Combination of electromagnetic and electropotential localization

• US 8,731,641 B2
• Filed: 05/07/2012
• Issued: 05/20/2014
• Est. Priority Date: 12/16/2008
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Hartmann, Steven L., Bzostek, Andrew, Jascob, Bradley A.
• Primary Examiner(s): ROZANSKI, MICHAEL T
• Application Number:
  US13/465,775
• Publication Number:
  US 20120220860A1
• Time in Patent Office: 743 Days
• Field of Search: 600/407, 600/424, 600/427, 128/899, 607/122
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2046 Tracking techniques
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Abstract

A navigation system or combination of navigation systems can be used to provide two or more types of navigation or modalities of navigation to navigate a single instrument. The single instrument can be positioned within the patient and tracked. For example, both an Electromagnetic (EM) and Electropotential (EP) navigation system can be used to navigate an instrument within a patient.

Claims

1. A system for tracking an instrument within a volume, comprising:

a tracking device including;

an annular ring operable as an electrode with an electropotential portion of a tracking system; and

a coil of conductive material positioned with the instrument and the annular ring, wherein the coil of conductive material is operable with an electromagnetic portion of the tracking system; and

a communication system interconnecting both of the annular ring and the coil of conductive material with the tracking system;

wherein the annular ring and the coil of conductive material are moveable relative to one another and positionable at least at one known location relative to one another.

2. The system of claim 1, further comprising:

the tracking system operable to determine a position of the annular ring and the coil of conductive material of the tracking device.

3. The system of claim 2, wherein the tracking system includes:

a first localizer operable to generate an electromagnetic field or sense an electromagnetic field;

wherein the coil of conductive material is operable to generate an electromagnetic field or sense an electromagnetic field.

4. The system of claim 2, wherein the tracking system includes a pair of electrodes operable to induce a current in a volume and the annular ring is operable to determine a voltage based upon the induced current within the volume.

5. The system of claim 1 further comprising:

a display device;

wherein the tracking system is in communication with the display device and operable to display a represented position of the annular ring, the coil of conductive material, or combinations thereof.

6. The system of claim 5, wherein image data is operable to be displayed on the display device relative to the representation of the annular ring and the coil of conductive material.

7. The system of claim 1, further comprising:

an instrument including the annular ring and the coil of conductive material;

wherein the instrument defines a cannula and the annular ring and coil of conductive material are positioned around the cannula.

8. The system of claim 7, wherein the instrument includes at least one of a catheter, an implantable lead, or combinations thereof.

9. The system of claim 7, wherein the annular ring and coil of conductive material are fixedly positioned relative to one another around the cannula.

10. The system of claim 7, wherein the instrument includes a first portion movable relative to a second portion, wherein the annular ring is attached to the first portion and the coil of conductive material is attached to the second portion, wherein the annular ring is movable relative to the coil of conductive material upon moving the first portion relative to the second portion.

11. The system of claim 10, wherein the first portion includes an inner member and the second portion includes an outer member, wherein the inner member and the outer member are operable to move relative to one another.

12. A system for tracking an instrument within a volume, comprising:

a first tracking device including an electrode configured to operate with a first tracking system that is an electropotential tracking system;

a second tracking device including a coil of conductive material configured to operate with a second tracking system that is an electromagnetic tracking system, the second tracking system being different from the first tracking system; and

an instrument having a first portion and a second portion, the first tracking device connected to the first portion and the second tracking device connected to the second portion, wherein the first tracking device communicates with the first tracking system and the second tracking device communicates with the second tracking system and the second portion is configured to pass through the first portion.

13. The system of claim 12, wherein the first tracking device is an annular ring operable as the electrode.

14. The system of claim 13, wherein the first portion of the instrument is movable relative to the second portion of the instrument, wherein the annular ring is movable relative to the coil.

15. The system of claim 13, wherein the annular ring and the coil are positioned concentric relative to a longitudinal axis of the instrument.

16. The system of claim 12, wherein the instrument is a catheter and lead assembly;

wherein the catheter includes the first tracking device and the lead includes the second tracking device.

17. The system of claim 12, wherein the instrument includes both the first tracking device and the second tracking device operable to be positioned at a known position relative to one another in at least a first orientation of the instrument.

18. The system of claim 12, wherein the instrument includes a lead having a tip electrode;

wherein the tip electrode of the lead is the second tracking device.

19. A system for tracking an instrument within a volume, comprising:

a tracking device including;

a tip electrode,

an annular ring electrode, and

a coil of conductive material wrapped relative to a surface of the annular ring, the tip electrode and the annular ring electrode configured to operate with a first electropotential tracking system and the coil of conductive material configured to operate with a second electromagnetic tracking system; and

a communication system interconnecting the tip electrode, the annular ring, and the coil of conductive material with the first tracking system and the second tracking system;

an instrument having a first portion connected to the tip electrode, and a second portion connected to the annular ring electrode and the coil of conductive material, wherein the first portion is configured to move through the second portion to place the annular ring electrode at a known position relative to the tip electrode.

20. The system of claim 19, wherein the first portion is an implantable lead and the second portion is a catheter.

21. The system of claim 19, wherein the annular ring electrode and the coil of conductive material are fixedly positioned relative to one another and concentric relative to a longitudinal axis of the instrument.

22. The system of claim 19, further comprising a controller operable to determine a registration of a first tracking domain and a second tracking domain based on at least the position within the volume of at least two of the tip electrode, annular ring electrode, and coil.