Location and orientation estimation of devices incorporating permanent magnets
AssigneeCloudNav Inc.
InventorsErik E. Anderson, Jon D. Maiara
Life of this patent
Estimating the term…
Abstract
Methods, systems and devices for estimating the position and orientation of an invasive surgical devices, for example, a catheter guidewire or endoscope, surgical catheter, or self-guided electrophysiology catheter, relative to a reference frame, are described. An example system comprises one or more permanent magnets mounted on the surgical device, a plurality of magnetometer sensors at fixed location providing a reference frame that are configured to perform magnetic field measurements of the direct current superposition field of the permanent magnets, and computational means for receiving the input signals and calculating the position and orientation of the permanent magnets mounted on the surgical device.
Claims25
A system for estimating a location or an orientation of an invasive medical device, comprising:
- one or more permanent magnets incorporated into the invasive medical device;
- a plurality of magnetic field sensors arranged in a specific topology separate from the invasive medical device, the plurality of magnetic field sensors configured to obtain a plurality of magnetic field measurements of the one or more permanent magnets of the invasive medical device;
- and
- one or more processors, coupled to the plurality of magnetic field sensors, configured to:
- receive the plurality of magnetic field measurements;
- and
- enable a calculation of the location or the orientation of the one or more permanent magnets based on the plurality of magnetic field measurements.
A method for obtaining a location or an orientation of an invasive medical device inside a patient, comprising:
- receiving, from a plurality of magnetic field sensors arranged in a specific topology separate from the invasive medical device, a first plurality of magnetic field measurements associated with one or more permanent magnets incorporated into the invasive medical device that is at a first position within the patient;
- determining the location or the orientation of the invasive medical device at the first position based on the first plurality of magnetic field measurements;
- receiving, from the plurality of magnetic field sensors, a second plurality of magnetic field measurements associated with the one or more permanent magnets, wherein the invasive medical device is at a second position within the patient;
- and
- updating the location or the orientation of the invasive medical device by determining the location or the orientation of the invasive medical device at the second position based on the second plurality of magnetic field measurements.
A non-transitory computer-readable storage medium having instructions stored thereupon for obtaining a location or an orientation of an invasive medical device inside a patient, comprising:
- instructions for receiving, from a plurality of magnetic field sensors arranged in a specific topology separate from the invasive medical device, a first plurality of magnetic field measurements associated with one or more permanent magnets incorporated into the invasive medical device that is at a first position within the patient;
- instructions for determining the location or the orientation of the invasive medical device at the first position based on the first plurality of magnetic field measurements;
- instructions for receiving, from the plurality of magnetic field sensors, a second plurality of magnetic field measurements associated with the one or more permanent magnets, wherein the invasive medical device is at a second position within the patient;
- and
- instructions for updating the location or the orientation of the invasive medical device by determining the location or the orientation of the invasive medical device at the second position based on the second plurality of magnetic field measurements.
Dependencies are inferred from the claim text.