# US 11,298,207 B2 · Medical instrument identification > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,298,207 B2 - Document ID: US11298207B2 - Status: Granted - Kind: B2 - Application number: 16/375,485 - Filed: 2019-04-04 - Published: 2020-10-08 - Granted: 2022-04-12 - Earliest claimed: 2019-04-04 - Assignees: Biosense Webster (Israel) Ltd. - Applicants: Biosense Webster (Israel) Ltd. - Inventors: Vadim Gliner; Assaf Govari - Web page: https://patentgrep.com/patent/US11298207B2 ## CPC - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 17/24: for use in the oral cavity, larynx, bronchial passages or nose (for medical inspection of cavities or tubes in the body A61B1/00); Tongue scrapers - A61B 17/320016: {Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes (A61B10/0233, A61B17/29, A61B17/3207 take precedence)} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 34/30: Surgical robots - A61B 2017/0046: {with a releasable handle; with handle and operating part separable} - A61B 2017/00464: {for use with different instruments} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2072: {Reference field transducer attached to an instrument or patient} - A61B 2090/0806: {Instrument detectors with a removable part, e.g. working tip} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract In one embodiment, a medical instrument tracking system includes a medical instrument including a handle and different interchangeable heads for insertion into the handle having a handle position-tracking transducer disposed thereon, different respective ones of the interchangeable heads having differently positioned respective head position-tracking transducers disposed thereon so as when the different respective ones of the heads are inserted into the handle, the different respective head position-tracking transducers define different respective positions relative to the handle position-tracking transducer, and processing circuitry to receive signals generated by the handle position-tracking transducer and the respective head position-tracking transducer of a respective one of the heads inserted into the handle, compute a relative position between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head, and identify which interchangeable head is inserted into the handle responsively to the computed relative position. ## Claims ### Claim 1 A medical instrument tracking system, comprising: a medical instrument including a handle and different rigid interchangeable heads, each rigid interchangeable head having a shaft with a proximal end and a distal end, each proximal end of each shaft being configured for individual insertion into a distal end of the handle, the handle having a handle position-tracking transducer disposed thereon, each distal end of each shaft having a head position-tracking sensor such that different respective ones of the interchangeable heads have differently positioned respective head position-tracking transducers disposed on the respective shafts so as when the proximal ends of the different respective ones of the interchangeable heads are inserted into the distal end of the handle, the different respective head position-tracking transducers define different respective positions relative to the handle position-tracking transducer; and processing circuitry configured to: receive signals generated by the handle position-tracking transducer and the respective head position-tracking transducer of a respective one of the interchangeable heads inserted into the handle; compute a relative position between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head responsively to the received signals; and identify which one of the interchangeable heads is inserted into the handle responsively to the computed relative position. ### Claim 2 (depends on 1) The system according to claim 1, wherein the interchangeable heads are different from each other with respect to at least any one or more of the following: a head shape; or a head size. ### Claim 3 (depends on 1) The system according to claim 1, wherein the processing circuitry is configured to detect whether the inserted interchangeable head is inserted correctly into the handle responsively to the computed relative position. ### Claim 4 (depends on 1) The system according to claim 1, wherein the computed relative position includes a computed distance between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head, the processing circuitry being configured to identify which one of the interchangeable heads is inserted into the handle responsively to at least the computed distance. ### Claim 5 (depends on 4) The system according to claim 4, wherein the handle includes multiple rotational positions in which to insert the different rigid interchangeable heads, the computed relative position includes a computed orientation of the head position-tracking transducer of the inserted interchangeable head relative to the handle position-tracking transducer, the processing circuitry being configured to identify which one of the interchangeable heads is inserted into the handle responsively to the computed distance and the computed orientation. ### Claim 6 (depends on 4) The system according to claim 4, wherein the handle includes multiple rotational positions to which to rotate the different rigid interchangeable heads, the computed relative position including a computed orientation of the head position-tracking transducer of the inserted interchangeable head relative to the handle position-tracking transducer, the processing circuitry being configured to identify which one of the interchangeable heads is inserted into the handle responsively to the computed distance and the computed orientation. ### Claim 7 (depends on 1) The system according to claim 1, wherein each of the interchangeable heads includes at least one cutting element. ### Claim 8 (depends on 1) The system according to claim 1, wherein the medical instrument is configured for inserting into a body part of a living subject, the system further comprising a location pad having at least one magnetic field radiator configured to transmit alternating magnetic fields into a region where the body-part is located, the head position-tracking transducer of each of the interchangeable heads including at least one coil configured to detect at least part of the transmitted alternating magnetic fields. ### Claim 9 (depends on 8) The system according to claim 8, wherein the head position-tracking transducer of each of the interchangeable heads is a dual axis transducer printed on a circuit board. ### Claim 10 (depends on 1) The system according to claim 1, wherein the medical instrument is configured for inserting into a body part of a living subject, the system further comprising a display, the processing circuitry being configured to: track a location of the inserted interchangeable head responsively to at least some of the received signals; and render to the display an image including a representation of at least part of the body part and a representation of at least part of the inserted interchangeable head of the medical instrument in the body part responsively to the tracked location and a shape and size of the identified inserted interchangeable head. ### Claim 11 A medical instrument tracking system, comprising: a medical instrument including a handle and different rigid interchangeable heads for individual insertion into the handle, the handle having a handle position-tracking transducer disposed thereon, different respective ones of the interchangeable heads having differently positioned respective head position-tracking transducers disposed thereon so as when proximal ends of the different respective ones of the interchangeable heads are inserted into a distal end of the handle, the different respective head position-tracking transducers define different respective distal positions relative to the handle position-tracking transducer; and processing circuitry configured to: receive signals generated by the handle position-tracking transducer and the respective head position-tracking transducer of a respective one of the interchangeable heads inserted into the handle; compute a relative position between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head responsively to the received signals; receive a user identification of the inserted interchangeable head via a user input device; and associate the user identification of the inserted interchangeable head with the computed relative position so as to allow future identification of the inserted interchangeable head being reinserted into the handle responsively to a new computed relative position being within a given tolerance of the computed relative position. ### Claim 12 (depends on 11) The system according to claim 11, wherein the computed relative position includes a computed distance between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head, the processing circuitry being configured to associate the user identification of the inserted interchangeable head with the computed distance so as to allow future identification of the inserted interchangeable head being reinserted into the handle responsively to at least a new computed distance being within a given tolerance of the computed distance. ### Claim 13 (depends on 12) The system according to claim 12, wherein the handle includes multiple rotational positions in which to insert the different rigid interchangeable heads, the computed relative position includes a computed orientation of the head position-tracking transducer of the inserted interchangeable head relative to the handle position-tracking transducer, the processing circuitry being configured to associate the user identification of the inserted interchangeable head with the computed distance and the computed orientation so as to allow future identification of the inserted interchangeable head being reinserted into the handle responsively to a new computed distance and a new computed orientation being within at least one given tolerance of the computed distance and the computed orientation, respectively. ### Claim 14 (depends on 12) The system according to claim 12, wherein the handle includes multiple rotational positions to which to rotate the different rigid interchangeable heads, the computed relative position including a computed orientation of the head position-tracking transducer of the inserted interchangeable head relative to the handle position-tracking transducer, the processing circuitry being configured to associate the user identification of the inserted interchangeable head with the computed distance and the computed orientation so as to allow future identification of the inserted interchangeable head being reinserted into the handle responsively to a new computed distance and a new computed orientation being within at least one given tolerance of the computed distance and the computed orientation, respectively. ### Claim 15 A method for medical treatment using a medical instrument including a handle and different rigid interchangeable heads for individual insertion into the handle, the handle having a handle position-tracking transducer disposed thereon, different respective ones of the interchangeable heads having differently positioned respective head position-tracking transducers disposed thereon so as when the different respective ones of the interchangeable heads are inserted into the handle, the different respective head position-tracking transducers define different respective positions relative to the handle position-tracking transducer, wherein the medical instrument is configured for inserting into a body part of a living subject, the method comprising: receiving signals generated by the handle position-tracking transducer and the respective head position-tracking transducer of a respective one of the interchangeable heads inserted into the handle; computing a relative position between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head responsively to the received signals; identifying which one of the interchangeable heads is inserted into the handle responsively to the computed relative position; transmitting alternating magnetic fields into a region where the body-part is located, the head position-tracking transducer of each of the interchangeable heads includes at least one coil; and detecting at least part of the transmitted alternating magnetic fields by the at least one coil. ### Claim 16 (depends on 15) The method according to claim 15, wherein the interchangeable heads are different from each other with respect to at least any one or more of the following: a head shape; or a head size. ### Claim 17 (depends on 15) The method according to claim 15, further comprising detecting whether the inserted interchangeable head is inserted correctly into the handle responsively to the computed relative position. ### Claim 18 (depends on 15) The method according to claim 15, wherein the computed relative position includes a computed distance between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head, wherein the identifying includes identifying which one of the interchangeable heads is inserted into the handle responsively to at least the computed distance. ### Claim 19 (depends on 18) The method according to claim 18, wherein the handle includes multiple rotational positions in which to insert the different rigid interchangeable heads, the computed relative position includes a computed orientation of the head position-tracking transducer of the inserted interchangeable head relative to the handle position-tracking transducer, the identifying including identifying which one of the interchangeable heads is inserted into the handle responsively to the computed distance and the computed orientation. ### Claim 20 (depends on 18) The method according to claim 18, wherein the handle includes multiple rotational positions to which to rotate the different rigid interchangeable heads, the computed relative position including a computed orientation of the head position-tracking transducer of the inserted interchangeable head relative to the handle position-tracking transducer, the identifying including identifying which one of the interchangeable heads is inserted into the handle responsively to the computed distance and the computed orientation. ### Claim 21 (depends on 15) The method according to claim 15, wherein each of the interchangeable heads includes at least one cutting element. ### Claim 22 (depends on 15) The method according to claim 15, wherein the head position-tracking transducer of each of the interchangeable heads is a dual axis transducer printed on a circuit board. ### Claim 23 (depends on 15) The method according to claim 15, wherein the medical instrument is configured for inserting into a body part of a living subject, the method further comprising: tracking a location of the inserted interchangeable head responsively to at least some of the received signals; and rendering to a display an image including a representation of at least part of the body part and a representation of at least part of the inserted interchangeable head of the medical instrument in the body part responsively to the tracked location and a shape and size of the identified inserted interchangeable head.