Electromagnetic coil apparatuses for surgical navigation and corresponding methods

• US 10,806,521 B2
• Filed: 10/31/2016
• Issued: 10/20/2020
• Est. Priority Date: 04/26/2013
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Wald, Andrew, Burg, Bruce M., Hartmann, Steven L., Jacobsen, Brad, Swetnam, Jeffrey
• Primary Examiner(s): Jacob, Oommen
• Application Number:
  US15/339,061
• Publication Number:
  US 20170042621A1
• Time in Patent Office: 1,450 Days
• Field of Search: 600424, 600423, 600407
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/3958 emitting a signal
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: H01F 2005/027 wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer
• CPC Class Codes: H01F 27/28 Coils; Windings; Conductive connections
• CPC Class Codes: H01F 27/30 Fastening or clamping coils, windings, or parts thereof together; Fastening or mounting coils or windings on core, casing, or other support
• CPC Class Codes: H01F 5/02 wound on non-magnetic supports, e.g. formers
• CPC Class Codes: Y10T 29/49071 by winding or coiling

Abstract

An electromagnetic device includes a jig and multiple wires. The jig includes a center member and coil-separating blocks. The coil-separating blocks protrude from the center member and are separated from each other to provide a coil channels. Each of the wires is wrapped on the jig, around the center member, and in one of the coil channels to form one of a multiple coils. Each of the coils is configured to connect to an electromagnetic navigation system and generate respective electromagnetic fields to be emitted relative to a subject.

Claims

1. A system for generating an electromagnetic field, comprising:

a jig comprising

a center member, and

a plurality of coil-separating blocks protruding from the center member and are separated from each other to provide a plurality of coil channels; and

a plurality of wires, wherein each of the plurality of wires is wrapped on the jig, around the center member, and in one of the plurality of coil channels to form one of a plurality of coils, wherein each of the plurality of coils is configured to operate with an electromagnetic navigation system and generate respective electromagnetic fields to be emitted relative to a subject;

wherein;

the plurality of coil channels comprise dividers and wire channels; and

each of the plurality of wires are wrapped

in one of the wire channels,

around the center member, and

between two of the dividers or between one of the dividers and one of the coil-separating blocks;

wherein;

the plurality of coil channels are segregated with gaps between segregated portions of the plurality of coil channels, wherein a first coil channel is segregated by a second coil channel such that gaps of the first coil channel are in the second coil channel; and

each of the plurality of wires switch between wire channels in the gaps of the segregated portions of the plurality of coil channels.

2. The system of claim 1, wherein:

the plurality of coil channels are orthogonal to each other; and

the coils are orthogonal to each other.

3. The system of claim 1, wherein the center member and the plurality of coil-separating blocks are implemented as a unitary structure.

4. The system of claim 1, wherein:

the dividers separate sets of windings of one of the plurality of wires; and

each of the sets of windings comprises two or more windings.

5. The system of claim 1, wherein the jig includes at least one of a plastic material and a ceramic material.

6. The system of claim 1, wherein the jig comprises at least one crossover section in which at least one of the wires is switched between two wire channels.

7. The system of claim 1, further comprising:

a plurality of jigs, each jig including a plurality of wires; and

a plurality of end plates, wherein the plurality of jigs are connected to and between the end plates.

8. The system of claim 7, wherein:

the end plates comprise tabs; and

the tabs are inserted into respective holes in the plurality of jigs.

11. The system of claim 7, wherein the plurality of end plates includes a pair of end plates and the plurality of jigs are positioned between the pair of end plates to form a transmit coil array.

12. The system of claim 1, further comprising:

a controller configured to generate first signals via the plurality of coils; and

a tracking device configured to (i) receive the first signals, and (ii) generate second signals based on the first signals,

wherein the controller is configured to track a position of the tracking device based on the second signals.

13. The system of claim 1, wherein a diameter of each of the coil channels is different such that each of the coils are wrapped on the center member without contacting other ones of the coils.

14. The system of claim 13, wherein the first center member and the first plurality of coil-separating blocks are implemented as a unitary structure.

15. The system of claim 13, further comprising:

a second jig comprising

a second center member, and

a second plurality of coil separating blocks protruding from the second center member and are separated from each other to provide a second plurality of coil channels;

a second plurality of wires forming a second plurality of coils, wherein each of the second plurality of wires is wrapped on the second jig, around the second center member, and in one of the second plurality of coil channels to form one of the second plurality of coils; and

a third jig comprising

a third center member, and

a third plurality of coil separating blocks protruding from the third center member and are separated from each other to provide a third plurality of coil channels; and

a third plurality of wires forming a third plurality of coils, wherein each of the third plurality of wires is wrapped on the third jig, around the third center member, and in one of the third plurality of coil channels to form one of the third plurality of coils;

wherein the second jig and the third jig are connected to and between the end plates.

9. A system for generating an electromagnetic field, comprising:

a jig comprising

a center member, and

a plurality of coil-separating blocks protruding from the center member and are separated from each other to provide a plurality of coil channels; and

a plurality of wires, wherein each of the plurality of wires is wrapped on the jig, around the center member, and in one of the plurality of coil channels to form one of a plurality of coils, wherein each of the plurality of coils is configured to operate with an electromagnetic navigation system and generate respective electromagnetic fields to be emitted relative to a subject;

wherein at least one coil channel includes a plurality of dividers to provide a plurality of wire channels in the at least one coil channel;

the plurality of dividers forms at least one crossover section in which at least one wire is switched between two wire channels formed by the dividers;

wherein the crossover section separates each divider, such that each divider is non-contiguous annularly and where the at least one wire crosses itself in the crossover section;

wherein the at least one wire crosses itself a plurality of times in the crossover section.

10. The system of claim 9, further comprising at least one crossover section in which at least one wire is switched between two wire channels formed by the dividers.