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WO2008110553A3 - Method for determining the position of a medical instrument - Google Patents

Method for determining the position of a medical instrument Download PDF

Info

Publication number
WO2008110553A3
WO2008110553A3 PCT/EP2008/052873 EP2008052873W WO2008110553A3 WO 2008110553 A3 WO2008110553 A3 WO 2008110553A3 EP 2008052873 W EP2008052873 W EP 2008052873W WO 2008110553 A3 WO2008110553 A3 WO 2008110553A3
Authority
WO
WIPO (PCT)
Prior art keywords
determining
measured values
medical instrument
calculated value
respect
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2008/052873
Other languages
German (de)
French (fr)
Other versions
WO2008110553A2 (en
Inventor
Rainer Graumann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of WO2008110553A2 publication Critical patent/WO2008110553A2/en
Publication of WO2008110553A3 publication Critical patent/WO2008110553A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Human Computer Interaction (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)

Abstract

The invention relates to a method for determining the position of a medical instrument, especially an endoscopic capsule, using at least three receive coils that are arranged orthogonally in respect to each other and that are associated with a position determining device which generates a spatially variable position determining magnetic field by means of field generating elements, at least one reference coil being used that is stationary with respect to the field generating elements. The method according to the invention is characterized by the following steps: acquiring first reference measured values of the reference coil with the position determination magnetic field being switched on, for determining the position in a continuous manner, simultaneously acquiring position measured values of the receive coils and second reference measured values of the reference coil, comparing the first and second reference measured values thereby determining at least one calculated value describing a possible noise field, and carrying out the position determination while taking said calculated value into consideration.
PCT/EP2008/052873 2007-03-14 2008-03-11 Method for determining the position of a medical instrument Ceased WO2008110553A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007012361.4A DE102007012361B4 (en) 2007-03-14 2007-03-14 Method for determining the position of a medical instrument and position-determining device
DE102007012361.4 2007-03-14

Publications (2)

Publication Number Publication Date
WO2008110553A2 WO2008110553A2 (en) 2008-09-18
WO2008110553A3 true WO2008110553A3 (en) 2008-11-20

Family

ID=39705332

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/052873 Ceased WO2008110553A2 (en) 2007-03-14 2008-03-11 Method for determining the position of a medical instrument

Country Status (2)

Country Link
DE (1) DE102007012361B4 (en)
WO (1) WO2008110553A2 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009030731A1 (en) 2009-06-26 2010-12-30 Fiagon Gmbh Method for generating position data of an instrument
DE202013012313U1 (en) 2013-07-17 2016-02-25 Fiagon Gmbh Device for connecting a medical instrument to a position detection system and medical pointer instrument
DE102013222230A1 (en) 2013-10-31 2015-04-30 Fiagon Gmbh Surgical instrument
US11944388B2 (en) 2018-09-28 2024-04-02 Covidien Lp Systems and methods for magnetic interference correction
EP3719749A1 (en) 2019-04-03 2020-10-07 Fiagon AG Medical Technologies Registration method and setup
CN115349807B (en) * 2022-08-23 2025-08-01 成都迈棣康科技有限公司 Novel high-precision robust capsule endoscope positioning method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998049938A1 (en) * 1997-05-08 1998-11-12 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device
WO2001033231A2 (en) * 1999-11-01 2001-05-10 Polhemus Inc. Method and apparatus for electromagnetic position and orientation tracking with distortion compensation
US6618612B1 (en) * 1996-02-15 2003-09-09 Biosense, Inc. Independently positionable transducers for location system
WO2003086190A1 (en) * 2002-04-10 2003-10-23 Stereotaxis, Inc. Systems and methods for interventional medicine
WO2005082247A1 (en) * 2004-02-18 2005-09-09 Philips Intellectual Property & Standards Gmbh Correction of measured values for a magnetic localization device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020103430A1 (en) * 2001-01-29 2002-08-01 Hastings Roger N. Catheter navigation within an MR imaging device
US7783441B2 (en) * 2003-04-17 2010-08-24 Northern Digital Inc. Eddy current detection and compensation
WO2004096042A1 (en) * 2003-05-02 2004-11-11 Atropos Limited A position monitoring system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6618612B1 (en) * 1996-02-15 2003-09-09 Biosense, Inc. Independently positionable transducers for location system
WO1998049938A1 (en) * 1997-05-08 1998-11-12 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device
WO2001033231A2 (en) * 1999-11-01 2001-05-10 Polhemus Inc. Method and apparatus for electromagnetic position and orientation tracking with distortion compensation
WO2003086190A1 (en) * 2002-04-10 2003-10-23 Stereotaxis, Inc. Systems and methods for interventional medicine
WO2005082247A1 (en) * 2004-02-18 2005-09-09 Philips Intellectual Property & Standards Gmbh Correction of measured values for a magnetic localization device

Also Published As

Publication number Publication date
WO2008110553A2 (en) 2008-09-18
DE102007012361B4 (en) 2016-09-22
DE102007012361A1 (en) 2008-09-25

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