Insertion device positioning guidance system and method

A tube positioning device comprising:

• a processing circuitry configured to:
• receive information regarding an implantable device of a patient, the implantable device capable of interfering with an electromagnetic field generated over the torso of the patient;
• receive signals relating to changes in the electromagnetic field, the changes caused by insertion of an insertion tube comprising an electromagnetic sensor;
• normalize the received signals based on the information regarding the implantable device and its interference with the electromagnetic field;
• and
• determine the position of the insertion tube based on the normalized signal.

An insertion tube positioning system comprising:

• an electromagnetic field generator configured to generate an electromagnetic field covering a treatment area;
• wherein said electromagnetic field generator is external to the patient;
• a registration sensor configured to mark one or more anatomic locations on the patient's torso;
• an insertion tube comprising an electromagnetic sensor, the electromagnetic sensor configured to cause changes in the electromagnetic field;
• and
• a processing circuitry configured to:
• generate an anatomical map of the subject's torso or match a subject's torso to a predefined anatomical map, based on the at least one anatomic location marked by the registration sensor,
• receive signals relating to changes in the electromagnetic field, the changes caused by insertion of the insertion tube;
• normalize the received signals, based on the information regarding to a device implanted into the subject and the interference of the implantable device with the electromagnetic field;
• and
• show on the map a path of insertion of the insertion tube;
• based on changes in the normalized signal.

A method for guiding insertion of an insertion tube into a subject, the method comprising:

• applying an electromagnetic field covering a torso of the subject;
• utilizing an external electromagnetic field generator,
• marking at least one anatomic location on the subject's torso, utilizing a registration sensor;
• inserting into the subject the insertion tube, wherein the insertion tube comprises an electromagnetic sensor, the electromagnetic sensor configured to cause changes in the electromagnetic field;
• and
• utilizing a processing circuitry to:
• generate an anatomical map of the subject's torso or match a subject's torso to a predefined anatomical map, based on the at least one anatomic location marked by the registration sensor,
• receive signals relating to changes in the electromagnetic field, the changes caused by insertion of the insertion tube;
• normalize the received signals, based on the information regarding to a device implanted into the subject and the interference of the implantable device with the electromagnetic field;
• and
• show on the map a path of insertion of the insertion tube;
• based on changes in the normalized signal.