Surgical navigation

• US 6,522,907 B1
• Filed: 01/21/2000
• Issued: 02/18/2003
• Est. Priority Date: 08/14/1992
• Status: Expired due to Term

• Current Assignee: British Telecommunications PLC (BT Group PLC)
• Original Assignee: British Telecommunications PLC (BT Group PLC)
• Inventors: Bladen, John Stuart, Anderson, Alan Patrick
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): SHAW, SHAWNA JEANNINE
• Application Number:
  US09/489,340
• Time in Patent Office: 1,124 Days
• Field of Search: 600/407, 600/424, 600/117, 600/145, 128/899, 324/207.17, 324/207.26, 324/247
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• 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 2034/742 Joysticks
• 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 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/6806 Gloves
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G01V 3/08 operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices with electromagnetic waves G01V3/12
• 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

Methods and apparatus are provided for locating the position, preferably in three dimensions, of a sensor by generating magnetic fields which are detected at the sensor. The magnetic fields are generated from a plurality of locations and, in one embodiment of the invention, enable both the orientation and location of a single coil sensor to be determined. The present invention thus finds application in many areas where the use of prior art sensors comprising two or more mutually perpendicular coils is inappropriate.

Claims

1. A surgical navigation apparatus for navigating a surgical instrument during a medical procedure, said surgical navigation apparatus comprising:

an input for receiving signals from an electromagnetic, sensor associated with the surgical instrument;

a first magnetic field source configured to radiate a first magnetic field into an anatomical body during the medical procedure to be detected by said electromagnetic sensor, said first magnetic field source positioned at a first fixed and known location on a plane surface;

a second magnetic field source configured to radiate a second magnetic field into the anatomical body during the medical procedure to be detected by said electromagnetic sensor, said second magnetic field source positioned at a second fixed and known location on the plane surface;

a third magnetic field source configured to radiate a third magnetic field into the anatomical body during the medical procedure to be detected by said electromagnetic sensor, said third magnetic field source positioned at a third fixed and known location on the plane surface; and

a processor associated with said input for receiving from said electromagnetic sensor signals indicative of said first, second, and third magnetic fields and for calculating based on the output of the electromagnetic sensor, both a location and an orientation of said electromagnetic sensor associated with the surgical instrument as a function of said first, second, and third magnetic fields detected by said electromagnetic sensor during the medical procedure.

2. The apparatus of claim 1 wherein each of said first, second, and third magnetic field sources have a unique center location different from the center location of another two field sources.

3. The apparatus of claim 1 wherein each of said first, second and third known locations of said first, second and third magnetic field sources each have a same center location.

4. The apparatus of claim 1 wherein said first, second and third magnetic field sources surround a coil-free region.

5. The apparatus of claim 1 wherein said magnetic field sources are configured to induce voltages in said electromagnetic sensor and wherein said processor is adapted to calculate the location and orientation of said electromagnetic sensor from the induced voltages, resulting in a relationship defined by the formula $V_s=k_c$

ks

[(2

z2-x2-y2)

cos

 



θ

+3

z

 



sin

 



θ



(x

 



cos

 



ITAL

 



φ

+y

 



sin

 



φ

)(x2+y2+z2)5/2]

where V_s is the induced voltage;

k_c is known and is calculated as a function of a current through, diameter of, and number of terms on the coil;

k_s is known and is a function of the frequency of the field and characteristics of the sensing coil;

x, y, and z are the cartesian coordinates of the sensor; and

q and f are the elevational and rotational angles of the sensor, respectively.

6. The apparatus of claim 1 wherein each of said first, second, and third magnetic field sources includes a plurality of coils.

7. The apparatus of claim 6 wherein each of said first, second and third magnetic field sources include three electrically separate coils wound so that axes of said coils are mutually perpendicular.

8. The apparatus of claim 1 wherein said processor is configured to calculated from the output of said electromagnetic sensor a location, an elevation angle, and a rotation angle of said electromagnetic sensor.

9. The apparatus of claim 1 wherein said processor uses time-multiplexing to distinguish signals from said first, second, and third magnetic field sources.

10. The apparatus of claim 1 wherein each of said first, second, and third magnetic field sources are configured to radiate an electromagnetic field at a frequency different from the other two field sources, and wherein said processor uses frequency-multiplexing to distinguish signals from said first, second, and third magnetic field sources.

11. The apparatus of claim 1 wherein each of said first, second, and third magnetic field sources are configured to generated a quasi-static magnetic field.

12. The apparatus of claim 1 wherein each of said first, second, and third magnetic field sources are configured to generate a near-field electromagnetic field within a range over which said electromagnetic sensor location is to be determined.

13. The apparatus of claim 1 wherein said processor determines the location and the orientation of said electromagnetic sensor without relative movement between said electromagnetic sensor and said first, second, and third magnetic field sources.

14. The apparatus of claim 1 wherein said electromagnetic sensor includes a single sensing coil.

15. The apparatus of claim 1 wherein said electromagnetic sensor includes three mutually orthogonal sensing coils.

16. The apparatus of claim 1 further comprising a display operable to display a representation of an ascertained position of said electromagnetic sensor associated with the surgical instrument, where the ascertained position includes both the location and orientation of said electromagnetic sensor.

17. The apparatus of claim 16 wherein said display is further operable for simultaneously displaying local information corresponding to an area in the anatomical body where said electromagnetic sensor is located while displaying the representation of the ascertained position of the sensor.

18. The apparatus of claim 17 wherein the local information is an image.

33. The apparatus of claim 18 further comprising a display operable to display a representation of an ascertained position of said electromagnetic sensor associated with the surgical instrument, where the ascertained position includes both the location and orientation of said electromagnetic sensor.

34. The apparatus of claim 33 wherein said display is further operable for simultaneously displaying local information corresponding to an area in the anatomical body where said electromagnetic sensor is located while displaying the representation of the ascertained position of the sensor.

35. The apparatus of claim 34 wherein the local information is an image.

19. A surgical navigation apparatus for navigating a medical instrument during a medical procedure, said surgical navigation apparatus comprising:

an electromagnetic sensor associated with the medical instrument;

a first field source configured to radiate a first magnetic field into an anatomical body during the medical procedure to be detected by said electromagnetic sensor, said first field source including at least a first sensing coil positioned at a first fixed and known location on a plane surface;

a second field source configured to radiate a second magnetic field into the anatomical body during the medical procedure to be detected by said electromagnetic sensor, said second field source including at least a second sensing coil positioned at a second fixed and known location on the plane surface;

a third field source configured to radiate a third magnetic field into the anatomical body during the medical procedure to be detected by said electromagnetic sensor, said third field source including at least a third sensing coil positioned at a third fixed and known location on the plane surface; and

a processor operable for receiving from said electromagnetic sensor signals indicative of the first, second, and third magnetic fields and operable to calculate based on the output of the electromagnetic sensor, both a location and an orientation of said electromagnetic sensor associated with the medical instrument as a function of the first, second, and third magnetic fields detected by said electromagnetic sensor without relative movement between said electromagnetic sensor and said first, second, and third field sources.

20. The apparatus of claim 19 wherein each of said first, second, and third field sources have a unique center location different from the center location of another two field sources.

21. The apparatus of claim 19 wherein each of said first, second and third known locations of said first, second and third field sources each have a same center location.

22. The apparatus of claim 19 wherein said first, second and third field sources surround a coil-free region.

23. The apparatus of claim 19 wherein said field sources are configured to induce voltages in said electromagnetic sensor and wherein said process is adapted to calculate the location and orientation of said electromagnetic sensor from the induced voltages, resulting in a relationship defined by the formula $V_s=k_c$

ks

[(2

z2-x2-y2)

cos

 



θ

+3

z

 



sin

 



θ



(x

 



cos

 



ITAL

 



φ

+y

 



sin

 



φ

)(x2+y2+z2)5/2]

where V_s is the induced voltage;

k_c is known and is calculated as a function of a current through, diameter of, and number of terms on the coil;

k_s is known and is a function of the frequency of the field and characteristics of the sensing coil;

x, y, and z are the cartesian coordinates of the sensor; and

q and f are the elevational and rotational angles of the sensor, respectively.

24. The apparatus of claim 19 wherein each of said first, second, and third field sources includes a plurality of coils.

25. The apparatus of claim 24 wherein each of said first, second and third field sources include three electrically separate coils wound so that axes of said coils are mutually perpendicular.

26. The apparatus of claim 19 wherein said processor is configured to calculated from the output of said electromagnetic sensor a location, an elevation angle, and a rotation angle of said electromagnetic sensor.

27. The apparatus of claim 19 wherein said processor uses time-multiplexing to distinguish signals from said first, second, and third field sources.

28. The apparatus of claim 19 wherein each of said first, second, and third field sources are configured to radiate an electromagnetic field at a frequency different from the other two field sources, and wherein said processor uses frequency-multiplexing to distinguish signals from said first, second, and third field sources.

29. The apparatus of claim 19 wherein each of said first, second, and third field sources are configured to generated a quasi-static magnetic field.

30. The apparatus of claim 19 wherein each of said first, second, and third field sources are configured to generate a near-field electromagnetic field within a range over which said electromagnetic sensor location is to be determined.

31. The apparatus of claim 19 wherein said electromagnetic sensor includes a single sensing coil.

32. The apparatus of claim 19 wherein said electromagnetic sensor includes three mutually orthogonal sensing coils.

36. A method of determining a location and an orientation of a medical instrument during a medical procedure comprising:

generating a first magnetic field into an anatomical body during the medical procedure from a first magnetic field source positioned at a first fixed and known location on a plane surface;

generating a second magnetic field into the anatomical body during the medical procedure from a second magnetic field source positioned at a second fixed and known location on the plane surface;

generating a third magnetic field into the anatomical body during the medical procedure from a third magnetic field source positioned at a third fixed and known location on the plane surface;

sensing the first, second, and third magnetic fields with an electromagnetic sensor associated with the medical instrument as the medical instrument is statically positioned relative to the first, second, and third magnetic field sources; and

processing signals received from the electromagnetic sensor indicative of the first, second, and third magnetic fields to calculate based on an output of the electromagnetic sensor associated with the medical instrument, both a location and an orientation of the medical instrument as a function of the first, second, and third magnetic fields detected by the electromagnetic sensor during the medical procedure.

37. The method of claim 36 further comprising positioning each of said first, second, and third magnetic field sources at a unique center location different from the center location of another two field sources.

38. The method of claim 36 further comprising positioning said first, second, and third magnetic field sources at a same location.

39. The method of claim 36 wherein said first, second and third magnetic field sources surround a coil-free region.

40. The method of claim 36 wherein said magnetic field sources are configured to induce voltages in said electromagnetic sensor and wherein said processor calculates the location and orientation of said electromagnetic sensor from the induced voltages, resulting in a relationship defined by the formula $V_s=k_c$

ks

[(2

z2-x2-y2)

cos

 



θ

+3

z

 



sin

 



θ



(x

 



cos

 



ITAL

 



φ

+y

 



sin

 



φ

)(x2+y2+z2)5/2]

where V_s is the induced voltage;

k_c is known and is calculated as a function of a current through, diameter of, and number of terms on the coil;

k_s is known and is a function of the frequency of the field and characteristics of the sensing coil;

x, y, and z are the cartesian coordinates of the sensor; and

q and f are the elevational and rotational angles of the sensor, respectively.

41. The method of claim 36 further comprising providing each of said first, second, and third magnetic field sources with a plurality of coils.

42. The method of claim 41 further comprising providing each of said first, second, and third magnetic field sources with three electrically separate coils wound so that axes of said coils are mutually perpendicular.

43. The method of claim 36 further comprising calculating from the output of said electromagnetic sensor a location, an elevation angle, and a rotation angle of said electromagnetic sensor.

44. The method of claim 36 further comprising time-multiplexing to distinguish signals from said first, second, and third magnetic field sources.

45. The method of claim 36 further comprising using frequency-multiplexing to distinguish signals from said first, second, and third magnetic field sources.

46. The method of claim 36 further comprising generating a quasi-static magnetic field with each of said first, second, and third magnetic field sources.

47. The method of claim 36 further comprising generating a near-field electromagnetic field with each of said first, second, and third magnetic field sources within a range over which said electromagnetic sensor location is to be determined.

48. The method of claim 36 further comprising said electromagnetic sensor with a single sensing coil.

49. The method of claim 36 further comprising said electromagnetic sensor with three mutually orthogonal sensing coils.

50. The method of claim 36 further comprising calculating a position of the medical instrument as a function of the first, second, and third magnetic fields as detected by the electromagnetic sensor associated with the medical instrument, wherein the position includes both the location and the orientation of the medical instrument.

51. The method of claim 50 further comprising correlating the calculated position of the medical instrument with an image projected on a display device.

52. The method of claim 51 further comprising overlaying, on the display device, a representation of the calculated position on the projected image.