CA2450195A1 - Dynamic metal immunity - Google Patents
Dynamic metal immunity Download PDFInfo
- Publication number
- CA2450195A1 CA2450195A1 CA002450195A CA2450195A CA2450195A1 CA 2450195 A1 CA2450195 A1 CA 2450195A1 CA 002450195 A CA002450195 A CA 002450195A CA 2450195 A CA2450195 A CA 2450195A CA 2450195 A1 CA2450195 A1 CA 2450195A1
- Authority
- CA
- Canada
- Prior art keywords
- responsive
- positions
- undistorted
- sensor
- elements
- 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
Links
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
Abstract
Position-sensing apparatus is provided, including a set of radiators, which are adapted to be placed at respective positions in a vicinity of a body of a subject and to generate electromagnetic energy fields. A position sensor, is adapted to generate sensor signals responsive to the energy fields. One or more reference elements, are adapted to be placed at respective positions in a vicinity of the sensor and to generate reference signals responsive to the energy fields. A control unit is adapted to determine, for each of the reference elements, respective undistorted reference parameters, responsive to the known positions of the reference elements. The control unit additionally receives the sensor signals and the reference signals, and calculates a reference element error for each reference element, responsive to an interaction of a metal article with the energy fields, the undistorted reference parameter of the reference element, and the reference signal generated by the reference element. The control unit then calculates a position of the sensor, responsive to the sensor signals and the reference element errors.
Claims (30)
1. Position-sensing apparatus, comprising:
a set of radiators, which are adapted to be placed at respective positions in a vicinity of a body of a subject and to generate electromagnetic energy fields;
a position sensor, which is adapted to placed in the body of the subject and to generate sensor signals responsive to the energy fields;
one or more reference elements, which are adapted to be placed at respective positions in a vicinity of the sensor and to generate reference signals responsive to the energy fields; and a control unit, which is adapted to:
determine, for each of the reference elements, respective undistorted reference parameters, responsive to the positions of the reference elements, receive the sensor signals and the reference signals, calculate a reference element error for each reference element, responsive to an interaction of a metal article with the energy fields, responsive to the undistorted reference parameter of the reference element, and responsive to the reference signal generated by the reference element, and calculate a position of the sensor, responsive to the sensor signals and the reference element errors.
a set of radiators, which are adapted to be placed at respective positions in a vicinity of a body of a subject and to generate electromagnetic energy fields;
a position sensor, which is adapted to placed in the body of the subject and to generate sensor signals responsive to the energy fields;
one or more reference elements, which are adapted to be placed at respective positions in a vicinity of the sensor and to generate reference signals responsive to the energy fields; and a control unit, which is adapted to:
determine, for each of the reference elements, respective undistorted reference parameters, responsive to the positions of the reference elements, receive the sensor signals and the reference signals, calculate a reference element error for each reference element, responsive to an interaction of a metal article with the energy fields, responsive to the undistorted reference parameter of the reference element, and responsive to the reference signal generated by the reference element, and calculate a position of the sensor, responsive to the sensor signals and the reference element errors.
2. Apparatus according to claim 1, wherein at least one of the one or more reference elements is adapted to be placed outside of the body of the subject.
3. Apparatus according to claim 1, wherein at least one of the one or more reference elements is adapted to be placed at a fixed, known position relative to the set of radiators during operation of the apparatus.
4. Apparatus according to claim 1, wherein the control unit is adapted to calculate corrected sensor signals responsive to the reference element errors and responsive to the generated sensor signals, and to calculate the position of the sensor responsive to the corrected sensor signals.
5. Apparatus according to claim 1, wherein the control unit is adapted to designate the reference element error, for at least one of the reference elements, to be responsive to a measured magnetic field value at the at least one of the reference elements, which value is responsive to the interaction of the metal article with the energy fields.
6. Apparatus according to claim 1, wherein the control unit is adapted to calculate the undistorted reference parameter of at least one of the reference elements responsive to a relative position of the at least one of the reference elements with respect to the set of radiators.
7. Apparatus according to claim 6, wherein the control unit is adapted to perform the calculation of the reference parameter substantially independently of the interaction of the metal article wish the energy fields.
8. Apparatus according to claim 6, wherein the control unit is adapted to calculate the undistorted reference parameter of the at least one of the reference elements responsive to a calculation of a magnetic field value at the at least one of the reference elements, which value is responsive to the relative position of the at least one of the reference elements with respect to the set of radiators.
9. Apparatus according to claim 1, wherein the control unit is adapted to determine the undistorted reference parameter of at least one of the reference elements responsive to a measurement that is responsive to a relative position of the at least one of the reference elements with respect to the set of radiators.
10. Apparatus according to claim 9, wherein the control unit is adapted to determine the undistorted reference parameter of the at least one of the reference elements substantially independently of the interaction of the metal article with the energy fields.
11. Apparatus according to claim 9, wherein the control unit is adapted to determine the undistorted reference parameter of the at least one of the reference elements responsive to a measurement of a magnetic field value at the at least one of the reference elements.
12. Apparatus according to claim 1, wherein, for at least one of the one or more reference elements, the control unit is adapted to substantially equate the undistorted reference parameter with the position of the reference element.
13. Apparatus according to claim 12, wherein the control unit is adapted to designate the reference element error, for the at least one of the one or more reference elements, to be an apparent spatial offset of the reference element responsive to the interaction of the metal article with the energy fields.
14. Apparatus according to claim 1, wherein the one or more reference elements comprise at least three reference elements, adapted to be placed at three non-collinear positions in a vicinity of the sensor.
15. Apparatus according to claim 14, wherein the at least three reference elements comprise at least four reference elements, adapted to be placed at four non-coplanar positions in a vicinity of the sensor.
16. A method for sensing a position of a sensor placed within a body of a subject, comprising:
determining, for reference positions in a vicinity of the sensor, respective undistorted reference parameters;
generating electromagnetic energy fields at field-generating positions in a vicinity of the body of the subject;
generating reference signals at the reference positions, responsive to the energy fields and responsive to an interaction of a metal article with the energy fields;
calculating a reference error corresponding to each reference position, responsive to the undistorted reference parameter of the reference position and responsive to the reference signal generated at the reference position;
generating sensor signals from the sensor, responsive to the energy fields and responsive to the interaction of the metal article with the energy fields; and calculating a position of the sensor, responsive to the sensor signals and the reference errors.
determining, for reference positions in a vicinity of the sensor, respective undistorted reference parameters;
generating electromagnetic energy fields at field-generating positions in a vicinity of the body of the subject;
generating reference signals at the reference positions, responsive to the energy fields and responsive to an interaction of a metal article with the energy fields;
calculating a reference error corresponding to each reference position, responsive to the undistorted reference parameter of the reference position and responsive to the reference signal generated at the reference position;
generating sensor signals from the sensor, responsive to the energy fields and responsive to the interaction of the metal article with the energy fields; and calculating a position of the sensor, responsive to the sensor signals and the reference errors.
17. A method according to claim 16, wherein generating the reference signals comprises generating the reference signals at reference positions outside of the body of the subject.
18. A method according to claim 16, wherein generating the reference signals comprises generating the reference signals at fixed, known positions relative to the field-generating positions.
19. A method according to claim 16, comprising calculating corrected sensor signals responsive to the reference errors and responsive to the generated sensor signals, wherein calculating the position of the sensor comprises calculating the position responsive to the corrected sensor signals.
20. A method according to claim 16, wherein calculating the reference error comprises:
measuring a magnetic field value at at least one of the reference positions, responsive to the interaction of the metal article with the energy fields; and designating the reference error corresponding to the at least one of the reference positions to be responsive to the measured magnetic field value.
measuring a magnetic field value at at least one of the reference positions, responsive to the interaction of the metal article with the energy fields; and designating the reference error corresponding to the at least one of the reference positions to be responsive to the measured magnetic field value.
21. A method according to claim 16, wherein determining the undistorted reference parameters comprises calculating the undistorted reference parameter for at least one of the reference positions responsive to a relative position of the at least one of the reference positions with respect to the field-generating positions.
22. A method according to claim 21, wherein calculating the undistorted reference parameter comprises calculating the undistorted reference parameter substantially independently of the interaction of the metal article with the energy fields.
23. A method according to claim 21, wherein calculating the undistorted reference parameter for the at least one of the reference positions comprises calculating a magnetic field value at the at least one of the reference positions, responsive to the relative position of the at least one of the reference positions with respect to the field-generating positions.
24. A method according to claim 16, wherein determining the undistorted reference parameter for at least one of the reference positions comprises measuring a value that is responsive to a relative position of the at least one of the reference positions with respect to the field-generating positions.
25. A method according to claim 24, wherein measuring the value comprises measuring the value substantially independently of the interaction of the metal article with the energy fields.
26. A method according to claim 24, wherein measuring the value comprises measuring a magnetic field value at the at least one of the reference positions.
27. A method according to claim 16, wherein determining the undistorted reference parameter for at least one of the reference positions comprises substantially equating the undistorted reference parameter with the reference position.
28. A method according to claim 27, wherein calculating the reference error comprises designating the reference error, for the at least one of the reference positions, to be an apparent spatial offset of the reference position responsive to the interaction of the metal article with the energy fields.
29. A method according to claim 16, wherein generating the reference signals comprises generating the reference signals at at least three non-collinear reference positions.
30. A method according to claim 29, wherein generating the reference signals comprises generating the reference signals at at least four non-coplanar reference positions.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/302,112 | 2002-11-22 | ||
US10/302,112 US7945309B2 (en) | 2002-11-22 | 2002-11-22 | Dynamic metal immunity |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2450195A1 true CA2450195A1 (en) | 2004-05-22 |
CA2450195C CA2450195C (en) | 2012-02-07 |
Family
ID=32229912
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA2450195A Expired - Fee Related CA2450195C (en) | 2002-11-22 | 2003-11-19 | Dynamic metal immunity |
Country Status (14)
Country | Link |
---|---|
US (1) | US7945309B2 (en) |
EP (1) | EP1421900B1 (en) |
JP (1) | JP4717341B2 (en) |
KR (1) | KR20040045363A (en) |
AT (1) | ATE341995T1 (en) |
AU (1) | AU2003262437B2 (en) |
CA (1) | CA2450195C (en) |
CY (1) | CY1106241T1 (en) |
DE (1) | DE60308979T2 (en) |
DK (1) | DK1421900T3 (en) |
ES (1) | ES2272904T3 (en) |
IL (1) | IL158943A (en) |
PT (1) | PT1421900E (en) |
SI (1) | SI1421900T1 (en) |
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-
2002
- 2002-11-22 US US10/302,112 patent/US7945309B2/en active Active
-
2003
- 2003-11-18 IL IL158943A patent/IL158943A/en active IP Right Grant
- 2003-11-19 CA CA2450195A patent/CA2450195C/en not_active Expired - Fee Related
- 2003-11-20 AU AU2003262437A patent/AU2003262437B2/en not_active Ceased
- 2003-11-21 AT AT03257360T patent/ATE341995T1/en not_active IP Right Cessation
- 2003-11-21 ES ES03257360T patent/ES2272904T3/en not_active Expired - Lifetime
- 2003-11-21 EP EP03257360A patent/EP1421900B1/en not_active Expired - Lifetime
- 2003-11-21 JP JP2003392632A patent/JP4717341B2/en not_active Expired - Lifetime
- 2003-11-21 DK DK03257360T patent/DK1421900T3/en active
- 2003-11-21 PT PT03257360T patent/PT1421900E/en unknown
- 2003-11-21 DE DE60308979T patent/DE60308979T2/en not_active Expired - Lifetime
- 2003-11-21 SI SI200330616T patent/SI1421900T1/en unknown
- 2003-11-22 KR KR1020030083317A patent/KR20040045363A/en not_active Application Discontinuation
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2006
- 2006-11-14 CY CY20061101652T patent/CY1106241T1/en unknown
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AU2003262437A1 (en) | 2004-06-10 |
JP4717341B2 (en) | 2011-07-06 |
IL158943A0 (en) | 2004-05-12 |
DK1421900T3 (en) | 2007-02-19 |
SI1421900T1 (en) | 2007-04-30 |
CA2450195C (en) | 2012-02-07 |
DE60308979D1 (en) | 2006-11-23 |
JP2004174244A (en) | 2004-06-24 |
ES2272904T3 (en) | 2007-05-01 |
US7945309B2 (en) | 2011-05-17 |
KR20040045363A (en) | 2004-06-01 |
US20040102696A1 (en) | 2004-05-27 |
IL158943A (en) | 2010-04-29 |
ATE341995T1 (en) | 2006-11-15 |
EP1421900A1 (en) | 2004-05-26 |
CY1106241T1 (en) | 2011-06-08 |
AU2003262437B2 (en) | 2008-12-11 |
EP1421900B1 (en) | 2006-10-11 |
DE60308979T2 (en) | 2007-04-12 |
PT1421900E (en) | 2006-12-29 |
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