WO2002071943A1 - Determination de la position d'une sonde chirurgicale - Google Patents

Determination de la position d'une sonde chirurgicale Download PDF

Info

Publication number
WO2002071943A1
WO2002071943A1 PCT/GB2002/001150 GB0201150W WO02071943A1 WO 2002071943 A1 WO2002071943 A1 WO 2002071943A1 GB 0201150 W GB0201150 W GB 0201150W WO 02071943 A1 WO02071943 A1 WO 02071943A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnetic field
detecting
coil
emitting
operative
Prior art date
Application number
PCT/GB2002/001150
Other languages
English (en)
Inventor
Emanuel Cohen
John Fuller
Original Assignee
Hall Effect Technologies Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hall Effect Technologies Ltd filed Critical Hall Effect Technologies Ltd
Priority to EP02704971A priority Critical patent/EP1372479A1/fr
Publication of WO2002071943A1 publication Critical patent/WO2002071943A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field

Definitions

  • the present invention relates to an apparatus and method for determining the
  • the present invention seeks to address these problems.
  • processing means operative to calculate the relative position of the means for emitting and means for detecting the magnetic field thereby to determine the position of the body.
  • the method and apparatus enable the position of a body to be determined.
  • associating apparatus for introduction into a human or animal body with either a means for
  • the body may comprise a surgical instrument, needle, catheter, prosthesis or the
  • the method and apparatus are for determining the position of the body in three dimensional space.
  • the means for emitting a magnetic field is adapted to be associated with the body and may comprise a permanent magnet, or some material that
  • the means for emitting a magnetic field is preferably incorporated in the body.
  • the means for detecting the magnetic field preferably comprises one or more galvomagnetic devices, for example Hall Effect devices.
  • galvomagnetic devices for example Hall Effect devices.
  • magnetic field is preferably operative to detect magnetic field in a number of different directions, preferably at least two and more preferably three mutually substantially orthogonal directions.
  • the means for detecting the magnetic field is preferably operative to detect magnetic field in a number of different directions, preferably at least two and more preferably three mutually substantially orthogonal directions.
  • each detector for example galvomagnetic devices, each mounted for rotation about an axis, and a drive means is preferably provided for each detector,
  • the axes of all the detectors may be substantially parallel, and may be substantially evenly spaced around the circumference of a circle.
  • the axes of the detectors may not be parallel.
  • the detectors may be movable along their respective axes.
  • Means are preferably provided for determining the direction of
  • each detector this may be achieved by employing drive means operative to orient the
  • the processing means are configured to control the processing means.
  • the processing means is preferably operative to monitor the strength of magnetic field detected by each detector in conjunction with its direction, as it rotates about its axis, thereby to determine the direction of magnetic field detected by the detector.
  • the processing means is preferably
  • location of a magnetic field emitting body can be determined by triangulation.
  • the means for detecting the magnetic field is adapted to be associated with the body and may comprise one or more galvomagnetic devices,
  • the means for detecting the magnetic field is preferably incorporated in the body.
  • the means for emitting a magnetic field is preferably operative to emit a magnetic field in a number of different directions, preferably at least two and more preferably three mutually substantially orthogonal directions.
  • the means for emitting a magnetic field preferably comprises one or more electromagnets. The or each
  • electromagnet preferably comprises a coil having a coil axis, each coil preferably comprises a length of material of high magnetic permeability to concentrate the magnetic
  • the or each coil is preferably mounted for rotation about an axis substantially perpendicular to the coil axis, more preferably about two substantially perpendicular axes each of which is substantially perpendicular to the axis of the coil.
  • a drive means is
  • each coil preferably provided for the or each coil, operative to oscillate it about the axis or axes
  • Means are preferably provided for energising the or each coil and where there is
  • each coil to energise each coil sequentially.
  • Means are preferably provided for determining the direction of each coil, this may be achieved by employing drive means
  • the processing means is preferably operative to monitor the strength of the magnetic field
  • the apparatus preferably includes a display operative
  • the display may comprise a computer monitor.
  • the display is preferably operative to show a two or three dimensional
  • a user can thus easily visualise the location of the body relative to the object, which, as the case may be, may be inside the object.
  • the processing means may comprise a computer.
  • a living body comprising a magnet and/or magnetisable material.
  • the apparatus may comprise a medical or surgical instrument, needle, catheter, prosthesis, or the like.
  • the magnet or magnetisable material may comprise a powdered material, for example a rare earth material.
  • the magnet or magnetisable material may be located at a part of the apparatus the position of which needs to be known, for example
  • apparatus for use in a living body comprising a means for detecting a magnetic field.
  • the apparatus may comprise a surgical instrument, needle, catheter, prosthesis or the like.
  • the means for detecting may comprise one or more galvomagnetic devices, for
  • the means for detecting is preferably located at a part of the apparatus the position of which needs to be known, for example the tip of a catheter.
  • Figure 1 shows a schematic view of an embodiment of apparatus according to the invention
  • Figure 2 shows the arrangement of the Hall devices of the apparatus of Figure 1 during use
  • Figures 3 a each show a cross-section through a catheter according to the
  • Figure 4 shows a schematic view of another embodiment of apparatus according to the invention.
  • FIG. 5 shows a schematic view of another embodiment of apparatus according to the invention.
  • Figure 6 shows another catheter according to the invention.
  • FIG. 7 shows another catheter according to the invention
  • substantially planar Hall effect devices 1 are each mounted for rotation about respective
  • Each Hall effect device 1 is mounted on a drive motor 2 operative to cause it to oscillate about its respective vertical axis. All three Hall effect devices 1 and associated
  • drive motors 2 are mounted on a vertical drive motor 3 operative to move the Hall effect devices in a direction parallel to the three vertical axes.
  • the term vertical is only being
  • Each Hall effect device 1 has an associated current source 4 and a differential amplifier 5 operative to amplify any Hall voltage generated by the Hall Effect device 1 -
  • amplifier 5 is fed via a single multiplexer 6 to an analogue to digital converter 7, the digital output of which is fed via a microcontroller 8 for signal processing and then to a personal computer 9 comprising a display 10.
  • the three Hall effect devices 1 are caused to rotate (which term includes oscillate), about their respective axes by means of the drive motors 2 At the same time the
  • Hall voltage generated across each Hall effect device 1 is monitored When the Hall devices 1 are exposed to a stationary magnetic field their Hall voltages will vary between a
  • microcontroller 8 and personal computer 9 determines the direction of field detected by
  • each Hall effect device 1 and then, knowing the relative positions of the three Hall effect devices 1 , calculates the position of the source of the magnetic field, and thus an object emitting the field, by triangulation.
  • each Hall effect device 1 is under the control of the microcontroller 8 and personal computer 9 and thus known at any given time
  • the source of the magnetic field is not substantially in the plane of the circle around which the Hall effect devices 1 are arranged it is preferable to move the Hall effect devices 1 along their rotational axes so that the source of the magnetic field is so
  • the personal computer 9 is also operative to produce an image on the display 10 indicating the position of a detected object, against a suitable background.
  • a particular use of the apparatus is the determination of the position of medical apparatus used in brain surgery relative to a patient's brain 1 1.
  • the apparatus would need to include means for emitting a magnetic field, such as a permanent magnet.
  • personal computer 8 is caused to display a representation of a person's head and brain
  • the apparatus could equally be used for other applications, including non-medical
  • the brain 1 1 shown in Figure 2 is for illustrative purposes only
  • the end of the catheter 12 is then inserted into an electrical coil 14 through which a direct electrical current is passed to magnetise the powder 13.
  • magnetised powder 13 to be introduced into the material forming the catheter 12 during
  • Figure 3c shows an alternative embodiment of a catheter including an annular magnetisable magnet 15.
  • the apparatus comprises three planar coils 16. Each coil has an axis 17 and a ferrite rod 18 extends through each coil substantially parallel to the axis 17.
  • the three coils 16 are disposed evenly around the circumference of a circle with their axes 17 pointing generally towards the centre of the circle.
  • Each coil 16 is mounted on a drive means (not shown) operative to oscillate the coil 16 by about 60° about each of two substantially perpendicular axis, each axis being substantially perpendicular to the coil axis 17 when in the illustrated
  • Each coil 16 is supplied, in turn, with a direct or pulsed electrical current causing
  • the coil 16 to produce a magnetic field extending generally along the coil axis 17.
  • the apparatus is able to determine the position of a means for detecting a magnetic field disposed in the region surrounded by the coils 16
  • microprocessor preferably a personal computer.
  • the apparatus includes a means for detecting a magnetic field connected to a processor to which the drive means of
  • the coils 16 are also connected.
  • the relative position of the means for detecting magnetic field and the coils can then be determined.
  • the position of the coils 16 is known the position of the means for detecting magnetic field and hence of the medical apparatus can
  • This is conveniently displayed by a computer monitor caused to display a representation of the patient's heart along with a suitable symbol to indicate the position of the medical apparatus in the heart.
  • Figure 5 shows an arrangement similar to that of Figure 4, but with only a single
  • a single coil 16 is sufficient to determine the position of a means for detecting
  • Figures 6 and 7 show catheters 19 comprising a plastics tube having a Hall Effect device or devices 20 incorporated therein.
  • Leads 21 for supplying a drive current and enabling the Hall voltage to be measured extend from the Hall Effect device(s) embedded in the wall of the catheter and out through the outside of the wall of the catheter at a point

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Human Computer Interaction (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)

Abstract

La présente invention concerne un dispositif permettant la détermination de la position d'un corps dans un espace, comprenant un élément servant à produire un champ magnétique (13, 15, 16) et un élément servant à détecter (1, 20) le champ magnétique produit. L'un ou l'autre des éléments de production ou de détection de champ est associé au corps, et un élément de traitement (9) est conçu pour calculer la position relative de l'élément de production de champ et de l'élément de détection de champ, afin de déterminer la position du corps. Le dispositif est en particulier destiné à des applications médicales et peut être utilisé pour détecter la position d'un dispositif médical dans le corps d'un être vivant.
PCT/GB2002/001150 2001-03-14 2002-03-13 Determination de la position d'une sonde chirurgicale WO2002071943A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP02704971A EP1372479A1 (fr) 2001-03-14 2002-03-13 Determination de la position d'une sonde chirurgicale

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB0106354.4A GB0106354D0 (en) 2001-03-14 2001-03-14 Method and apparatus for determining the position of a magnetic field emitting body and magnetic field emitting body
GB0106354.4 2001-03-14

Publications (1)

Publication Number Publication Date
WO2002071943A1 true WO2002071943A1 (fr) 2002-09-19

Family

ID=9910708

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2002/001150 WO2002071943A1 (fr) 2001-03-14 2002-03-13 Determination de la position d'une sonde chirurgicale

Country Status (4)

Country Link
EP (1) EP1372479A1 (fr)
CN (1) CN1525833A (fr)
GB (1) GB0106354D0 (fr)
WO (1) WO2002071943A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1744184A2 (fr) * 2005-07-14 2007-01-17 Biosense Webster, Inc. Transducteur de position sans fil avec communication numérique

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2730306A1 (fr) * 2012-11-08 2014-05-14 Sanofi-Aventis Deutschland GmbH Agencement de magnétisation d'aiguille
JP2017524444A (ja) * 2014-07-10 2017-08-31 ギブン イメージング リミテッドＧｉｖｅｎ Ｉｍａｇｉｎｇ Ｌｔｄ． 生体内デバイスを位置特定するよう構成されるセンサベルト、および位置特定のための方法
US11826522B2 (en) * 2016-06-01 2023-11-28 Becton, Dickinson And Company Medical devices, systems and methods utilizing permanent magnet and magnetizable feature
CN106420056B (zh) * 2016-11-03 2023-11-03 中国人民解放军总医院 器械以及器械的定位与引导装置及其方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997024981A2 (fr) * 1996-01-08 1997-07-17 Biosense Inc. Dispositif cardiaque electro-mecanique
US5711299A (en) * 1996-01-26 1998-01-27 Manwaring; Kim H. Surgical guidance method and system for approaching a target within a body
GB2331807A (en) * 1997-11-15 1999-06-02 Roke Manor Research Catheter tracking system
US6129668A (en) * 1997-05-08 2000-10-10 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997024981A2 (fr) * 1996-01-08 1997-07-17 Biosense Inc. Dispositif cardiaque electro-mecanique
US5711299A (en) * 1996-01-26 1998-01-27 Manwaring; Kim H. Surgical guidance method and system for approaching a target within a body
US6129668A (en) * 1997-05-08 2000-10-10 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device
GB2331807A (en) * 1997-11-15 1999-06-02 Roke Manor Research Catheter tracking system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1744184A2 (fr) * 2005-07-14 2007-01-17 Biosense Webster, Inc. Transducteur de position sans fil avec communication numérique
EP1744184A3 (fr) * 2005-07-14 2009-07-15 Biosense Webster, Inc. Transducteur de position sans fil avec communication numérique
US8730011B2 (en) 2005-07-14 2014-05-20 Biosense Webster, Inc. Wireless position transducer with digital signaling

Also Published As

Publication number Publication date
CN1525833A (zh) 2004-09-01
EP1372479A1 (fr) 2004-01-02
GB0106354D0 (en) 2001-05-02

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