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US 2019/0290368 A1Published application
Localizing a device relative to an instrument
AssigneeThe Cleveland Clinic Foundation
InventorsKarl West, Jeffrey H. Yanof
Life of this patent
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Abstract
This disclosure relates generally to systems and methods for localizing a device relative to an instrument. A sensor of the instrument can be monitored for a change in signaling during a first transition of the device relative to the instrument. The sensor can further be monitored for another change in signaling provided by the sensor of the instrument in response to a second transition of the device relative to the instrument. A transition distance difference can be determined between the first transition and the second transition. A location of the device relative to the instrument can be determined based on a location of the instrument and the transition difference distance.
Claims32
A system comprising:
- an elongated instrument including at least one sensor at a distal end thereof and an electrical connection extending from the sensor to a proximal end of the instrument to communicate a sensor signal in response to the sensor detecting an electromagnetic field;
- and
- an elongated sheath having a lumen extending longitudinally through spaced apart distal and proximal ends thereof, the lumen dimensioned to permit axial movement of the instrument relative to the sheath within the lumen, the sheath including at least one marker band proximal the distal end of the sheath that circumscribes the sheath, the at least one marker band adapted to interfere with the detection of the electromagnetic field by the at least one sensor depending on an extent of axial alignment between the marker band and the sensor, wherein the marker band comprises a cylindrical body of a magnetic or magnetic shielding material to interfere with the detection.
A system comprising:
- a guidewire including at least one sensor at a distal end thereof and an electrical connection extending from the sensor to communicate a sensor signal in response to the sensor detecting an electromagnetic field;
- an elongated sheath having a lumen extending longitudinally through spaced apart distal and proximal ends thereof, the lumen dimensioned to permit axial movement of the instrument relative to the sheath within the lumen, the sheath including at least one marker band proximal the distal end of the sheath that circumscribes the sheath, the at least one marker band adapted to interfere with the detection of the electromagnetic field by the at least one sensor depending on an extent of axial alignment between the marker band and the sensor, wherein the marker band comprises a cylindrical body of a magnetic shielding material or a magnetic material to interfere with the detection;
- a tracking system configured to generate the electromagnetic field, the tracking system provides tracking data that represents the location of the sensor in a tracking coordinate system based on the sensor signal, the tracking data also specifying transitions in the sensor signal resulting from the influence of the marker band on the sensor signal;
- a location calculator that determines a location of the sheath within the tracking coordinate system based on the tracking data;
- and
- an output generator to generate a graphical visualization representing the location of the guidewire and the location of the sheath with respect to a graphical representation of an anatomical structure.
3 more elements
A method comprising:
- sensing signaling by a sensor that is induced in response to an interrogation field, the sensor fixed to an elongated instrument that is positionable within a patient's body;
- detecting at least one transition in the sensed signaling provided by the sensor of during positioning of a distal end of a sheath relative to the instrument to influence detection of the interrogation field by the sensor;
- determining a location of the sensor within a three-dimensional coordinate system based on the sensed signaling;
- and
- determining a location of the sheath within the coordinate system based on the detected at least one transition in the sensed signaling and the determined location of the sensor.
2 more elements
A method comprising:
- monitoring for a change in signaling provided by a sensor of an instrument during a transition of a device relative to the instrument corresponding to a first transition;
- monitoring for another change in signaling provided by the sensor of the instrument in response to another transition of the device relative to the instrument corresponding to a second transition;
- determining a transition distance difference between the first transition and the second transition;
- and
- determining a location of the device based on a determined location of the instrument and the determined transition distance difference.
2 more elements
Dependencies are inferred from the claim text.