Systems and methods for automated mapping and accuracy-testing

Patent metadata

Field	Value
Publication number	US-10359458-B2
Application number	US-201615240635-A
Country	US
Kind code	B2
Filing date	Aug 18, 2016
Priority date	Oct 5, 2015
Publication date	Jul 23, 2019
Grant date	Jul 23, 2019

Abstract

An apparatus for mapping and accuracy-testing an electromagnetic navigation system includes a sensor sensing electromagnetic vectors of an electromagnetic field, a carriage moving the sensor along a first direction and a second direction different from the first direction, a first position detector operatively associated with the sensor and detecting a first position of the sensor along the first direction, a second position detector operatively associated with the sensor and detecting a second position of the sensor along the second direction, and a controller operatively associated with the sensor and controlling movements of the carriage along the first and second directions and mapping the electromagnetic field based on the sensed electromagnetic vectors at predetermined positions in a coordinate system defined by the first direction, the second direction, and a third direction perpendicular to a plane defined by the first and second directions.

First claim

What is claimed is:

1. An apparatus for mapping and accuracy-testing an electromagnetic (EM) navigation system, comprising:
a sensor configured to sense EM vectors of an EM field generated by the EM navigation system;
a carriage configured to move the sensor along a first direction and a second direction different from the first direction;
a first position detector operatively associated with the sensor and configured to detect a first position of the sensor along the first direction, where the first position is one of predetermined positions along the first direction;
a second position detector operatively associated with the sensor and configured to detect a second position of the sensor along the second direction, wherein the second position is one of predetermined positions along the second direction; and
a controller operatively associated with the sensor and configured to control movements of the carriage along the first and second directions and map the EM field based on the sensed EM vectors at predetermined positions in a coordinate system defined by the first direction, the second direction, and a third direction perpendicular to a plane defined by the first and second directions,
wherein the predetermined positions along the second direction include a first group, and
wherein the sensor is configured to sense an EM vector for mapping at each position of the first group of the predetermined positions along the second direction.

2. The apparatus according to claim 1 , further comprising a plurality of signal generators each of which being configured to generate a signal, and each of which being positioned at a corresponding position of the predetermined positions along the first direction.

3. The apparatus according to claim 1 , wherein the predetermined positions along the second direction further include a second group, and
wherein the sensor is configured to sense an EM vector for accuracy-testing at the second group of the predetermined positions along the second direction.

4. The apparatus according to claim 3 , further comprising:
a first plurality of signal generators each being configured to generate a signal, and each of which is positioned at a corresponding position of the first group; and
a second plurality of signal generators each being configured to generate a signal, and each of which is positioned at a corresponding position of the second group.

5. The apparatus according to claim 1 , wherein the sensor includes an EM sensor configured to sense an EM vector along the third direction, and wherein the EM sensor is configured to be manually moved along the third direction.

6. The apparatus according to claim 1 , wherein the sensor includes a plurality of sensors, each of which is located at corresponding one of predetermined positions along the third direction.

7. The apparatus according to claim 1 , further comprising a bottom layer configured to center the apparatus over an EM field generated by the EM navigation system.

8. The apparatus according to claim 1 , wherein the apparatus is mostly made of non-ferrous materials.

9. The apparatus according to claim 1 , further comprising:
a first motor coupled with the sensor via a first shaft and configured to move the sensor along the first direction; and
a second motor coupled with the sensor via a second shaft and configured to move the sensor along the second direction.

10. The apparatus according to claim 1 , wherein the sensed EM vectors include time stamp information.

11. A method for mapping and accuracy-testing an electromagnetic (EM) field generated by an EM navigation system, comprising:
moving a sensor to an initial position on a plane defined by a first direction and a second direction different from the first direction;
sensing an EM vector at each of predetermined positions in a coordinate system defined by the plane and a third direction perpendicular to the plane;
sampling the sensed EM vector to obtain digital samples;
generating data for mapping or accuracy-testing based on the digital samples;
generating a fitted curve of the mapping data based on the digital samples; and
storing the fitted curve in the EM navigation system,
wherein the predetermined positions are defined by first predetermined positions along the first direction, second predetermined positions along the second direction, and third predetermined positions along the third direction, and
wherein a signal generator is located at each of the third predetermined positions, and wherein the method further comprises:
moving the sensor along the third direction; and
sensing an EM vector when a strength of a signal generated by a signal generator is a maximum.

12. The method according to claim 11 , further comprising:
generating accuracy-testing data;
calculating deviation of the accuracy-testing data from the fitted curve;
determining whether the deviation is greater than a threshold; and
generating a warning of re-generating the mapping data when it is determined that the deviation is not less than the threshold.

13. The method according to claim 11 , wherein the second predetermined position includes a first group of positions for mapping and a second group of positions for accuracy-testing, wherein signal generators located at the first group are configured to generate signals for mapping, and wherein signal generators located at the second group are configured to generate signals for accuracy-testing.

14. A method for mapping and accuracy-testing an electromagnetic (EM) field generated by an EM navigation system, comprising:
moving a sensor to an initial position on a plane defined by a first direction and a second direction different from the first direction;
sensing an EM vector at each of predetermined positions in a coordinate system defined by the plane and a third direction perpendicular to the plane;
sampling the sensed EM vector to obtain digital samples;
generating data for mapping or accuracy-testing based on the digital samples;
generating a fitted curve of the mapping data based on the digital samples; and
storing the fitted curve in the EM navigation system,
wherein the predetermined positions are defined by first predetermined positions along the first direction, second predetermined positions along the second direction, and third predetermined positions along the third direction, and
wherein the sensor includes EM sensors, each of which is located at a corresponding position of the third predetermined positions.

15. The method according to claim 11 , wherein the step of moving the sensor to the initial position includes:
activating a first signal generator located at a beginning position of the first predetermined positions and a second signal generator located at a beginning position of the second predetermined positions; and
moving the sensor to a position where the sensed strength is a maximum along the first and second directions.

16. The method according to claim 12 , wherein the generated warning is a screen, an audio, or light.

Assignees

• Covidien Lp

Inventors

• Morgan Sean M
• Jasperson Keith E
• Weisenberger Michael R

Classifications

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• G01R29/0892 Primary

  Details related to signal analysis or treatment; presenting results, e.g. displays; measuring specific signal features other than field strength, e.g. polarisation, field modes, phase, envelope, maximum value · CPC title

• A61B2017/00725

  Calibration or performance testing · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title