CA2360598A1 - Metal immune system - Google Patents
Metal immune system Download PDFInfo
- Publication number
- CA2360598A1 CA2360598A1 CA002360598A CA2360598A CA2360598A1 CA 2360598 A1 CA2360598 A1 CA 2360598A1 CA 002360598 A CA002360598 A CA 002360598A CA 2360598 A CA2360598 A CA 2360598A CA 2360598 A1 CA2360598 A1 CA 2360598A1
- Authority
- CA
- Canada
- Prior art keywords
- responsive
- frequencies
- energy field
- unperturbed
- signals
- 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.)
- Granted
Links
- 210000000987 immune system Anatomy 0.000 title 1
- 239000002184 metal Substances 0.000 title 1
- 238000000034 method Methods 0.000 claims abstract 14
- 230000003094 perturbing effect Effects 0.000 claims abstract 10
- 230000010363 phase shift Effects 0.000 claims 4
- 241001089723 Metaphycus omega Species 0.000 claims 2
- 230000002452 interceptive effect Effects 0.000 claims 2
- 230000001419 dependent effect Effects 0.000 claims 1
Classifications
-
- 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 probes within or on the body of the patient
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
-
- 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
- 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 probes 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
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2086—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of two or more coils with respect to two or more other coils
-
- 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
Abstract
A method for tracking an object, including producing an unperturbed energy field at a plurality of predetermined frequencies in the vicinity of the object and determining a characteristic of a perturbing energy field induced responsive to the unperturbed field, due to introduction of an article, responsive to the unperturbed field, into the vicinity of the object. The method further includes receiving a plurality of resultant signals responsive to the unperturbed and perturbing energy fields generated at a location of the object after introduction of the article, determining an optimal frequency for the unperturbed energy field from amongst the plurality of predetermined frequencies responsive to a parameter of the resultant signals, and determining spatial coordinates of the object responsive to the resultant signal at the optimal frequency.
Claims (21)
1. A method for tracking an object, comprising:
producing an unperturbed energy field at a plurality of predetermined frequencies in the vicinity of the object;
determining a characteristic of a perturbing energy field induced responsive to the unperturbed field, due to introduction of an article responsive to the unperturbed field into the vicinity of the object;
receiving a plurality of resultant signals responsive to the unperturbed and perturbing energy fields generated at a location of the object after introduction of the article;
determining an optimal frequency for the unperturbed energy field from amongst the plurality of predetermined frequencies responsive to a parameter of the resultant signals; and determining spatial coordinates of the object responsive to the resultant signal at the optimal frequency.
producing an unperturbed energy field at a plurality of predetermined frequencies in the vicinity of the object;
determining a characteristic of a perturbing energy field induced responsive to the unperturbed field, due to introduction of an article responsive to the unperturbed field into the vicinity of the object;
receiving a plurality of resultant signals responsive to the unperturbed and perturbing energy fields generated at a location of the object after introduction of the article;
determining an optimal frequency for the unperturbed energy field from amongst the plurality of predetermined frequencies responsive to a parameter of the resultant signals; and determining spatial coordinates of the object responsive to the resultant signal at the optimal frequency.
2. A method according to claim 1, wherein producing the unperturbed energy field at the plurality of predetermined frequencies comprises scanning the frequencies sequentially.
3. A method according to claim 1, wherein producing the unperturbed energy field at the plurality of predetermined frequencies comprises multiplexing at least some of the frequencies.
4. A method according to claim 1, wherein receiving the plurality of resultant signals comprises:
measuring a baseline phase value .PHI..omega. of each of the plurality of resultant signals at the respective plurality of predetermined frequencies before introduction of the article; and measuring a phase shift .PHI..omega.total at the respective plurality of predetermined frequencies after introduction of the article, so that the parameter comprises a term for each of the plurality of predetermined frequencies; and wherein determining the optimal frequency comprises determining a frequency .omega. at which is a minimum.
measuring a baseline phase value .PHI..omega. of each of the plurality of resultant signals at the respective plurality of predetermined frequencies before introduction of the article; and measuring a phase shift .PHI..omega.total at the respective plurality of predetermined frequencies after introduction of the article, so that the parameter comprises a term for each of the plurality of predetermined frequencies; and wherein determining the optimal frequency comprises determining a frequency .omega. at which is a minimum.
5. A method according to claim 4, wherein determining spatial coordinates of the object comprises determining spatial coordinates responsive to an amplitude of a signal ¦M .omega.¦ at the frequency .omega..
6. A method according to claim 4, wherein determining spatial coordinates of the object comprises determining spatial coordinates responsive to a phase of a signal M.omega. at the frequency .omega..
7. A method according to claim 1, wherein producing the energy fields comprises producing magnetic fields.
8. A method according to claim 7, wherein receiving the signals comprises receiving electrical signals which are generated responsive to the magnetic fields.
9. A method for tracking an object, comprising:
producing an unperturbed energy field comprising a plurality of predetermined frequencies in the vicinity of the object;
producing a perturbing energy field by introduction of an article responsive to the unperturbed field into the vicinity of the object;
receiving a respective plurality of signals responsive to the unperturbed and perturbing energy fields generated at a location of the object after introduction of the article; and determining one or more factors conditional on spatial coordinates of the object responsive to the plurality of signals and the respective frequencies.
producing an unperturbed energy field comprising a plurality of predetermined frequencies in the vicinity of the object;
producing a perturbing energy field by introduction of an article responsive to the unperturbed field into the vicinity of the object;
receiving a respective plurality of signals responsive to the unperturbed and perturbing energy fields generated at a location of the object after introduction of the article; and determining one or more factors conditional on spatial coordinates of the object responsive to the plurality of signals and the respective frequencies.
10. A method according to claim 9, wherein determining the one or more factors comprises:
assuming a phasor ~.omega. of a signal responsive to the unperturbed energy field and a phasor ~.omega. of a signal responsive to the perturbing energy field to be directly proportional to a plurality of predetermined currents generating the fields;
and assuming a phase .PHI..omega. of the signal responsive to the unperturbed energy field and a phase .PHI..omega.' of the signal responsive to the perturbing energy field to be linearly dependent on the plurality of predetermined frequencies.
assuming a phasor ~.omega. of a signal responsive to the unperturbed energy field and a phasor ~.omega. of a signal responsive to the perturbing energy field to be directly proportional to a plurality of predetermined currents generating the fields;
and assuming a phase .PHI..omega. of the signal responsive to the unperturbed energy field and a phase .PHI..omega.' of the signal responsive to the perturbing energy field to be linearly dependent on the plurality of predetermined frequencies.
11. A method according to claim 9, wherein the plurality of frequencies comprises at least four frequencies, and wherein the one or more factors comprise the spatial coordinates of the object.
12. A method according to claim 11, wherein receiving the plurality of signals comprises receiving at least four values of a signal M i at the at least four frequencies, and wherein determining the one or more factors comprises:
determining a value of a position signal amplitude A0, generated responsive to the unperturbed energy field, by substituting respective values of the signal M i into an equation ~i = ~i + ai'e i.PHI.i' wherein ~i is a phasor representing a measured field, ~i is a phasor representing the unperturbed field, a i' represents an amplitude of the perturbing field, .PHI.i' represents a phase of the perturbing field, and i represents at least four numbers respectively corresponding to the at least four frequencies, so as to generate at least four equations; and solving the at least four equations for the position signal amplitude A0.
determining a value of a position signal amplitude A0, generated responsive to the unperturbed energy field, by substituting respective values of the signal M i into an equation ~i = ~i + ai'e i.PHI.i' wherein ~i is a phasor representing a measured field, ~i is a phasor representing the unperturbed field, a i' represents an amplitude of the perturbing field, .PHI.i' represents a phase of the perturbing field, and i represents at least four numbers respectively corresponding to the at least four frequencies, so as to generate at least four equations; and solving the at least four equations for the position signal amplitude A0.
13. Object tracking apparatus, comprising:
a radiator, which generates an energy field at a plurality of predetermined frequencies in the vicinity of the object;
a sensor, fixed to the object, which generates a plurality of signals responsive to the energy field and to an interfering article responsive to the energy field; and signal processing circuitry, which receives the plurality of signals from the sensor and determines an optimal frequency for the energy field from amongst the plurality of predetermined frequencies responsive to a parameter of the signals, and which determines position coordinates of the object responsive to the signal at the optimal frequency.
a radiator, which generates an energy field at a plurality of predetermined frequencies in the vicinity of the object;
a sensor, fixed to the object, which generates a plurality of signals responsive to the energy field and to an interfering article responsive to the energy field; and signal processing circuitry, which receives the plurality of signals from the sensor and determines an optimal frequency for the energy field from amongst the plurality of predetermined frequencies responsive to a parameter of the signals, and which determines position coordinates of the object responsive to the signal at the optimal frequency.
14. Apparatus according to claim 13, wherein the radiator generates the energy field at the plurality of predetermined frequencies by scanning the frequencies sequentially.
15. Apparatus according to claim 13, wherein the radiator generates the energy field at the plurality of predetermined frequencies by multiplexing at least some of the frequencies.
16. Apparatus according to claim 13, wherein the parameter comprises a phase shift, and wherein the optimal frequency comprises the frequency where the phase shift is a minimum.
17. Apparatus according to claim 16, wherein the signal processing circuitry determines the position coordinates of the object responsive to an amplitude of one of the plurality of signals at the frequency where the phase shift is a minimum.
18. Apparatus according to claim 13, wherein the energy field comprises a magnetic field.
19. Apparatus according to claim 18, wherein the plurality of signals comprise a plurality of electrical signals which are generated responsive to the magnetic field.
20. Object tracking apparatus, comprising:
a radiator, which generates an energy field comprising a plurality of predetermined frequencies in the vicinity of the object;
a sensor, fixed to the object, which generates a respective plurality of signals responsive to the energy field and to an interfering article responsive to the energy field; and signal processing circuitry, which receives the plurality of signals from the sensor and determines one or more factors conditional on spatial coordinates of the object responsive to the signals and their corresponding frequencies.
a radiator, which generates an energy field comprising a plurality of predetermined frequencies in the vicinity of the object;
a sensor, fixed to the object, which generates a respective plurality of signals responsive to the energy field and to an interfering article responsive to the energy field; and signal processing circuitry, which receives the plurality of signals from the sensor and determines one or more factors conditional on spatial coordinates of the object responsive to the signals and their corresponding frequencies.
21. Apparatus according to claim 20, wherein the plurality of frequencies comprises at least four frequencies, and wherein the one or more factors comprise the spatial coordinates of the object.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US09/702,973 | 2000-10-31 | ||
| US09/702,973 US6373240B1 (en) | 1998-10-15 | 2000-10-31 | Metal immune system for tracking spatial coordinates of an object in the presence of a perturbed energy field |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2360598A1 true CA2360598A1 (en) | 2002-04-30 |
| CA2360598C CA2360598C (en) | 2010-12-21 |
Family
ID=24823401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2360598A Expired - Lifetime CA2360598C (en) | 2000-10-31 | 2001-10-29 | Metal immune system |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US6373240B1 (en) |
| EP (2) | EP1604610B1 (en) |
| JP (1) | JP2002236010A (en) |
| KR (1) | KR100830853B1 (en) |
| AT (1) | ATE506009T1 (en) |
| AU (1) | AU776644B2 (en) |
| CA (1) | CA2360598C (en) |
| DE (1) | DE60144463D1 (en) |
| IL (1) | IL146216A (en) |
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| EP1203560A3 (en) | 2002-09-18 |
| EP1203560B1 (en) | 2011-04-20 |
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