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US 10,898,105 B2Granted
Magnetometer surgical device
AssigneeTemple University of the Commonwealth System of Higher Education
InventorsSamuel Alex Weprin, John Noel, Daniel D. Eun
Life of this patent
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Abstract
A magnetometer-based metal detection device and methods of use are described. The device includes a proximal portion, a central body and a distal portion, and at least one magnetometer positioned within or on the distal portion. The at least one magnetometer includes at least one sensor capable of sensing a magnetic field in three orthogonal axes. Also described is a method of calibrating the device to achieve rotational invariance, and a method of determining a directionality or directional line along which a target metal object lies.
Claims17
A magnetometer-based medical metal detection device comprising:
- a proximal portion, a rigid central body and a flexible and adjustable distal portion;
- at least two magnetometers positioned in or on the distal portion, wherein a first magnetometer and second magnetometer of the at least two magnetometers are single-axis magnetometers, wherein each of the at least two magnetometers includes at least one magnetic field sensor, and wherein the rigid central body comprises a tube having a circular outer cross-section, a diameter between 2 and 20 mm, and a length between 1 and 60 cm;
- a processor configured to:
- receive magnetic field data from the first magnetometer and the second magnetometer;
- filter the magnetic field data to remove background noise from the magnetic field data, wherein the background noise includes earth's magnetic field data over time;
- calculate a moving average of the filtered magnetic field data from the first magnetometer and the second magnetometer;
- compare the moving average of the filtered magnetic field data to a threshold value;
- determine when the moving average of the filtered magnetic field data is greater than a threshold value;
- and
- calculate a trajectory of a non-magnetized metal object in a body of a subject based on measurements by the first magnetometer and the second magnetometer of distortions to a magnetic field relative to the detection device in the body of the subject;
- wherein the non-magnetized metal object comprises a surgical object;
- and
- an indicator, wherein the processor is configured to turn on the indicator when the moving average of the filtered magnetic field data from the first magnetometer and the second magnetometer is greater than the threshold value, and indicate proximity of the non-magnetized metal object relative to the detection device when the indicator is turned on.
10 more elements
A magnetometer-based medical metal detection device comprising:
- a proximal portion comprising a grasping handle;
- a rigid central body comprising a hollow tube having a lumen, wherein the hollow tube is from 10 cm to 60 cm long and 2 mm to 20 mm in diameter;
- a flexible and adjustable distal portion comprising an accelerometer and two magnetometers;
- wherein a first and second of the at least two magnetometers are single-axis magnetometers;
- a processor configured to:
- receive magnetic field data from the first magnetometer and the second magnetometer;
- filter the magnetic field data to remove background noise from the magnetic field data, wherein the background noise includes earth's magnetic field data over time;
- calculate a moving average of the filtered magnetic field data from the first magnetometer and the second magnetometer;
- compare the moving average of the filtered magnetic field data to a threshold value;
- determine when the moving average of the filtered magnetic field data is greater than a threshold value;
- and
- calculate a location of a non-magnetized metal object relative to the detection device, wherein the non-magnetized metal object comprises a surgical object in a body of a subject;
- an indicator light, wherein the processor is configured to turn on the indicator when the moving average of the filtered magnetic field data from the first magnetometer and the second magnetometer is greater than the threshold value, and indicate the location of the non-magnetized metal object relative to the detection device when the indicator is turned on;
- and
- a control actuator extending through the lumen, wherein the control actuator comprises a cable and wires extending through the lumen from the proximal portion to the distal portion;
- wherein when the cable is in a first position, the distal portion is in line with a central axis of the rigid central body, and when the cable is in a second position, the distal portion flexibly curves so the distal portion is out of line with the central axis of the rigid central body, and wherein the proximal portion comprises a first mechanical modulator for manipulating a position of the distal portion via the cable.
13 more elements
A magnetometer-based medical metal detection device comprising:
- a proximal portion, a rigid central body and a flexible and adjustable distal portion;
- at least two magnetometers positioned in or on the distal portion, wherein a first magnetometer and second magnetometer of the at least two magnetometers are multi-axis magnetometers, wherein each of the at least two magnetometers includes at least one magnetic field sensor, and wherein the rigid central body comprises a tube having a circular outer cross-section, a diameter between 2 and 20 mm, and a length between 1 and 60 cm;
- a processor configured to:
- receive magnetic field data from the first magnetometer and the second magnetometer;
- filter the magnetic field data to remove background noise from the magnetic field data, wherein the background noise includes earth's magnetic field data over time;
- calculate a moving average of the filtered magnetic field data from the first magnetometer and the second magnetometer;
- compare the moving average of the filtered magnetic field data to a threshold value;
- determine when the moving average of the filtered magnetic field data is greater than a threshold value;
- and
- calculate a trajectory of a non-magnetized metal object in a body of a subject based on measurements by the first magnetometer and the second magnetometer of distortions to a magnetic field relative to the detection device in the body of the subject;
- wherein the non-magnetized metal object comprises a surgical object;
- and
- an indicator, wherein the processor is configured to turn on the indicator when the moving average of the filtered magnetic field data from the first magnetometer and the second magnetometer is greater than the threshold value, and indicate a directional line along which the non-magnetized metal object lies when the indicator is turned on.
10 more elements
Dependencies are inferred from the claim text.