최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0502066 (2009-07-13) |
등록번호 | US-RE43750 (2012-10-16) |
발명자 / 주소 |
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출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 | 피인용 횟수 : 2 인용 특허 : 367 |
A system for navigating a catheter probe through a body cavity includes a sensing coil affixed to a distal end of the probe. Magnetic fields are projected into the body cavity to induce voltage signals in the sensing coil that are sufficient to describe the orientation and position of the probe. A s
A system for navigating a catheter probe through a body cavity includes a sensing coil affixed to a distal end of the probe. Magnetic fields are projected into the body cavity to induce voltage signals in the sensing coil that are sufficient to describe the orientation and position of the probe. A set of magnetic coils each generates a substantially uniform field in a single respective dimension. The orientation angles of the sensing coil may be determined from known values of the unidirectional fields and the measured induced voltage signals. Gradient magnetic fields with components in two dimensions are projected into the body cavity to induce another group of voltage signals. The geometrical intersection of constant voltage surfaces developed by certain gradient fields that produce the measured induced voltage signals is a set of lines on which the catheter is located. The point of intersection of such lines yields the positional coordinates.
1. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of: inducing within said sensing coil a set of orientation si
1. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of: inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil;determining the orientation of said sensing coil using said induced orientation signal values;inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil; anddetermining the position of said sensing coil using said positional signal values and said determined orientation. 2. The method as recited in claim 1, wherein the step of inducing said set of orientation signal values comprises the steps of: generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by a principal magnetic component in one axial dimension and relatively smaller magnetic components in two other axial dimensions. 3. The method as recited in claim 1, wherein the step of inducing said set of positional signal values comprises the steps of: generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by two principal gradient magnetic components in respective axial dimensions and a relatively smaller magnetic components in a third axial dimension. 4. The method as recited in claim 3, wherein said generating step further includes the steps of: generating said fields to provide a plurality of constant signal surfaces for the sensing coil such that an intersection between two such surfaces with components in the same axial dimensions produces a line along which said sensing coil is located;wherein said two such surfaces are identified from among said plurality of constant signal surfaces by their ability to induce one of said positional signal values. 5. The method as recited in claim 4, further comprises the steps of: weighting each line in accordance with a signal strength of said corresponding constant signal surface; anddetermining an intersection of said weighted lines. 6. The method as recited in claim 5, wherein six constant signal surfaces are generated to produce three intersection lines. 7. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: first transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of an orientation of said sensing coil and independent of the position of said sensing coil;second transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of the position of said sensing coil; andanalysis means, coupled to said first transmit means and said second transmit means, for determining the position and orientation of said sensing coil from said induced signal values. 8. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil;analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil;second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; andanalysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals. 9. The system as recited in claim 8, wherein the first signal-inducing means comprises: field generation means for successively generating magnetic field patterns projected into said navigational domain, each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions. 10. The system as recited in claim 9, wherein said field generation means comprises a set of magnetic coils. 11. The system as recited in claim 10, wherein said magnetic coils are disposed in a planar top of an examination deck upon which a patient is disposed during a surgical procedure. 12. The system as recited in claim 10, wherein said magnetic coils are disposed in a planar top and in rail members edge supported by said planar top for an examination deck upon which a patient is disposed during a surgical procedure. 13. The system as recited in claim 8, wherein the second signal-inducing means comprises: field generation means for successively generating magnetic field patterns each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction. 14. The system as recited in claim 13, wherein the field generation means comprises a magnetic coil assembly. 15. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of: defining the location of said sensing coil with a set of independent location parameters; andsequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters. 16. The method as recited in claim 15, wherein said sequence of magnetic fields comprises: a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; anda series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction. 17. The method as recited in claim 16, wherein said signal expression groups include: an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; anda position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil. 18. The method as recited in claim 17, wherein the step of sequentially solving said individual signal expression groups includes the steps of: initially solving the induced signal expressions of said orientation group; andnext solving the induced signal expressions of said position group. 19. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: means for defining the location of said sensing coil with a set of independent location parameters; andfield generation means for sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters. 20. The system as recited in claim 19, wherein said sequence of magnetic fields comprises: a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; anda series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction. 21. The system as recited in claim 20, wherein said signal expression groups include: an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; anda position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil. 22. The system as recited in claim 21, wherein said field generation means comprises: analysis means for solving the induced signal expressions of said orientation group; andanalysis means for solving the induced signal expressions of said position group. 23. A method of determining a location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe inserted into a body cavity within a navigational domain, comprising the steps of: inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil;determining the orientation of said sensing coil using said induced orientation signal values;inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil; anddetermining the position of said sensing coil using said positional signal values and said determined orientation. 24. The method as recited in claim 23, wherein the step of inducing said set of orientation signal values comprises the steps of: generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by a principal magnetic component in one axial dimension and relatively smaller magnetic components in two other axial dimensions;wherein the step of inducing said set of positional signal values comprises the steps of:generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by two principal gradient magnetic components in respective axial dimensions and a relatively smaller magnetic components in a third axial dimension. 25. The method of claim 23, further comprising: generating a field within the navigational domain within the body cavity with a delta coil. 26. The method of claim 25 further comprising: providing the delta coil as a set of delta coils including a long coil and a short coil;modifying a termination point of the long coil with a compensation coil so that the long coil effectively operates as an infinitely long coil; andmodifying the termination point of the short coil with a compensation coil so that the short coil effectively operates as an infinitely long coil. 27. The method of claim 26, further comprising: modifying two terminal ends of the long coil and the short coil with the compensation coils. 28. The method of claim 26, further comprising: compensating the long coil with a central sucker coil positioned near a center of the long coil. 29. The method of claim 28, wherein providing the set of delta coils includes providing a plurality of delta coil sets positioned angularly offset from each other around a central axis. 30. The method of claim 28, wherein providing the set of delta coils includes positioning three delta coil sets offset 120 degrees from one another around a central axis. 31. The method of claim 30 further comprising: generating a look-up table that includes a database containing magnetic field values for a selected X coordinate, Y coordinate, and Z coordinate in the navigational domain and one of the delta coil sets. 32. The method of claim 31, further comprising: obtaining a magnetic field value for the other of the two delta coil sets by rotating field vectors of the long and short coil sets by the angle of offset from the delta coil set saved in the look-up table database.
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