A system for navigating a catheter probe through a body cavity includes a sensing coil affixed to a distal end of the probe. magnetic fields are projected into the body cavity to induce voltage signals in the sensing coil that are sufficient to describe the orientation and position of the probe. A set of magnetic coils each generates a substantially uniform field in a single respective dimension. The orientation angles of the sensing coil may be determined from known values of the unidirectional fields and the measured induced voltage signals. gradient magnetic fields with components in two dimensions are projected into the body cavity to induce another group of voltage signals. The geometrical intersection of constant voltage surfaces developed by certain gradient fields that produce the measured induced voltage signals is a set of lines on which the catheter is located. The point of intersection of such lines yields the positional coordinates.
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1. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of:
inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil;
determining the orientation of said sensing coil using said induced orientation signal values;
inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil; and
determining the position of said sensing coil using said positional signal values and said determined orientation.
7. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
first transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of an orientation of said sensing coil and independent of the position of said sensing coil;
second transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of the position of said sensing coil; and
analysis means, coupled to said first transmit means and said second transmit means, for determining the position and orientation of said sensing coil from said induced signal values.
15. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of:
defining the location of said sensing coil with a set of independent location parameters; and
sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.
19. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
means for defining the location of said sensing coil with a set of independent location parameters; and
field generation means for sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.
8. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil;
analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil;
second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and
analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.
0. 23. A method of determining the location of at least one magnetically-sensitive, electrically conductive sensing coil affixed to a medical device partially inserted into a body cavity within a navigational domain, comprising the steps of:
inducing within the at least one sensing coil a set of induced signal values corresponding to a set of location parameters, by sequentially generating within the navigational domain (i) a series of unidirectional magnetic fields, each characterized by a principal magnetic field component in one direction, and relatively smaller magnetic components in two other directions, and (ii) a series of gradient magnetic fields, each characterized by a first and second gradient field component in respective directions, and a relatively smaller third component in another direction;
wherein each of the induced signals is defined by an induced signal expression that functionally relates the induced signal to certain ones of the location parameters, such that the set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of the induced signal expressions and sufficient to represent a subset of the location parameters.
2. The method as recited in
generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by a principal magnetic component in one axial dimension and relatively smaller magnetic components in two other axial dimensions.
3. The method as recited in
generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by two principal gradient magnetic components in respective axial dimensions and a relatively smaller magnetic components in a third axial dimension.
4. The method as recited in
generating said fields to provide a plurality of constant signal surfaces for the sensing coil such that an intersection between two such surfaces with components in the same axial dimensions produces a line along which said sensing coil is located;
wherein said two such surfaces are identified from among said plurality of constant signal surfaces by their ability to induce one of said positional signal values.
5. The method as recited in
weighting each line in accordance with a signal strength of said corresponding constant signal surface; and
determining an intersection of said weighted lines.
6. The method as recited in
9. The system as recited in
field generation means for successively generating magnetic field patterns projected into said navigational domain, each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions.
10. The system as recited in
11. The system as recited in
12. The system as recited in
13. The system as recited in
field generation means for successively generating magnetic field patterns each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
14. The system as recited in
16. The method as recited in
a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; and
a series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
17. The method as recited in
an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; and
a position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil.
18. The method as recited in
initially solving the induced signal expressions of said orientation group; and
next solving the induced signal expressions of said position group.
20. The system as recited in
a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; and
a series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
21. The system as recited in
an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; and
a position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil.
22. The system as recited in
analysis means for solving the induced signal expressions of said orientation group; and
analysis means for solving the induced signal expressions of said position group.
0. 24. A method according to
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A useful reference frame for spatially conceptualizing the interaction between the sensing coil and the magnetic fields is the Cartesian coordinate system defined by mutually perpendicular axes x-y-z. For purposes of illustration, a nonzero vector â is selected to coincide with the axis through the sensing coil of the present invention (hereinafter “coil axis”).
The angles α, β, and γ that the vector â makes with the unit coordinate vectors, î, ĵ, and {circumflex over (k)}, respectively, are called the direction angles of â; the trigonometric terms cosα, cosβ, and cosγ represent direction cosine values. Employing vector product notation, the following expressions are developed: â·î=∥â∥cosα; â·ĵ=∥â∥cosβ; and â·k=∥â∥cosγ. Referencing the induced voltage equations set forth above, these angles α, β and γ correspond to the angular displacement of the coil axis with respect to uniform fields generated along the x-axis, y-axis, and z-axis directions, respectively. Thus, the correspondence between direction cosine expressions is as follows:
As noted above, the last navigation point (LNP) refers to the x-y-z positional coordinates of the sensing coil as determined by the immediately previous computation cycle of the algorithm. For the first cycle, the LNP is the center of the viewing field.
In accordance with a preferred embodiment of the present invention for implementing the location algorithm, a magnetic assembly of nine individual coil sets are used to generate the magnetic fields sufficient to develop a corresponding set of nine induced voltage signals that are fully representative of the location of the sensing coil. The nine coil sets correspond to a group of three unidirectional coil sets for generating uniform fields in the x, y, and z-directions; a first delta coil group including a short coil set at 0° and a long coil set at 0°; a second delta coil group including a short coil set at 120° and a long coil set at 120°; and a third delta coil group including a short coil set at 240° and a long coil set at 240°. The angular designations associated with the delta coil groups indicate the angle with respect to the z-axis of the coil dimension that is perpendicular to the direction of elongation of the delta coils. Accordingly, the three delta coil groups are arranged pair-wise in a circular orientation about the y-axis at angles of 0°, 120°, and 240°.
The look-up-table (LUT) consists of a database containing the magnetic field values (Hx Hy Hz) at every x-y-z coordinate location within the navigational domain for five coil sets: the unidirectional coil sets for generating the uniform fields in the x, y, and z-directions; the short coil (SC) set at 0°; and the long coil (LC) set at 0°. The magnetic field value data for the short and long coil sets at 120° and 240° may be obtained from the LUT by rotating the field vectors for the long and short coil sets at 0° by the angle (i.e., ±120°) appropriate for the given coil set. The input data for the LUT consists of the x-y-z coordinates and a designation of which coil set is being used to generate the magnetic fields. In response to this input data, the LUT supplies the magnetic field values Hx Hy Hz at the selected x-y-z coordinates for the designated coil set.
The LUT is present to speed up the operational sequence of the location algorithm. Otherwise, an undesirable computational delay exists if the required magnetic fields from the nine coil sets must be individually calculated during each iteration of the algorithm. By predetermining the magnetic field values and storing them in LUT, the location algorithm need only access the LUT to retrieve the appropriate field value without endeavoring into any complex field analysis. At x-y-z coordinates other than those for which magnetic field values are determined in the LUT, an interpolation procedure is employed to calculate the field value.
The location algorithm of the present invention initially undertakes a procedure to determine the angular orientation of the sensing coil. An assumption is first made that the coil orientation does not appreciably change during the period between cycle computations. Accordingly, the magnetic field values corresponding to the uniform field pattern at the LNP are used as an approximation for the magnetic field values at the current but as yet undetermined location.
The unidirectional coils are activated in succession, each generating a substantially uniform field that projects into the navigational domain and induces a corresponding voltage signal in the sensing coil. The induced voltage signals are measured by an appropriate detection unit coupled to a proximal end of the catheter device where an electrical connection to the sensing coil is established via suitable connection means extending along the body of the catheter device.
The LUT is then accessed three times to acquire the magnetic field values at the LNP for each of the three unidirectional coils. These values and the measured voltage signals are then substituted into the appropriate equations set forth below to solve for the unknown variables φ and θ that define the coil orientation.
As a general principle, the voltage induced within the sensing coil may be resolved into components along each of the axial dimensions as determined by the extent to which the magnetic flux density is developed along these axial dimensions. For example, a general formula for the induced voltage produced by the unidirectional coil which generates a substantially uniform field in the x-direction is as follows:
Vx=HxxK sinφcosθ+HyxK sinφsinθ+HzxK cosφ
where magnetic field intensity H is related to magnetic flux density by B=μH and K=μo
Vy=HxyK sinφcosθ+HyyK sinφsinθ+HzyK cosφ,
and
Vz=HxxK sinφcosθ+HyxK sinφsinθ+HzxK cosφ.
The terms Hxy and Hzy in the equation for Vy and the terms Hxz and Hyz in the equation for Vz are small compared to Hyy and Hzz, respectively. After substituting the measured values for the induced voltage signals, the equations are simultaneously solved to determine the unknown variables φ and θ defining the orientation of the sensing coil.
By way of summary, the procedure for determining the positional coordinates of the sensing coil in accordance with the present invention first involves activating each delta coil in succession and measuring the induced voltage thereby developed in the sensing coil. Next, the LUT is accessed to obtain the magnetic field values at the LNP for each specified delta coil. These magnetic field values and the as-computed values for the orientation angles φ and θ are then substituted into the appropriate induced voltage equations to calculate for each delta coil the expected value of the voltage signal induced in the sensing coil. This expected value of the induced signal corresponds to a specific and unique member of the family of constant signal surfaces of the delta coils.
Based on the difference between the measured and expected values for the induced voltage signals, a gradient is calculated (representative of the rate of change of the induced signal) that permits identification of the specific constant signal surface that is responsible for generating the measured value of the induced signal. This procedure is repeated for each delta coil.
For the activation of each delta coil group (comprised of one long coil set and one short coil set), there is an intersection line defined by the intersection of the two constant signal surfaces (which were identified as developing the measured induced signal) on which the sensing coil is located. The intersection of the three such lines from the three delta coil groups uniquely provides the x-y-z coordinates of the sensing coil. Although two such lines are sufficient to describe the position of the sensing coil, greater accuracy and more reliable performance in determining the catheter position is achieved with three lines.
The following is a more detailed description of the procedure summarized above for determining the positional coordinates.
The magnetic field pattern generated by the entire assembly of short coil and long coil sets is characterized by a family of surfaces of constant signal or constant voltage developed by the sensing coil, each having non-zero components in two of the axis directions and a small component in the remaining axis direction. For example, the magnetic field surfaces generated by the short and long coil sets oriented at 0° relative to the x-axis have a small value in the x-direction. The short coil positioned at 0° (i.e., SC(0°)) and long coil positioned at 0° (i.e., LC (0°)) are each independently activated. The induced voltage in the sensing coil is measured for each coil set. The LUT is then accessed to determine the magnetic field values for the SC(0°) and LC(0°) coil set at the LNP.
These magnetic field values (i.e., Hx=small and non-zero Hy Hz components) are used in conjunction with the as-computed orientation angles φ and θ to calculate the values of the induced catheter signals that would be expected from such magnetic field values. The expected and measured induced voltage values are compared, and the difference is used to identify the constant signal surface from each of the SC(0°) and LC(0°) coil sets that would have produced the measured induced signals. The intersection of these identified magnetic constant signal surfaces is a line parallel to the x-axis (thereby resolving the y-z coordinates).
The aforementioned procedure involving the long and short coils oriented at 0° is iteratively repeated for a long and short coil set oriented at 120° (i.e., SC(120°) and LC(120°)) and 240° (i.e., SC(240°) and LC(240°)).
More specifically, the coil sets SC(120°) and LC(120°) are sequentially activated to induce corresponding catheter signals in the sensing coil. In order to utilize the LUT data on the coil sets oriented at 0° for determining the magnetic field components at the LNP generated by the coil sets SC(120°) and LC(120°), a modified LNP is calculated that is equivalent to the original LNP rotationally displaced by 120°. The LUT is then accessed with the modified LNP to determine the magnetic field values generated by the SC(120°) and LC(120°) coil sets at the modified LNP. The field vectors produced by the LUT for both the long coil and short coil are then rotated (−120°) to go from the modified LNP to the actual LNP. Based upon these field values, a pair of induced catheter signals are calculated that correspond to the expected signal values arising from the magnetic field values for the SC(120°) and LC(120°) coil sets. The difference between the measured and expected induced catheter signals is used to identify the magnetic constant signal surface for each of the SC(120°) and LC(120°) coil sets that could produce the measured catheter signal. The intersection of these identified magnetic constant signal surfaces is a line oriented at 120° to the x-axis.
A similar procedure is used involving a modified LNP that is rotationally displaced 240° to simulate the magnetic field patterns for the SC(240°) and LC(240°) coil sets using the SC(0°) and LC(0°) field data. A line oriented at 240° to the x-axis is then identified along which the catheter is located.
Each of the field lines oriented at 0°, 120° and 240° to the x-axis is weighted according to the strength of the measured catheter signals. For example, a weak measurement indicates a relatively imprecise identification of the intersection line, resulting in a weaker weighting. This weighting reflects the accuracy of the estimation used to determine the location of the catheter with the specified coil set. An averaging technique is used to compute a weighted estimate of the intersection of the lines L(0°), L(120°) and L(240°). The intersection is the new value for x-y-z and will replace the x-y-z of the old LNP to become the next LNP. The algorithm iteratively repeats the aforementioned operations using the updated LNP to arrive at the location of the sensing coil after each computation cycle (e.g., every 0.1 s).
The coil configurations shown in the Figures are only illustrative and should not be construed as a limitation of the present invention, as it should be apparent to those skilled in the art that other coil configurations are possible within the scope of the present invention provided such other configurations produce the desired magnetic field patterns. A suitable connection means (not shown) couples the sensing coil 14 to a signal measuring device.
The coils are preferably arranged in a circular orientation about the y-axis such that there is an axis perpendicular to the direction of elongation of the coils at 0°, 120° and 240° relative to the z-axis. The magnetic field generated by the first group of long (50) and short delta coils (52) is shown representatively by the field lines extending from the upper region of the coils. The field lines from this delta coil group form the family of constant signal surfaces shown within the navigational domain 12. Superposition of the constant signal surfaces generated by the long and short coils of a delta coil group produces a fishnet pattern as shown in FIG. 6. The intersection of two such constant signal surfaces generated by a short and long coil pair is a single line represented by the dotted line 70.
A constant signal surface (72 and 74) is identified for each short coil and long coil activation of a delta coil pair by determining the surface that matches the induced signals developed in the sensing coil. This procedure is repeated for the other two delta coil pairs to produce two other lines comparable to line 70. The intersection of these three lines determines the position of the catheter.
The quality of the coils, as measured by the degree of uniformity of the uniform field coils or how close to zero is the field in the non-gradient direction for the delta coils, determines the size of the navigational domain over which the variable separation technique for navigating the catheter will converge and therefore be capable of initially finding the catheter, and hence be of functional utility.
In accordance with another embodiment of the present invention, a second sensing coil is used for stabilization purposes. Inaccurate readings of the catheter probe location may occur from motion artifacts due to breathing action, heart motion, or patient movement. The stabilized location coordinates may be determined by placing a second sensing coil on the sternum of the patient at a known location within the navigational domain. The incremental movement experienced by the second sensing coil due to motion artifacts is detected and subtracted from the measured location value of the probe to arrive at the actual location coordinates of the probe. Further extensions of the present invention are possible to facilitate multi-catheter applications by attaching an additional sensing coil to the distal end of each additional catheter.
Since certain changes may be made in the above apparatus and method without departing from the scope of the invention herein described, it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted in an illustrative and not in a limiting sense.
Haase, Wayne C., Martinelli, Michael A.
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| Jan 14 1999 | Metronic Navigation, Inc. | (assignment on the face of the patent) | / | |||
| Sep 21 2001 | HAASE, WAYNE C | MARTINELLI, MICHAEL A | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 029225 | /0806 | |
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