

2. The system of claim 1, wherein the electronic control unit is further configured to correlate:

a position of a first member of the magnetic field generator assembly, the first reference position sensor and the second reference position sensor to a position of the radiation emitter;

a position of a second member of the magnetic field generator assembly, the first reference position sensor and the second reference position sensor to a position of the radiation detector; and

a position of a third member of the magnetic field generator assembly, the first reference position sensor and the second reference position sensor to a position of the body.

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

4. The system of claim 1, wherein a magnetic field generator assembly is configured to passively engage an anti-collision feature of the imaging system.

5. The system of claim 1, where the electronic control unit is configured to actively engage an anti-collision feature of the imaging system.

6. The system of claim 2, wherein the ECU is further configured to display the reference position on a display.

7. A system for navigating a medical device within a body, the medical device comprising a device position sensor, the system comprising:

a magnetic field generator assembly configured to generate a magnetic field resulting in the production of a device position signal by the device position sensor of the medical device when in the magnetic field, wherein the device position signal is indicative of a position of the device position sensor within the magnetic field; and

wherein the magnetic field generator assembly comprises engagement means for engaging an anti-collision feature of an imaging system.

8. The system of claim 7, wherein the engagement means comprises a passive engagement means.

9. The system of claim 8, wherein the passive engagement means comprises a conductive material.

10. The system of claim 9, wherein the conductive material is configured to emulate physical characteristics of the body.

11. The system of claim 8, wherein the passive engagement means comprises carbon fibers.

12. The system of claim 8, wherein the passive engagement means comprises a conductive paint.

13. The system of claim 8, wherein the passive engagement means comprises a conductive cover.

14. The system of claim 7 further comprising an electronic control unit (ECU), and wherein the engagement means comprises an active engagement means operatively connected to the ECU and configured to send a signal or electromagnetic wave to the anti-collision feature of the imaging system.

15. The system of claim 7 further comprising:

a radiation detection sensor configured to detect radiation emissions from the imaging system and to generate a radiation detection signal; and

an electronic control unit configured to determine a time associated with the radiation emission responsive to the radiation detection signal.