Error correction techniques in surgical navigation

• US 9,913,693 B2
• Filed: 10/29/2010
• Issued: 03/13/2018
• Est. Priority Date: 10/29/2010
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Schulhauser, Randal C., Gerrish, Paul, Mattes, Michael F., Kallmyer, Todd A., Senarith, Patrick P., Klype, Per, Ruben, David A.
• Primary Examiner(s): Kish, James
• Application Number:
  US12/916,232
• Publication Number:
  US 20120108954A1
• Time in Patent Office: 2,692 Days
• Field of Search: None
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Abstract

A medical system includes a sensor location module, a first module, and a second module. The sensor location module determines a location of a magnetic field sensor within a magnetic field. The first module determines an acceleration of the magnetic field sensor. The second module indicates a modified location of the magnetic field sensor in an image of a medical patient based on the acceleration and one or more previously determined locations.

Claims

1. A medical system comprising:

a sensor location module configured to determine a location of a magnetic field sensor within a magnetic field;

a first module configured to detect an acceleration of the magnetic field sensor;

a modification module configured to;

compare the detected acceleration of the magnetic field sensor to a threshold acceleration; and

determine, based on the comparison, whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration; and

a second module configured to map an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations, and

wherein the modification module is configured to;

store the one or more of the previously determined locations, and

generate a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations,

wherein the second module is configured to map the icon indicating the location onto the image based on the modified location value, and

wherein the modification module is configured to, when the detected acceleration of the magnetic field sensor is greater than the threshold acceleration, set the modified location value to a value within a range of the one or more determined locations that were stored when the detected acceleration was less than or equal to the threshold acceleration.

2. The medical system of claim 1, wherein the modification module is further configured to maintain the modified location value at the value within the range for a predetermined period of time after the modification module determines that the detected acceleration of the magnetic field sensor is greater than the threshold acceleration.

3. The medical system of claim 1, wherein the modification module is further configured to maintain the modified location value at the value within the range until the modification module determines that the detected acceleration has decreased to a value less than the threshold acceleration.

4. The medical system of claim 3, wherein the modification module is further configured to set the modified location value to a current location determined by the sensor location module when the detected acceleration of the magnetic field sensor decreases to the value less than the threshold acceleration.

5. The medical system of claim 1, further comprising a display configured to display the icon and the image of the patient.

6. The medical system of claim 5, wherein the icon comprises an instrument icon.

7. The medical system of claim 6, wherein the instrument icon comprises one of a crosshair icon or a graphical representation of an instrument.

8. The medical system of claim 1, wherein the second module is configured to map the icon indicating the modified location of the magnetic field sensor onto the image of the medical patient when it is determined that the detected acceleration is greater than the threshold acceleration, and wherein the second module is configured to map the icon indicating an unmodified location of the magnetic field sensor onto the image of the medical patent when it is determined that the detected acceleration is less than the threshold acceleration.

9. A method comprising:

determining a location of a magnetic field sensor, in a patient, within a magnetic field;

detect an acceleration of the magnetic field sensor;

comparing the detected acceleration of the magnetic field sensor to a threshold acceleration;

determining, based on the comparison, whether the detected acceleration is less than, equal to, or greater than the threshold acceleration;

mapping an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations;

storing the one or more of the previously determined locations;

generating a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations;

mapping the icon indicating the location onto the image based on the modified location value;

determining that the detected acceleration of the magnetic field sensor is greater than the threshold acceleration, and

based on the determination that the detected acceleration of the magnetic field sensor is greater than the threshold acceleration, setting the modified location value to a value within a range of the one or more determined locations that were stored based on the determination that the detected acceleration of the magnetic field sensor was less than or equal to the threshold acceleration.

10. The method of claim 9, further comprising maintaining the modified location value at the value within the range for a predetermined period of time after determining that the detected acceleration of the magnetic field sensor is greater than the threshold acceleration.

11. The method of claim 9, further comprising maintaining the modified location value at the value within the range until determining that the detected acceleration value has decreased to a value less than the threshold acceleration.

12. The method of claim 11, further comprising:

determining that the detected acceleration of the magnetic field sensor decreases to the value less than the threshold acceleration, and

setting the modified location value to a currently determined location based on the determination that the detected acceleration of the magnetic field sensor decreases to the value less than the threshold acceleration.

13. The method of claim 9, further comprising displaying the icon and the image of the patient.

14. The method of claim 13, wherein the icon comprises an instrument icon.

15. The method of claim 14, wherein the instrument icon comprises one of a crosshair icon or a graphical representation of an instrument.

16. The method of claim 9, wherein mapping the icon indicating the modified location of the magnetic field sensor onto the image of the medical patient based on the determination of whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations comprises:

determining that the detected acceleration is greater than the threshold acceleration,

mapping the icon indicating the modified location of the magnetic field sensor onto the image of the medical patent based on the determination that the detected acceleration is greater than the threshold acceleration,

determining that the detected acceleration is less than the threshold acceleration; and

mapping the icon indicating an unmodified location of the magnetic field sensor onto the image of the medical patent based on the determination that the detected acceleration is less than the threshold acceleration.

17. A medical system comprising:

a sensor location module configured to determine a location of a magnetic field sensor within a magnetic field;

a first module configured to detect an acceleration of the magnetic field sensor;

a modification module configured to;

compare the detected acceleration of the magnetic field sensor to a threshold acceleration; and

determine, based on the comparison, whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration; and

a second module configured to map an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations,

wherein the modification module is configured to;

store the one or more of the previously determined locations, and

generate a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations,

wherein the second module is configured to map the icon indicating the location onto the image based on the modified location value, and

wherein the modification module is configured to, when the detected acceleration of the magnetic field sensor is greater than the threshold acceleration, set the modified location value equal to one of the one or more determined locations that were stored when the detected acceleration was less than or equal to the threshold acceleration.

18. A medical system comprising:

a sensor location module configured to determine a location of a magnetic field sensor within a magnetic field;

a first module configured to detect an acceleration of the magnetic field sensor;

a modification module configured to;

compare the detected acceleration of the magnetic field sensor to a threshold acceleration; and

determine, based on the comparison, whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration; and

a second module configured to map an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations, and

wherein the modification module is configured to;

store the one or more of the previously determined locations, and

generate a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations,

wherein the second module is configured to map the icon indicating the location onto the image based on the modified location value, and

wherein the modification module is configured to set the modified location value equal to a most recent determined location of the magnetic field sensor in response to the detected acceleration increasing from a value less than the threshold acceleration to a value that is greater than the threshold acceleration.

19. A medical system comprising:

a sensor location module configured to determine a location of a magnetic field sensor within a magnetic field;

a first module configured to detect an acceleration of the magnetic field sensor;

a modification module configured to;

compare the detected acceleration of the magnetic field sensor to a threshold acceleration; and

determine, based on the comparison, whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration; and

a second module configured to map an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations, and

wherein the modification module is configured to;

store the one or more of the previously determined locations, and

generate a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations,

wherein the second module is configured to map the icon indicating the location onto the image based on the modified location value, and

wherein the modification module is configured to;

store a plurality of acceleration values representing acceleration detected by the first module;

store a plurality of location values determined by the sensor location module;

determine a frequency content of the plurality of acceleration values; and

generate the modified location value based on analysis of the frequency content.

20. The medical system of claim 19, wherein the modification module is further configured to:

determine when the acceleration values include greater than a threshold amount of frequency content within a predetermined range of frequencies; and

filter the plurality of location values to attenuate the predetermined range of frequencies included within the plurality of location values when the acceleration values include greater than the threshold amount of frequency content within the predetermined range of frequencies.

21. A method comprising:

determining a location of a magnetic field sensor, in a patient, within a magnetic field;

detecting an acceleration of the magnetic field sensor;

comparing the detected acceleration of the magnetic field sensor to a threshold acceleration;

determining, based on the comparison, whether the detected acceleration is less than, equal to, or greater than the threshold acceleration;

mapping an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations;

storing the one or more of the previously determined locations;

generating a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations;

mapping the icon indicating the location onto the image based on the modified location value;

determining that the detected acceleration of the magnetic field sensor is greater than the threshold acceleration; and

based on the determination that the acceleration of the magnetic field sensor is greater than the threshold acceleration, setting the modified location value equal to one of the one or more determined locations that were stored based on the determination that the detected acceleration of the magnetic field sensor was less than or equal to the threshold acceleration.

22. A method comprising:

determining a location of a magnetic field sensor, in a patient, within a magnetic field;

detecting an acceleration of the magnetic field sensor;

comparing the detected acceleration of the magnetic field sensor to a threshold acceleration;

determining, based on the comparison, whether the detected acceleration is less than, equal to, or greater than the threshold acceleration;

mapping an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations;

storing the one or more of the previously determined locations;

generating a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations;

mapping the icon indicating the location onto the image based on the modified location value;

determining that the detected acceleration of the magnetic field sensor increases from a value less than the threshold acceleration to a value that is greater than the threshold acceleration, and

setting the modified location value equal to a most recent determined location of the magnetic field sensor in response to the determination that the detected acceleration of the magnetic field sensor increasing from the value less than the threshold acceleration to the value that is greater than the threshold acceleration.

23. A method comprising:

determining a location of a magnetic field sensor, in a patient, within a magnetic field;

detecting an acceleration of the magnetic field sensor;

comparing the detected acceleration of the magnetic field sensor to a threshold acceleration;

determining, based on the comparison, whether the detected acceleration is less than, equal to, or greater than the threshold acceleration;

mapping an icon indicating a modified location of the magnetic field sensor onto an image of a medical patient based on the determination of whether the detected acceleration of the magnetic field sensor is less than, equal to, or greater than the threshold acceleration, and one or more previously determined locations;

storing the one or more of the previously determined locations;

generating a modified location value based on the detected acceleration of the magnetic field sensor and the one or more of the stored locations;

mapping the icon indicating the location onto the image based on the modified location value;

storing a plurality of acceleration values;

storing a plurality of location values;

determining a frequency content of the plurality of acceleration values; and

generating the modified location value based on analysis of the frequency content.

24. The method of claim 23, further comprising:

determining that the acceleration values include greater than a threshold amount of frequency content within a predetermined range of frequencies; and

filtering the plurality of location values to attenuate the predetermined range of frequencies included within the plurality of location values based on the determination that the acceleration values include greater than the threshold amount of frequency content within the predetermined range of frequencies.