Method of forming an electromagnetic sensing coil in a medical instrument for a surgical navigation system

• US 7,971,341 B2
• Filed: 03/25/2008
• Issued: 07/05/2011
• Est. Priority Date: 10/17/2003
• Status: Active Grant

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Dukesherer, John H., Burg, Bruce M., Kessman, Paul, Jascob, Bradley A.
• Primary Examiner(s): Kim; Paul D
• Application Number:
  US12/054,981
• Publication Number:
  US 20080171937A1
• Time in Patent Office: 1,197 Days
• Field of Search: 296/021, 296/05, 296/06, 298/32, 298/41, 298/55, 298/58, 298/83, 336/176, 336/200, 336/212, 336/229, 336/232, 336/233, 600/414, 600/424, 600/426, 600/431, 600/433
• US Class Current: 29/606
• 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 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/7285 for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4405 the apparatus being movable or portable, e.g. handheld or mounted on a trolley
• CPC Class Codes: A61B 6/4423 related to hygiene or sterilisation
• CPC Class Codes: A61B 6/4441 : the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/543 : involving acquisition triggered by a physiological signal
• 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: Y10T 29/4902 : Electromagnet, transformer or inductor
• CPC Class Codes: Y10T 29/49071 : by winding or coiling
• CPC Class Codes: Y10T 29/49073 : by assembling coil and core
• CPC Class Codes: Y10T 29/4913 : Assembling to base an electrical component, e.g., capacitor, etc.
• CPC Class Codes: Y10T 29/49146 : with encapsulating, e.g., potting, etc.
• CPC Class Codes: Y10T 29/49171 : with encapsulating

Abstract

A surgical navigation system for navigating a region of a patient includes a non-invasive dynamic reference frame and/or fiducial marker, sensor tipped instruments, and isolator circuits. The dynamic reference frame may be repeatably placed on the patient in a precise location for guiding the instruments. The instruments may be precisely guided by positioning sensors near moveable portions of the instruments. Electrical sources may be electrically isolated from the patient.

Claims

1. For a surgical navigation system, a method of forming an electromagnetic sensing coil in a medical instrument, comprising:

selecting a material to form a core for the medical instrument for the surgical navigation system;

forming the core from at least the selected material;

positioning a first layer of material over at least a portion of the core;

forming a coil about the core;

covering the coil and at least a portion of the first layer of material with a second layer of material; and

sealing an end portion of the core;

wherein the coil and the core are substantially electrically isolated from each other and an environment to form the electromagnetic sensing coil for the medical instrument for the surgical navigation system.

2. The method of claim 1, wherein selecting a material includes selecting an electromagnetic permeable material.

3. The method of claim 1, wherein forming a core includes forming a core having a diameter of less than about 2 millimeters.

4. The method of claim 1, wherein positioning the first layer of material includes positioning a dielectric layer of material over the core so as to leave a terminal end portion of the core uncovered;

and

wherein covering the coil and at least the portion of the first layer of material with the second layer of material includes covering the coil and at least the portion of the first layer of material with the second layer of dielectric material so as to leave the terminal end portion and a portion of the first layer adjacent the terminal end portion uncovered.

5. The method of claim 4, wherein sealing the end portion includes providing a seal around the terminal end portion of the core, the portion of the first layer adjacent the terminal end portion and a portion of the second layer.

6. The method of claim 1, wherein forming the coil includes forming the coil over the first layer of material after the first layer of material has been positioned over at least the portion of the core.

7. The method of claim 1, wherein sealing the end portion of the core includes sealing an end portion of the core after positioning the first layer, forming the coil, and covering the coil.

8. The method of claim 1, wherein forming a coil includes forming a first coil and forming a second coil of wire about the core after positioning the first layer of material over the core.

9. The method of claim 8, further comprising providing a compensation circuit to compensate for any error between a sensed signal from the first coil relative to a sensed signal from the second coil.

10. The method of claim 1, wherein forming the core includes forming a guidable portion of a stylet, a suction tube, a core for a probe, a core for a catheter, a core for an ablation tip, a core for a lens, and combinations thereof.

11. The method of claim 1, further comprising attaching respective ends of the coil to a handle of a stylet before covering the coil with the second layer of material.

12. The method of claim 1, wherein covering the coil and at least a portion of the first layer of material with a second layer of material includes covering the coil and at least a portion of the first layer of material with a second layer of material that directly engages the coil and the first layer of material.

13. For a surgical navigation system, a method of forming an electromagnetic sensing coil in a medical instrument, comprising:

selecting an electromagnetic permeable material to form a core for the medical instrument for the surgical navigation system;

forming the core from at least the selected material;

positioning a first layer of dielectric material over at least a portion of the core;

forming a coil about the core over the first layer of material;

covering the coil and at least a portion of the first layer of material with a second layer of dielectric material; and

sealing an end portion of the core, the first layer of material and the second layer of material;

wherein the coil and the core are substantially electrically isolated from each other and an environment with the first and second layers of material to form the electromagnetic sensing coil for the medical instrument for the surgical navigation system.

14. The method of claim 13, wherein positioning a first layer of dielectric material includes positioning a first layer of dielectric material over the core so as to leave a terminal end portion of the core uncovered;

and

wherein covering the coil and at least a portion of the first layer of material with a second layer of dielectric material includes covering the coil and at least a portion of the first layer of material with a second layer of dielectric material so as to leave the terminal end portion of the core and an end portion of the first layer adjacent the terminal end portion uncovered.

15. The method of claim 14, wherein sealing an end portion of the core, the first layer of material and the second layer of material includes providing a seal around the terminal end portion of the core, the end portion of the first layer adjacent the terminal end portion and an end portion of the second layer.

16. The method of claim 13, wherein forming a coil includes forming a first coil of wire and forming a second coil of wire about the core after positioning the first layer of material over the core.

17. The method of claim 16, further comprising providing a compensation circuit to compensate for any error between a sensed signal from the first coil relative to a sensed signal from the second coil.

18. The method of claim 13, wherein forming the core includes forming a guidable portion of at least one of a stylet, a suction tube, a core for a probe, a core for a catheter, a core for an ablation tip, a core for a lens, and combinations thereof.

19. The method of claim 13, wherein covering the coil and at least a portion of the first layer of material with a second layer of dielectric material includes covering the coil and at least a portion of the first layer of material with a second layer of dielectric material that directly engages the coil and the first layer of material.

20. For a surgical navigation system, a method of forming an electromagnetic sensing coil in a medical instrument, comprising:

forming a core from at least a conductive permeable material, wherein forming the core includes forming at least one of a guidable portion of a stylet, a suction tube, a core for a probe, a core for a catheter, a core for an ablation tip, a core for a lens, and combinations thereof;

positioning a first layer of dielectric material over at least a portion of the core;

forming a first coil and a second coil about the core after positioning the first layer of material over the core, wherein the first layer of material is configured to isolate the coils from the conductive material of the core and the first coil is spaced apart a predetermined axial distance from the second coil;

providing a compensation circuit to compensate for any error between a sensed signal from the first coil relative to a sensed signal from the second coil;

covering the coils and at least a portion of the first layer of material with a second layer of material configured to isolate the coils from an exterior environment; and

sealing a terminal end portion of the core, an end portion of the first layer adjacent the terminal end portion and an end portion of the second layer adjacent the end portion of the first layer.

21. The method of claim 20, wherein positioning a first layer of dielectric material includes positioning a first layer of dielectric material over the core so as to leave a terminal end portion of the core uncovered;

and

wherein covering the coils and at least a portion of the first layer of a material with a second layer of material includes covering the coils and at least a portion of the first layer of a material with a second layer of material so as to leave the terminal end portion of the core and an end portion of the first layer adjacent the terminal end portion uncovered.