Combination localization system

• US 8,494,613 B2
• Filed: 07/27/2010
• Issued: 07/23/2013
• Est. Priority Date: 08/31/2009
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Markowitz, H. Toby, Gardeski, Kenneth, Carver, Jean, Yasger, Kendra, Neidert, Michael R., Verard, Laurent, Hartmann, Steven L., Bzostek, Andrew, Jascob, Bradley A.
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): Ahmed, Faizah
• Application Number:
  US12/844,061
• Publication Number:
  US 20110054304A1
• Time in Patent Office: 1,092 Days
• Field of Search: None
• US Class Current: 600/424
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• 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 90/13 guided by light, e.g. laser pointers

Abstract

A navigation system or combination of navigation systems can be used to provide two or more navigation modalities to navigate a single instrument in a volume. For example, both an Electromagnetic (EM) and Electropotential (EP) navigation system can be used to navigate an instrument within the volume. Image data can also be illustrated relative to a tracked position of the instrument in the volume for navigation.

Claims

1. A system to determine and illustrate a location of an instrument using a registration between two tracking systems, comprising:

a first tracking device operable with a first tracking system to determine a location of the first tracking device in a first navigational domain, said first tracking system is an electromagnetic tracking system and the first navigational domain is defined by an electromagnetic field generated by an electromagnetic localizer of the first tracking system;

a second tracking device operable with a second tracking system to determine a location of the second tracking device in a second navigational domain, said second tracking system is an electro-potential tracking system and the second navigational domain is defined by a current injected into a volume between at least a first injection electrode and a second injection electrode;

an instrument including a first portion and a second portion, the first tracking device is associated with the first portion of the instrument and the second tracking device is associated with the second portion of the instrument;

wherein the second portion of the instrument surrounds at least a selected portion of the first portion of the instrument and is moveable relative to the first portion of the instrument; and

a calibration jig having an exterior indication module associated with a fixed base;

wherein the exterior indication module is operable to illuminate a target associated with the first tracking system to indicate a location of the first tracking device relative to the calibration jig.

2. The system of claim 1, wherein the calibration jig further includes:

a holding member to hold the first tracking device relative to the fixed base;

wherein the second portion of the instrument associated with the second tracking device is moveable relative to the first tracking device held relative to the fixed base.

3. The system of claim 1, wherein the first portion of the instrument is a stylet having a first exterior diameter and the second portion of the instrument is a catheter having an internal diameter greater than the exterior diameter of the stylet;

wherein the first tracking device is fixed relative to the stylet and the second tracking device is fixed relative to the catheter.

4. The system of claim 1, wherein a target signal is received by the exterior indication module when the first tracking device is at a location relative to the calibration jig to be targeted with the exterior indication module.

5. The system of claim 4, wherein the exterior indication module includes an optical module operable to emit a selected energy at the target;

wherein the signal is received by the exterior indication module when the target associated with the first tracking system is positioned at a location on the calibration jig;

wherein the signal is operable to indicate the location of the target relative to the second portion of the instrument.

6. The system of claim 5, wherein the optical module includes a visible laser device or non-laser illumination source.

7. The system of claim 6, wherein the laser device includes a laser system tracking device to track the first tracking device relative to the exterior indication module.

8. The system of claim 7, wherein the first portion of the instrument is fixed relative to the fixed base of the calibration jig and the laser device is actuated to indicate the position of the first tracking device;

wherein the second portion of the instrument is moved relative to the first portion of the instrument and laser light is reflected off of the second portion of the instrument.

9. The system of claim 4, wherein the exterior indication module emits a user signal to a user after the exterior indication module receives the target signal;

wherein the user signal includes a sound signal, a visual signal, a tactical signal, or combinations thereof.

10. The system of claim 4, wherein the exterior indication module is fixed to the fixture.

11. The system of claim 1, wherein the exterior indication module indicates when the first and second tracking devices are aligned.

12. A system to determine and illustrate a location of a tracking device using a registration between two tracking systems, comprising:

a stylet having a first tracking device having a coil of conductive material extending between two ends and over a length of a first instrument and operable with a first tracking system to determine a position and an orientation of the first tracking device in a first navigational domain, the first tracking system is an electromagnetic tracking system and the first navigational domain is defined by an electromagnetic field generated by an electromagnetic localizer of the first tracking system;

a catheter having a second tracking device having a first trackable electrode near a first end of the first tracking device and a second trackable electrode near a second end of the first tracking device, wherein the second tracking device is operable with a second tracking system to determine a position and orientation of the second tracking device in a second navigational domain, the second tracking system is an electro-potential tracking system and the second navigational domain is defined by a current injected into a volume between at least a first injection electrode and a second injection electrode, wherein the catheter surrounds at least a selected portion of the stylet and is moveable relative to the stylet;

a navigation system associated with at least the second tracking system to determine at least one of an orientation and a position of the first instrument stylet based on a determined position of the two trackable electrodes of the second tracking device second tracking device; and

a calibration jig having an exterior indication module associated with a fixed base;

wherein the exterior indication module is operable to illuminate the coil of conductive material and use the first tracking system to indicate a location of the coil of conductive material relative to the calibration jig.

13. The system of claim 12,

wherein the navigation system is operable to determine a registration between the first navigational domain and the second navigational domain.

14. The system of claim 12, wherein the second tracking system includes three pairs of injection electrodes operable to inject a current between each of the pair of electrodes into a volume.

15. The system of claim 14, wherein the navigation system is operable to determine a position of the first trackable electrode and a position of the second trackable electrode fixed relative to the stylet and determine an orientation of the stylet based upon the determined position of the first trackable electrode and the second trackable electrode.

16. The system of claim 15, further comprising:

a display device operable to display image data of a volume;

wherein the navigation system is operable to register the first navigational domain with the displayed image data at least by executing instructions with a processor to register similar points in the first navigational domain with points in the image data;

wherein the navigation system is operable to illustrate a position of the stylet based upon the determined position and orientation of the first tracking device.

17. The system of claim 16, wherein the navigation system is operable to register the first navigational domain and the second navigational domain such that the determined orientation of the stylet based upon the determined position of the first trackable electrode and the second trackable electrode is registered relative to the orientation of the first tracking device or vice versa;

wherein the three pairs of injection electrodes are positioned substantially orthogonal to one another to intersect at a single origin operable to determine the orientation of the first instrument based upon the position of the two trackable electrodes.

18. A system to determine and illustrate a location of a tracking device using a registration between two tracking systems, comprising:

an instrument including a first portion moveable relative to a second portion;

a first tracking coil associated with the first portion of the instrument and operable with a first electromagnetic tracking system to determine a location of the first tracking coil in a first navigational domain;

a second tracking electrode associated with the second portion of the instrument and operable with a second electro-potential tracking system to determine a location of the second tracking device in a second navigational domain; and

a calibration jig having an exterior indication module associated with a fixed base;

wherein the exterior indication module is operable to illuminate the first tracking coil and use the first electromagnetic tracking system to indicate a location of the first tracking coil relative to the calibration jig.

19. The system of claim 18, wherein the calibration jig further includes:

a holding member to hold the first portion of the instrument having the first tracking device relative to the fixed base;

wherein the second portion of the instrument associated with the second tracking device is moveable relative to the first portion held relative to the fixed base.

20. The system of claim 19, wherein the second portion of the instrument surrounds at least a selected portion of the first portion of the instrument and is moveable relative to the first portion of the instrument.

21. The system of claim 20, wherein the first portion of the instrument is a stylet having a first exterior diameter and the second portion of the instrument is a catheter having an internal diameter greater than the exterior diameter of the stylet;

wherein the first tracking device is fixed relative to the stylet and the second tracking device is fixed relative to the catheter.

22. The system of claim 19, wherein a target signal is received by the exterior indication module when the first tracking device is at a location relative to the calibration jig to be targeted with the exterior indication module;

wherein the exterior indication module includes an optical module operable to emit a selected energy at the target;

wherein the target signal is received by the exterior indication module when the first tracking device is positioned at a location on the calibration jig that is the target; and

wherein a beam is operable to indicate the target relative to the second portion of the instrument associated with the second tracking device relative to the first portion of the instrument associated with the first tracking device.

23. The system of claim 22, wherein the optical module includes a visible laser system,

wherein the laser system includes a laser system tracking device to be tracked with the first electromagnetic tracking system relative to the first tracking coil,

wherein the first portion of the instrument is fixed relative to the fixed base of the calibration jig and the laser system is actuated to illuminate the position of the first tracking coil;

wherein the second portion of the instrument is moved relative to the first portion of the instrument and laser light is reflected with the second portion of the instrument.