Position determination system and method

Patent metadata

Field	Value
Publication number	US-11439317-B2
Application number	US-201815963444-A
Country	US
Kind code	B2
Filing date	Apr 26, 2018
Priority date	Apr 26, 2018
Publication date	Sep 13, 2022
Grant date	Sep 13, 2022

Abstract

Disclosed is a method to remove distortion from a navigation system. The navigation system may be used to perform a procedure on a subject. The procedure may be any appropriate procedure. The navigation system may be used to account for the distortive effects of various conductive objects positioned near the subject on which the procedure is performed.

First claim

What is claimed is:

1. A system to track a member in a volume, comprising:
a transmitter operable to generate an electro-magnetic field at a plurality of frequencies;
a tracking device having at least a first sensor configured to sense the field at each frequency of the plurality of frequencies;
a transmission system to transmit a signal regarding the sensed field at each of the frequencies;
a processor system configured to:
receive the signal,
evaluate the received signal to determine if an interference is present,
if an interference is determined to be present (i) evaluate a model of a flux including two or more circuits, (ii) determine a distortion free flux based on the modeled flux extrapolated to zero frequency, and (iii) output the determined distortion free flux, and
determine a position of the tracking device based on a distortion free field determined based on the determined distortion free flux.

2. The system of claim 1 , wherein the tracking device further includes at least a second sensor and a third sensor;
wherein the signal includes information from each of the first sensor, the second sensor, and the third sensor regarding the field.

3. The system of claim 2 , wherein the information regarding the field includes a magnitude of flux sensed at least at one of the first sensor, the second sensor, or the third sensor.

4. The system of claim 3 , wherein the information regarding the field includes a phase as sensed at least at one of the first sensor, the second sensor, or the third sensor.

5. The system of claim 2 , wherein the information regarding the field includes a magnitude of flux and a phase sensed at all of the first coil, the second coil, or the third coil.

6. The system of claim 1 , further comprising:
a memory system having stored therein a representation of a distortion free field or one or more components of the distortion free field in a navigation volume;
wherein the processor system is configured to access the memory system to recall a position and/or orientation corresponding to the distortion free field.

7. The system of claim 6 , further comprising:
an instrument associated with the tracking device, wherein the instrument includes a working end at a fixed geometry relative to the tracking device.

8. The system of claim 7 , wherein the fixed geometry is determined and stored in the memory system.

9. The system of claim 1 , further comprising:
a memory system having stored therein a set of instructions to:
evaluate a measured flux of the field at a plurality of frequencies as a model of two or more resistor-inductor (R-L) circuits;
extrapolate a flux of the field to a zero frequency;
determine a distortion free flux of the field as being equal to the extrapolated flux at zero frequency;
determine a distortion free field based on the distortion free flux;

wherein the processor system is configured to access the memory system and execute the instructions.

10. The system of claim 9 , wherein the set of instructions further include the processor system executing the evaluations of at least three or more measured frequencies to extrapolate to a flux at the zero frequency;
wherein the distortion free flux includes substantially no conductive interference from eddy currents in an interfering object.

11. A method of tracking a member in a volume, comprising:
receiving a signal from a sensor regarding at least one field component of a field in a navigation volume;
operating a processor system to:
evaluate a model including a first circuit parameter and a second circuit parameter,
extrapolate the model to estimate the at least one field component at a zero frequency,
output the estimated at least one field component at the zero frequency, and
determine a position of the tracking device based on the estimated at least one field component at the zero frequency;

wherein evaluate a model including the first circuit parameter and the second circuit parameter, includes:
further operating the processor to recall from a memory system a set of instructions to:
evaluate a measured magnetic field flux at a first frequency of a plurality of frequencies as a model of a first resistor-inductor (R-L) circuit;

evaluate the measured magnetic field flux at the first frequency of the plurality of frequencies as a model of a second resistor-inductor (R-L) circuit.

12. The method of claim 11 , further operating the processor system to:
determine a distortion free flux of the field as being equal to the estimated flux at zero frequency; and
determine a distortion free field based on the distortion free flux.

13. The method of claim 12 , further comprising:
performing a procedure relative to a subject with the member based on the displayed determined position.

14. The method of claim 13 , further comprising:
outputting a warning to a user if extrapolation of the model to estimate the flux at the zero frequency is not a good fit.

15. The method of claim 11 , further comprising:
providing the sensor as at least one coil positioned in a navigation volume into which the field is projected.

16. The method of claim 15 , further comprising:
operating a transmitter to transmit the field at a plurality of frequencies;
wherein the signal includes information regarding the sensed transmitted field in the navigation volume.

17. The method of claim 11 , further comprising:
further operating the processor system to execute instructions to sum the evaluations;
wherein the extrapolation of the model to estimate the measured flux at the zero frequency is based on the sum of the evaluations.

18. The method of claim 17 , further comprising:
fitting the model to a sensed magnetic field flux in the signal regarding the transmitted field.

19. The method of claim 11 , further comprising:
operating the processor system to evaluate the received signal to determine if an interference is present;
wherein the evaluation of the model occurs if an interference is determined to be present.

20. The method of claim 11 , wherein determine a position of the tracking device includes further operating the processor system to:
recall from a first memory system a known representation of the at least one field component of the field in the navigation volume stored thereon; and
compare the at least one field component at the zero frequency to the known representation of the at least one field component;
wherein the known representation of the at least one field component includes a plurality of the at least one field component values that relate to positions in the navigation volume.

21. A method of tracking a member in a volume, comprising:
operating a transmitter to transmit an undistorted field at a plurality of frequencies;
allowing an interfering object to interfere with the undistorted field to form a distorted field;
receiving a signal from a sensor at a position in a navigation volume regarding the distorted field at the position in the navigation volume, wherein the signal includes information regarding the distorted field in the navigation volume;
operating a processor system to:
evaluate a model including a first circuit parameter and a second circuit parameter,
extrapolate the model to estimate a flux at a zero frequency at the position,
output the extrapolated flux at the zero frequency, and
determine the position of the tracking device based on the flux at the zero frequency; and

operating a display device to display the determin

Assignees

• Medtronic Navigation Inc

Inventors

• Ronen Shai
• Bzostek Andrew
• Jacobsen Brad
• Wald Andrew

Classifications

• A61B34/20 Primary

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

• G01R33/0206

  Three-component magnetometers · CPC title

• A61B2090/3762

  using computed tomography systems [CT] · CPC title

• A61B2505/05

  Surgical care · CPC title

• A61B2034/2051

  Electromagnetic tracking systems · CPC title