Catheter depth, position and orientation location system

• US 5,425,367 A
• Filed: 09/04/1991
• Issued: 06/20/1995
• Est. Priority Date: 09/04/1991
• Status: Expired due to Term

• Current Assignee: CORPAK MedSystems, Inc. (Avanos Medical, Inc.)
• Original Assignee: Navion Biomedical Corp. (Cardinal Health, Inc.)
• Inventors: Kay, Donald A., Shapiro, Alan R., Strohl, Clair L. Jr.
• Primary Examiner(s): GREEN, RANDALL L
• Assistant Examiner(s): Burke, Elizabeth
• Application Number:
  US07/755,024
• Time in Patent Office: 1,385 Days
• Field of Search: 128/653.1, 128/899, 324/326, 324/322, 600/11-14
• US Class Current: 600/424
• 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 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 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: G01V 3/105 forming directly coupled primary and secondary coils or loops
• 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

Abstract

A system for externally locating the depth and orientation of a catheter in tissue with an external probe which generates a virtual rotating magnetic field. The catheter includes an inductive coil for developing an induced signal in response to the virtual rotating magnetic field. An indicating device such as a light bar display or digital readout indicates the strength of the induced signal for locating, independently of the relative angular orientation of the probe and the catheter, the depth in the tissue of the catheter.

Claims

1. A system for externally locating a sensor in tissue, comprising:

an external probe including electronic means for providing a horizontal rotating magnetic field;

a sensor for placement in tissue at a relative distance from said probe and at a relative angular orientation, in a horizontal plane, to said probe, in which the sensor develops an induced signal having a relative strength in response to said rotating magnetic field;

means for determining the relative strength of said induced signal, independently of the relative angular orientation in the horizontal plane of said probe and said sensor; and

means, responsive to said means for determining the relative strength of said induced signal, for indicating the relative distance between said probe and said sensor.

2. The system of claim 1 in which said means for providing a horizontal rotating magnetic field includes two mutually-perpendicularly-oriented electromagnetic coils in said probe.

3. The system of claim 1 in which said coils are coplanar.

4. The system of claim 3 in which said coils are wound on a unitary core.

5. The system of claim 2 in which said means for providing a horizontal rotating magnetic field further includes means for driving said coils in quadrature to accomplish a horizontal rotating magnetic field of substantially constant strength.

6. The system of claim 1 in which said sensor includes an inductive coil.

7. The system of claim 6 in which said sensor includes a plurality of inductive coils spaced along a catheter for separately developing induced signals to locate different portions of the catheter with a single external probe.

8. The system of claim 1 in which said induced signal has a peak induced signal strength and said means for indicating the relative distance between said probe and said sensor includes means for displaying the peak induced signal strength.

9. The system of claim 1 in which said means for indicating the relative distance between said probe and said sensor includes means for generating a light bar display.

10. The system of claim 1 in which said means for indicating the relative distance between said probe and said sensor includes means for generating an audio tone having a frequency and a volume.

11. The system of claim 10 in which said means for indicating the relative distance between said probe and said sensor further includes means for varying the frequency of said audio tone in relation to the induced signal relative strength.

12. The system of claim 10 in which said means for indicating the relative distance between said probe and said sensor further includes means for varying the volume of said audio tone in relation to the induced signal relative strength.

13. The system of claim 1 further including means for resolving the relative horizontal angular orientation of said probe and said sensor.

14. The system of claim 13 in which said means for providing a horizontal rotating magnetic field includes at least one coil and a coil drive signal having a phase, and said induced signal has a phase, and said means for resolving the relative horizontal angular orientation of said probe and said sensor includes means for comparing the phase of said coil drive signal to the phase of said induced signal.

15. The system of claim 13 in which said sensor has a longitudinal axis lying along a direction in a horizontal plane, and further including means for visually indicating the true direction of the sensor axis in the horizontal plane.

16. The system of claim 15 in which said means for visually indicating the true direction of the sensor axis in the horizontal plane includes a plurality of lights arranged on said probe in a circular pattern having a center, and means, responsive to said means for resolving the relative horizontal angular orientation of said probe and said sensor, for lighting a single light whose direction relative to the center of the circular pattern is indicative of the true direction of said sensor axis in the horizontal plane.

17. The system of claim 15 in which said sensor has a distal end along the longitudinal axis, and in which said means for visually indicating the true direction of the sensor axis in the horizontal plane indicates the true direction of the sensor distal end along the longitudinal axis.

18. The system of claim 17 in which said means for visually indicating the true direction of the sensor axis in the horizontal plane includes a plurality of lights arranged on said probe in a circular pattern having a center, and means, responsive to said means for resolving the relative horizontal angular orientation of said probe and said sensor, for lighting a single light whose direction relative to the center of the circular pattern is indicative of the true direction of the sensor distal end along the longitudinal axis.

19. The system of claim 1 in which said sensor has a position in relation to said probe, and further including means for resolving the position of said sensor in relation to said probe.

20. The system of claim 19 in which said means for resolving the position of said sensor in relation to said probe includes a vertically-oriented electromagnetic coil in said probe, and means for driving said coil with an AC signal to create a time-varying magnetic field.

21. The system of claim 20 in which said AC signal and said induced signal have a phase, and said means for resolving the position of said sensor in relation to said probe further includes means for comparing the phase of said AC signal to the phase of said induced signal.

22. The system of claim 20 in which said means for providing a horizontal rotating magnetic field includes a field drive signal, and further including means for multiplexing the field drive signal and the vertically-oriented electromagnetic coil AC drive signal.

23. The system of claim 19 further including means on said probe for visually indicating the resolved position of said sensor in relation to said probe.

24. The system of claim 1 in which said means for indicating the relative strength of said induced signal includes a scale of inches or centimeters on said probe to provide a numerical indication of the relative distance between said sensor and said probe.

25. The system of claim 1 in which said means for providing a horizontal rotating magnetic field includes three coils on a six-pointed coil form driven by a 3-phase alternating current.

26. The system of claim 1 in which said means for indicating the relative strength of said induced signal includes an analog meter display.

27. The system of claim 1 in which said means for indicating the relative strength of said induced signal includes a digital numerical display.

28. The method of claim 1 in which said sensor is located coaxially within a catheter.

29. A system for externally locating a sensing coil in tissue, comprising:

an external probe having an axis and including a horizontally-oriented pair of perpendicular electromagnetic coils;

means for driving said pair of coils in quadrature with a drive signal having a phase to create a horizontal rotating magnetic field of substantially constant strength;

an inductive sensing coil at a relative distance from said probe and at a relative angular orientation, in a horizontal plane, to said probe, and having a distal end located in a true direction along a longitudinal axis for developing, in response to said rotating field, an induced signal having a phase and strength;

means, responsive to said induced sensing coil signal, for indicating the strength of the induced signal as a measure of the relative distance between the sensing coil and the probe, independently of the relative horizontal angular orientation of said probe and said sensing coil;

means for comparing the phase of the drive signal for one of the pair of coils to the phase of the induced signal; and

means, responsive to said means for comparing the phase of the drive signal for one of the pair of coils to the phase of the induced signal, for displaying the true direction of the sensing coil distal end along the longitudinal axis in the horizontal plane.

30. A system for externally locating a catheter in tissue, comprising:

an external probe having an axis and including a horizontally-oriented pair of perpendicular electromagnetic coils and a third, vertically-oriented electromagnetic coil perpendicular to said horizontally-oriented coils;

means for driving said pair of coils in quadrature with a drive signal having a phase to create a horizontal rotating magnetic field of substantially constant strength;

means for driving said third coil with an AC signal to create a time-varying magnetic field having a phase;

a catheter with a longitudinal axis at a relative horizontal angular orientation to said probe axis, and including an inductive sensing coil at a relative distance from said probe, and at a position in relation to said probe in the catheter tip, said tip located in a true direction in a horizontal plane along the longitudinal axis of the catheter, said sensing coil developing induced signals in response to said rotating and time-varying magnetic fields;

means, responsive to said sensing coil signal induced by said rotating field, for indicating the relative distance between the catheter sensing coil and the probe, independently of the relative horizontal angular orientation of said probe axis and said catheter axis;

means for resolving the phase difference between said time-varying magnetic field and the sensing coil signal induced by said time-varying magnetic field;

means, responsive to said means for resolving the phase difference between said time-varying magnetic field and the sensing coil signal induced by said time-varying magnetic field, for indicating the position of the sensing coil in relation to the probe;

means for comparing the phase of the drive signal for one of the coils of the coil pair to the phase of the signal induced in the sensing coil in response to said rotating magnetic field; and

means, responsive to said means for comparing the phase of the drive signal for one of the coils of the coil pair to the phase of the signal induced in the sensing coil in response to said rotating magnetic field, for displaying the true direction of the catheter tip along the longitudinal axis in the horizontal plane.

31. A system for externally locating a sensor in tissue, comprising:

an external probe including electronic means for providing a horizontal rotating magnetic field;

a sensor with a distal end located in a true direction in a horizontal plane along a longitudinal axis, said sensor developing an induced signal in response to said horizontal rotating magnetic field; and

means, responsive to said induced signal, for resolving the true direction of said sensor distal end along the longitudinal axis in a horizontal plane.

32. The system of claim 31 in which said means for resolving the true direction of said sensor distal end along the longitudinal axis in a horizontal plane is further responsive to said electronic means for providing a horizontal rotating magnetic field.

33. A method of externally locating a sensor in tissue, comprising the steps of:

providing a horizontal rotating magnetic field generated electronically from a probe external to the tissue;

developing, from a sensor in the tissue and located at a relative angular orientation in a horizontal plane to the probe, and at a relative distance from the probe, an induced signal having a relative strength, in response to said horizontal rotating magnetic field;

determining the relative strength of said induced signal, independently of the relative angular orientation in the horizontal plane of said probe and said sensor; and

indicating, in response to the induced signal, the relative distance between the probe and the sensor.

34. A method of externally locating a sensor in tissue, comprising:

placing in the tissue a sensor having a distal end located at a true direction along a longitudinal axis in a horizontal plane;

providing from a probe external to the tissue a horizontal rotating magnetic field;

developing from the sensor within the tissue an induced signal in response to said horizontal rotating magnetic field; and

resolving and displaying, in response to said induced signal, the true direction of the sensor distal end along the longitudinal axis in a horizontal plane.

35. The method of claim 34 in which the horizontal rotating magnetic field and the induced signal have phases, and in which resolving and displaying the true direction of the sensor distal end along the longitudinal axis in a horizontal plane includes comparing the phase of the induced signal to the phase of the horizontal rotating magnetic field.