CA2605912A1 - Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging - Google Patents

Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging Download PDF

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Publication number
CA2605912A1
CA2605912A1 CA002605912A CA2605912A CA2605912A1 CA 2605912 A1 CA2605912 A1 CA 2605912A1 CA 002605912 A CA002605912 A CA 002605912A CA 2605912 A CA2605912 A CA 2605912A CA 2605912 A1 CA2605912 A1 CA 2605912A1
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CA
Canada
Prior art keywords
magnetic field
distal end
magnetic
control
system controller
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CA002605912A
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French (fr)
Other versions
CA2605912C (en
Inventor
Yehoshua Shachar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Magnetecs Inc
Original Assignee
Magnetecs, Inc.
Yehoshua Shachar
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 Magnetecs, Inc., Yehoshua Shachar filed Critical Magnetecs, Inc.
Publication of CA2605912A1 publication Critical patent/CA2605912A1/en
Application granted granted Critical
Publication of CA2605912C publication Critical patent/CA2605912C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/06Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00158Holding or positioning arrangements using magnetic field
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/73Manipulators for magnetic surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/77Manipulators with motion or force scaling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/05Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/0507Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  using microwaves or terahertz waves
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/06Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061Determining 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
    • A61B5/062Determining 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00694Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • A61B2017/00703Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2051Electromagnetic tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2063Acoustic tracking systems, e.g. using ultrasound
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/73Manipulators for magnetic surgery
    • A61B2034/731Arrangement of the coils or magnets
    • A61B2034/732Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • A61B2090/376Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25User interfaces for surgical systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M2025/0166Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127Magnetic means; Magnetic markers

Abstract

A variable magnet system for manipulating a magnetic catheter is described for controlling catheter guidance and imaging. The system comprises an apparatus for controlling the movement of a catheter-type tool inside a body of a patient, where it comprises: a magnetic field source for generating a magnetic field, the magnetic field source comprising a first coil corresponding to a first magnetic pole and a second coil corresponding to a second magnetic pole. The first magnetic pole is moveable with respect to said second magnetic pole and a system controller for controlling the magnetic field source to control a movement of a distal end of a catheter, the distal end responsive to the magnetic field, the controller configured to control a current in the first coil, a current in the second coil, and a position of the first pole with respect to the second pole.

Claims (43)

1. ~An apparatus for controlling the movement of a catheter-type tool inside a body of a patient, comprising:

a magnetic field source for generating a magnetic field, said magnetic field source coinprising a first coil corresponding to a first magnetic pole and a second coil corresponding to a second magnetic pole, wherein said first magnetic pole is moveable with respect to said second magnetic pole; and a system controller for controlling said magnetic field source to control a movement of a distal end of a catheter, said distal end responsive to said magnetic field, said controller configured to control a current in said first coil, a current in said second coil, and a position of said first pole with respect to said second pole.
2. ~The apparatus of Claim 1, said system controller comprises a closed-loop feedback servo system.
3. ~The apparatus of Claim 1, said distal end comprising one or more magnetic field sensors.
4. ~The apparatus of Claim 1, said distal end coinprising one or more magnetic field sensors for providing sensor data to said system controller.
5. ~The apparatus of Claim 1, further comprising an operator interface unit.
6. ~The apparatus of Claim 1, wherein said servo system comprises a correction factor that compensates for a dynamic position of an organ, thereby offsetting a response of said distal end to said magnetic field such that said distal end moves in substantial unison with said organ.
7. ~The apparatus of Claim 6, wherein said correction factor is generated from an auxiliary device that provides correction data concerning said dynamic position of said organ, and wherein when said correction data are combined with measurement data derived from said sensory apparatus to offset a response of said servo system so that said distal end moves substantially in unison with said organ.
8. ~The apparatus of Claim 7, wherein said auxiliary device is at least one of an X-ray device, an ultrasound device, and a radar device.
9. ~The apparatus of Claim 1, wherein said system controller includes a Virtual Tip control device to allow user control inputs.
10. ~The apparatus of Claim 1, wherein said first magnetic pole is extended and retracted by a hydraulic piston.
11. ~The apparatus of Claim 1, further comprising:
first controller to control said first coil; and a second controller to control said second coil.
12. ~The apparatus of Claim 11, wherein said first controller receives feedback from a magnetic field sensor.
13. ~The apparatus of Claim 12, wherein said magnetic field sensor comprises a Hall effect sensor.
14. ~The apparatus of Claim 1, wherein said system controller coordinates flow of current through said first and second coils according to inputs from a Virtual tip.
15. ~The apparatus of Claim 14, wherein said Virtual Tip provides tactile feedback to an operator.
16. ~The apparatus of Claim 14, wherein said Virtual Tip provides tactile feedback to an operator according to a position error between an actual position of said distal end and a desired position of said distal end.
17. The apparatus of Claim 14, wherein said system controller causes said distal end to follow movements of said Virtual Tip.
18. The apparatus of Claim 14, further comprising:

a mode switch to allow a user to select a force mode and a torque mode.
19. An apparatus for controlling the movement of a catheter-like tool to be inserted into the body of a patient, comprising:

a controllable magnetic field source having a first cluster of poles and a second cluster of poles;
wherein at least one pole in said first cluster of poles is extendable;
a radar system configured to produce a radar image of organs of said body;
and one or more magnetic sensors to sense a magnetic field.
20. The apparatus of Claim 19, said distal end comprising one or more magnetic field sensors.
21. The apparatus of Claim 19, said distal end comprising one or more magnetic field sensors for providing sensor data to a system controller.
22. The apparatus of Claim 19, further comprising an operator interface unit.
23. The apparatus of Claim 19, wherein said first cluster of poles is coupled to said second cluster of poles by a magnetic material.
24. A method for controlling movement of a tool having a distal end to be inserted in a body, comprising:
calculating a desired direction of movement for said distal end;
computing a magnetic field needed to produce said movement;
controlling a plurality of electric currents and pole positions to produce said magnetic field; and measuring a location of said distal end.
25. The method of Claim 24, further comprising controlling one or more electromagnets to produce said magnetic field.
26. The method of Claim 24, further comprising simulating a magnetic field before creating said magnetic field.
27. An apparatus for controlling the movement of a catheter-like tool having a distal end responsive to a magnetic field and configured to be inserted into the body of patient, comprising:
a magnetic field source for generating a magnetic field outside the body;
a hydraulic system to extend and retract a magnetic core relating to a coil provided to said magnetic core said magnetic field source with respect to the body;
a radar system to measure a location of said distal end;
a sensor system to measure positions of a plurality of fiduciary markers;
a user input device for inputting commands to move said distal end; and a system controller for controlling said magnetic field source in response to inputs from said user input device, said radar system, and said magnetic sensors.
28. The apparatus of Claim 27, said system controller coinprising a closed-loop feedback servo system.
29. The apparatus of Claim 27, said radar system coinprising an impulse radar.
30. The apparatus of Claim 27, said distal end comprising one or more magnets.
31. The apparatus of Claim 27, where said system controller calculates a position error and controls said magnetic field source to move said distal end in a direction to reduce said position error.
32. The apparatus of Claim 27, where said system controller integrates a position data of said distal end with a set of fiduciary markers.
33. The apparatus of Claim 27, where said system controller synchronizes a location of said distal end with a fluoroscopic image.
34. The apparatus of Claim 27, further coinprising an operator interface unit.
35. The apparatus of Claim 1, wherein a correction input is generated by an auxiliary device that provides correction data concerning a dynamic position of an organ, and wherein said correction data are combined with measurement data from said radar system to offset a response of said control system so that said distal end moves substantially in unison with said organ.
36. The apparatus of Claim 35, wlierein said auxiliary device comprises at least one of an X-ray device, an ultrasound device, and a radar device.
37. The apparatus of Claim 27, wherein said user input device comprises a virtual tip control device to allow user control inputs.
38. The apparatus of Claim 27, further comprising a virtual tip with force feedback.
39. The apparatus of Claim 27 wherein a first coil cluster is fitted with shield for flux return.
40. The apparatus of Claim 27, further comprising a boundary condition controller, and where computing the fields in the surroundings of the catheter based on the fields on 2D planes.
41. The apparatus of Claim 27, wherein a button allows the controller to switch from torque control to force control.
42. The apparatus of Claim 27, wherein said system controller is configured to produce coil current polarities and magnitudes are generated to produce desired field directions for torque and force field is established.
43. The apparatus of Claim 27, a low level logic simulation of action is provided.
CA2605912A 2005-05-27 2006-05-25 Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging Expired - Fee Related CA2605912C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/140,475 2005-05-27
US11/140,475 US8027714B2 (en) 2005-05-27 2005-05-27 Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging
PCT/US2006/020895 WO2006128160A2 (en) 2005-05-27 2006-05-25 Apparatus for shaped magnetic field control for catheter, guidance, control, and imaging

Publications (2)

Publication Number Publication Date
CA2605912A1 true CA2605912A1 (en) 2006-11-30
CA2605912C CA2605912C (en) 2012-09-18

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US (2) US8027714B2 (en)
EP (2) EP1895930B1 (en)
AT (1) ATE499896T1 (en)
CA (1) CA2605912C (en)
DE (2) DE602006008001D1 (en)
HK (1) HK1111875A1 (en)
WO (1) WO2006128160A2 (en)

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