System and method for processing navigational sensor data
AssigneeGeneral Electric Company
InventorBernhard Erich Hermann Claus
Life of this patent
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Abstract
Aspects of the present disclosure relate to approaches for determining position and orientation of a tracked tool in a medical navigational context. In one embodiment, the position of a surgical or interventional tool may be determined using the orientation or field direction data such that the determination is independent of field strength or magnitude. Feedback may be provided to a user based on these determinations. In certain embodiments, the navigational system may be auto-calibrated using position information determined independent of field strength or magnitude.
Claims20
A surgical or interventional navigation system, comprising:
- a transmitter assembly comprising at least a first transmitter coil and a second transmitter coil;
- a sensor assembly comprising one or more sensor components defining a plane;
- and
- an electromagnetic tracking system in communication with both the transmitter assembly and the sensor assembly, wherein the electromagnetic tracking system is configured to:
- acquire a plurality of measurements using the sensor assembly, wherein each measurement corresponds to a projection of a three-dimensional vector onto the plane;
- determine one or both of an orientation and a position of the sensor assembly based on the polar coordinates of the measurements.
A surgical or interventional navigation system, comprising:
- a transmitter assembly comprising at least a first transmitter coil and a second transmitter coil;
- a sensor assembly comprising one or more sensor components defining a plane, wherein the sensor assembly is configured to generate measurements corresponding to position and orientation of the sensor assembly within electromagnetic fields generated by the transmitter assembly;
- and
- an electromagnetic tracking system in communication with both the transmitter assembly and the sensor assembly, wherein the electromagnetic tracking system is configured to:
- drive the first transmitter coil at a first frequency and the second transmitter coil at a second frequency when the sensor assembly is within a one or more of a threshold distance, field strength, or field orientation relative to both the first transmitter coil and the second transmitter coil;
- and
- drive the first transmitter coil in a multiplexed manner at the first frequency and at the second frequency and not drive the second transmitter coil when the sensor assembly is within the threshold distance, field strength, or field orientation relative to the first transmitter coil and outside the threshold distance, field strength, or field orientation relative to the second transmitter coil.
A surgical or interventional navigation system, comprising:
- a display;
- a transmitter assembly comprising at least a first transmitter coil and a second transmitter coil;
- a sensor assembly comprising one or more sensor components defining a plane, wherein the sensor assembly is configured to generate measurements corresponding to position and orientation of the sensor assembly within electromagnetic fields generated by the transmitter assembly;
- and
- an electromagnetic tracking system in communication with the transmitter assembly, the sensor assembly, and the display, wherein the electromagnetic tracking system is configured to provide feedback comprising user instructions via the display, wherein the feedback is based on the position and orientation of the sensor assembly within a navigable volume defined by the transmitter assembly and on the expected noise characteristics at the position and orientation.
A method for operating a medical navigation system, comprising:
- acquiring a measurement using a sensor assembly, wherein sensing elements of the sensor assembly define a planar measurement space and wherein the measurement corresponds to a projection of a three-dimensional vector onto the planar measurement space;
- expressing the measurement in polar coordinates;
- determining one or both of an orientation and a position of the sensor assembly based on the polar coordinates of the measurement;
- and
- adapting operation of the medical navigation system or a procedure being implemented using the medical navigation system based on the position and orientation of the sensor assembly.
Dependencies are inferred from the claim text.