Medical instrument with sensor for use in a system and method for electromagnetic navigation

• US 10,426,555 B2
• Filed: 05/05/2016
• Issued: 10/01/2019
• Est. Priority Date: 06/03/2015
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Crowley, Thomas P., Miel, David J., Serdar, David J., Stopek, Joshua B., Costello, David M., Koyrakh, Lev A., Jasperson, Keith E., Schell, Jon D.
• Primary Examiner(s): Laneau, Ronald
• Application Number:
  US15/147,273
• Publication Number:
  US 20160354160A1
• Time in Patent Office: 1,244 Days
• Field of Search: None
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 2010/0216 Sampling brushes
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2017/00849 with respect to tissue, e.g. hollow organs
• CPC Class Codes: A61B 2017/00853 low friction, hydrophobic and corrosion-resistant fluorocarbon resin coating (ptf, ptfe, polytetrafluoroethylene)
• CPC Class Codes: A61B 2017/00929 isolating electrical current
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 5/0071 by measuring fluorescence emission
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A medical instrument includes a printed sensor, a surface, at least one non-conductive material, and at least one pair of contacts. The sensor has at least one coil formed on a conductive material. The surface is suitable for receiving the printed sensor and can be placed in an EM field. The at least one non-conductive material covers the at least one coil of the sensor. The medical instrument contains multiple conductive and nonconductive layers. The at least one pair of contacts are electrically connected to the at least one coil and connectable to the conductive layer, the conductive layer coupled to a measurement device, which senses an induced electrical signal based on a magnetic flux change of the EM field. The location of the medical instrument in a coordinate system of the EM filed is identified based on the induced electrical signal in the sensor.

Claims

1. A medical instrument, comprising:

a base non-conductive layer on a distal portion of the medical instrument;

a sensor printed on the base non-conductive layer, the sensor including a first conductive coil, a second conductive coil, and a non-conductive layer disposed between the first conductive coil and the second conductive coil;

a proximal conductive layer printed circumferentially around a proximal portion of the medical instrument;

a proximal non-conductive layer printed on the proximal conductive layer; and

at least one pair of contacts electrically connected to at least one of the first conductive coil or the second conductive coil of the sensor and coupled to the proximal conductive layer, the proximal conductive layer connectable to a measurement device configured to sense an induced electrical signal in the sensor based on a magnetic flux change of an electromagnetic field,

wherein a location of the medical instrument in a coordinate system of the electromagnetic field is identified based on the induced electrical signal in the sensor.

2. The medical instrument according to claim 1, wherein each of the first conductive coil and the second conductive coil includes a conductive layer formed of a conductive material, the conductive layer of the first conductive coil having a different configuration from a configuration of the conductive layer of the second conductive coil.

3. The medical instrument according to claim 2, wherein the different configuration includes a pitch angle and a number of loops of the conductive material.

4. The medical instrument according to claim 1, wherein the proximal portion of the medical instrument includes a plurality of proximal conductive layers and proximal non-conductive layers printed on the proximal portion of the medical instrument.

5. The medical instrument according to claim 4, wherein each proximal conductive layer of the plurality of proximal conductive layers is coupled to at least one of the first conductive coil or the second conductive coil of the sensor.

6. The medical instrument according to claim 1, wherein at least one of the first conductive coil or the second conductive coil of the sensor is connected to the proximal conductive layer through vias.

7. The medical instrument according to claim 1, wherein at least one of the first conductive coil or the second conductive coil of the sensor forms a helical shape.

8. The medical instrument according to claim 7, wherein the helical shape is counter clockwise.

9. The medical instrument according to claim 7, wherein the helical shape is clockwise.

10. The medical instrument according to claim 1, wherein an outer surface of the medical instrument is made of ETFE, PTFE, polyimide, or non-conductive polymer.

11. The medical instrument according to claim 1, wherein at least one of the first conductive coil or the second conductive coil of the sensor includes copper, silver, gold, conductive alloys, or conductive polymer.

12. The medical instrument according to claim 1, wherein the medical instrument is an extended working channel, an imaging instrument, a biopsy forceps, a biopsy brush, a biopsy needle, or a microwave ablation probe.

13. A sensor, comprising:

a first conductive coil positioned at a distal portion of a medical instrument;

a non-conductive layer positioned on at least a portion of the first conductive coil at the distal portion of the medical instrument; and

a second conductive coil positioned on at least a portion of the non-conductive layer at the distal portion of the medical instrument,

wherein the first conductive coil is spaced apart from the second conductive coil along a direction orthogonal to a surface of the non-conductive layer facing the first conductive coil.

14. The sensor according to claim 13, wherein the first conductive coil overlaps the second conductive coil along the direction orthogonal to the surface of the non-conductive layer facing the first conductive coil.

15. The sensor according to claim 13, wherein the first conductive coil is positioned on a non-conductive base layer of the medical instrument.

16. A medical instrument, comprising:

a sensor positioned at a distal portion of the medical instrument, the sensor comprising;

a first conductive coil positioned at the distal portion of the medical instrument;

a non-conductive layer positioned on at least a portion of the first conductive coil; and

a second conductive coil positioned on at least a portion of the non-conductive layer; and

a tracking device configured to sense an induced electrical signal in the sensor based on a variation of an electromagnetic field,

wherein a location of the sensor in a coordinate system of the electromagnetic field is configured to be determined by the tracking device based on the induced electrical signal in the sensor.

17. The medical instrument according to claim 16, wherein the first conductive coil overlaps the second conductive coil along a direction orthogonal to a surface of the non-conductive layer facing the first conductive coil.

18. The medical instrument according to claim 16, wherein the first conductive coil is positioned on a non-conductive base layer of the medical instrument.

19. The medical instrument according to claim 16, wherein the first conductive coil includes copper, silver, gold, a conductive alloy, or a conductive polymer.

20. The medical instrument according to claim 16, wherein the medical instrument is an extended working channel, an imaging instrument, a biopsy forceps, a biopsy brush, a biopsy needle, or a microwave ablation probe.