User interface for remote control of medical devices

• US 7,543,239 B2
• Filed: 06/06/2005
• Issued: 06/02/2009
• Est. Priority Date: 06/04/2004
• Status: Active Grant

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Viswanathan, Raju R., Blume, Walter M., Garibaldi, Jeffrey M., Rauch, John
• Primary Examiner(s): Luu; Sy D
• Application Number:
  US11/146,413
• Publication Number:
  US 20060041180A1
• Time in Patent Office: 1,457 Days
• Field of Search: 715/772, 715/740, 715/764, 715/768, 715/854, 715/856, 600/11, 128/899
• US Class Current: 715/772
• 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 2034/2074 Interface software
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/548 Remote control of the apparatus or devices
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

An interface for remotely controlling a medical device in a patient'"'"'s body provides a two dimensional display of a three dimensional rendering of the operating region, and allows the user to select the orientation or location of the distal end of the medical device on the display and then operate a navigation system to cause the distal end of the medical device to approximately assume the selected orientation or location.

Claims

1. An interface device for controlling a magnetic navigation system that applies a magnetic field in a selected direction to an operating region in a subject to magnetically orient a medical device in the operating region, the interface comprising:

a display on which at least one image of the operating region is displayed;

an input device for identifying on the at least one image on the display a plurality of points along the subject'"'"'s vasculature in an image of the operating region in the subject, to establish a predetermined branched path through the subject'"'"'s vasculature, and for identifying an identified navigation point in the operating region on the at least one image on the display;

a processor for detecting the input of an identified point, where in response to detecting said input the processor responds by determining an application point in the operating region on a predetermined branched path through the subject'"'"'s vasculature that is closest to the identified point, and generates a command causing the magnetic navigation system to apply a magnetic field at the application point, in a direction tangent to the predetermined path at the application point, to thereby magnetically orient a medical device in the operating region towards the identified point.

2. The interface according to claim 1, wherein there are at least two images of the operating region in different planes on the display, and wherein the input device comprises a device for moving an indicator over each image of the operating region and for selecting a point on the image indicated by the indicator.

3. The interface according to claim 1 wherein the display displays at least two images of the operating region, and wherein the input moves a cursor in each of the at least two images to identify a point in the operating region of the subject.

4. The interface according to claim 1 wherein the predetermined branched path was manually identified.

5. The interface according to claim 1 wherein the predetermined branched path was determined from a plurality of points on the subject'"'"'s vasculature identified on the at least one image of the operating region on the display.

6. The interface according to claim 5 wherein each point on the subject'"'"'s vasculature was identified on at least two images of the operating region indifferent planes.

7. The interface according to claim 1 wherein the predetermined branched path was determined by automated processing of an image of the operating region.

8. The interface according to claim 1 wherein the predetermined branched path is superimposed over the image of the operating region on the display.

9. The interface according to claim 8 wherein each branch of the predetermined branched path is displayed in a different color.

10. A method of making a predetermined branched path through the vasculature in an operating region in a subjects vasculature, the method comprising:

accepting the identification of a plurality of points on the subject'"'"'s vasculature on at least one image of the operating region; and

connecting each point with its nearest neighboring point to form the branched path through the vasculature;

determining an application point on the branched path through the subject'"'"'s vasculature in the operating region that is closest to the selected point; and

applying a magnetic field at the application point in a direction tangent to the navigable path at the application point.

11. The method according to claim 10 wherein each point is identified on at least two images of the operating region in different planes.

12. A method of operating a magnetic navigation system to apply a magnetic field in a selected direction in an operating region in a subject, to magnetically orient a medical device in the operating region, the method comprising:

identifying a plurality of points along the subject'"'"'s vasculature in an image of the operating region in the subject;

connecting each point to the closest adjacent point to create a network of navigable paths through the subject'"'"'s vasculature;

identifying a selected point on an image of the operating region, and identifying an application point that is on the network of navigable paths, closest to the selected point; and

applying a magnetic field at the application point in a direction tangent to the navigable path at the application point.

13. The method according to claim 12 wherein the step of identifying a plurality of points on an image of the operating region comprises identifying each point on at least two images of the operating region in different planes.

14. The method according to claim 12 wherein the step of identifying a selected point comprises identifying the selected point on at least two images of the operating region in different planes.

15. A method of operating a magnetic navigation system to apply a magnetic field in a selected direction in an operating region in a subject to magnetically orient a medical device in the operating region the method comprising:

identifying a selected point on an image of the operating region;

determining an application point on a predetermined navigable path through the subject'"'"'s vasculature in the operating region corresponding that is closest to the selected point; and

applying a magnetic field at the application point in a direction tangent to the navigable path at the application point.

16. The method according to claim 15 wherein the step of identifying a selected point comprises identifying the selected point on two images of the operating region in different planes.

17. The method according to claim 15 wherein the predetermined navigable path is created by identifying points on the vasculature on an image of the operating region, and connecting each point to the closest adjacent points to create the navigable paths.

18. A method of controlling a magnetic navigation system to apply a magnetic field in a selected direction in an operating region in a subject to magnetically orient a medical device in the operating region the method comprising:

accepting the identification of a selected point on an image of the operating region;

determining an application point on a predetermined navigable path through the subject'"'"'s vasculature in the operating region corresponding that is closest to the selected point; and

applying a magnetic field at the application point in a direction tangent to the navigable path at the application point.

19. The method according to claim 18 wherein the step of accepting the identification a selected point comprises accepting the identification of the point on two images of the operating region in different planes.

20. The method according to claim 18 wherein the predetermined navigable path is created by accepting the identification of points on the vasculature on two image of the operating region in different planes, and connecting each point to the closest adjacent points to create the navigable paths.

21. A magnetic navigation system that applies a magnetic field in a selected direction to an operating region in a subject to magnetically orient a medical device in the operating region, the system comprising:

at least one magnet;

an interface for controlling the at least one magnet, including;

a display on which at least one image of the operating region is displayed;

an input device for identifying a point in the operating region on the at least one image on the display;

a processor for determining an application point in the operating region on a predetermined branched path through the subject'"'"'s vasculature that is closest to the identified point, and causing the magnet to apply a magnetic field at the application point, in a direction tangent to the predetermined path at the application point.

22. The magnetic navigation system of claim 21 wherein there are at least two magnets, arid further comprising a movable support for each magnet to change the position and orientation of the each magnet to change the direction of the magnetic field applied to the operating region.