CA2450195A1 - Dynamic metal immunity - Google Patents

Dynamic metal immunity Download PDF

Info

Publication number
CA2450195A1
CA2450195A1 CA002450195A CA2450195A CA2450195A1 CA 2450195 A1 CA2450195 A1 CA 2450195A1 CA 002450195 A CA002450195 A CA 002450195A CA 2450195 A CA2450195 A CA 2450195A CA 2450195 A1 CA2450195 A1 CA 2450195A1
Authority
CA
Canada
Prior art keywords
responsive
positions
undistorted
sensor
elements
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
Application number
CA002450195A
Other languages
French (fr)
Other versions
CA2450195C (en
Inventor
Assaf Govari
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.)
Biosense Webster Inc
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of CA2450195A1 publication Critical patent/CA2450195A1/en
Application granted granted Critical
Publication of CA2450195C publication Critical patent/CA2450195C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • 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
    • 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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging

Abstract

Position-sensing apparatus is provided, including a set of radiators, which are adapted to be placed at respective positions in a vicinity of a body of a subject and to generate electromagnetic energy fields. A position sensor, is adapted to generate sensor signals responsive to the energy fields. One or more reference elements, are adapted to be placed at respective positions in a vicinity of the sensor and to generate reference signals responsive to the energy fields. A control unit is adapted to determine, for each of the reference elements, respective undistorted reference parameters, responsive to the known positions of the reference elements. The control unit additionally receives the sensor signals and the reference signals, and calculates a reference element error for each reference element, responsive to an interaction of a metal article with the energy fields, the undistorted reference parameter of the reference element, and the reference signal generated by the reference element. The control unit then calculates a position of the sensor, responsive to the sensor signals and the reference element errors.

Claims (30)

1. Position-sensing apparatus, comprising:
a set of radiators, which are adapted to be placed at respective positions in a vicinity of a body of a subject and to generate electromagnetic energy fields;
a position sensor, which is adapted to placed in the body of the subject and to generate sensor signals responsive to the energy fields;
one or more reference elements, which are adapted to be placed at respective positions in a vicinity of the sensor and to generate reference signals responsive to the energy fields; and a control unit, which is adapted to:
determine, for each of the reference elements, respective undistorted reference parameters, responsive to the positions of the reference elements, receive the sensor signals and the reference signals, calculate a reference element error for each reference element, responsive to an interaction of a metal article with the energy fields, responsive to the undistorted reference parameter of the reference element, and responsive to the reference signal generated by the reference element, and calculate a position of the sensor, responsive to the sensor signals and the reference element errors.
2. Apparatus according to claim 1, wherein at least one of the one or more reference elements is adapted to be placed outside of the body of the subject.
3. Apparatus according to claim 1, wherein at least one of the one or more reference elements is adapted to be placed at a fixed, known position relative to the set of radiators during operation of the apparatus.
4. Apparatus according to claim 1, wherein the control unit is adapted to calculate corrected sensor signals responsive to the reference element errors and responsive to the generated sensor signals, and to calculate the position of the sensor responsive to the corrected sensor signals.
5. Apparatus according to claim 1, wherein the control unit is adapted to designate the reference element error, for at least one of the reference elements, to be responsive to a measured magnetic field value at the at least one of the reference elements, which value is responsive to the interaction of the metal article with the energy fields.
6. Apparatus according to claim 1, wherein the control unit is adapted to calculate the undistorted reference parameter of at least one of the reference elements responsive to a relative position of the at least one of the reference elements with respect to the set of radiators.
7. Apparatus according to claim 6, wherein the control unit is adapted to perform the calculation of the reference parameter substantially independently of the interaction of the metal article wish the energy fields.
8. Apparatus according to claim 6, wherein the control unit is adapted to calculate the undistorted reference parameter of the at least one of the reference elements responsive to a calculation of a magnetic field value at the at least one of the reference elements, which value is responsive to the relative position of the at least one of the reference elements with respect to the set of radiators.
9. Apparatus according to claim 1, wherein the control unit is adapted to determine the undistorted reference parameter of at least one of the reference elements responsive to a measurement that is responsive to a relative position of the at least one of the reference elements with respect to the set of radiators.
10. Apparatus according to claim 9, wherein the control unit is adapted to determine the undistorted reference parameter of the at least one of the reference elements substantially independently of the interaction of the metal article with the energy fields.
11. Apparatus according to claim 9, wherein the control unit is adapted to determine the undistorted reference parameter of the at least one of the reference elements responsive to a measurement of a magnetic field value at the at least one of the reference elements.
12. Apparatus according to claim 1, wherein, for at least one of the one or more reference elements, the control unit is adapted to substantially equate the undistorted reference parameter with the position of the reference element.
13. Apparatus according to claim 12, wherein the control unit is adapted to designate the reference element error, for the at least one of the one or more reference elements, to be an apparent spatial offset of the reference element responsive to the interaction of the metal article with the energy fields.
14. Apparatus according to claim 1, wherein the one or more reference elements comprise at least three reference elements, adapted to be placed at three non-collinear positions in a vicinity of the sensor.
15. Apparatus according to claim 14, wherein the at least three reference elements comprise at least four reference elements, adapted to be placed at four non-coplanar positions in a vicinity of the sensor.
16. A method for sensing a position of a sensor placed within a body of a subject, comprising:
determining, for reference positions in a vicinity of the sensor, respective undistorted reference parameters;
generating electromagnetic energy fields at field-generating positions in a vicinity of the body of the subject;
generating reference signals at the reference positions, responsive to the energy fields and responsive to an interaction of a metal article with the energy fields;
calculating a reference error corresponding to each reference position, responsive to the undistorted reference parameter of the reference position and responsive to the reference signal generated at the reference position;
generating sensor signals from the sensor, responsive to the energy fields and responsive to the interaction of the metal article with the energy fields; and calculating a position of the sensor, responsive to the sensor signals and the reference errors.
17. A method according to claim 16, wherein generating the reference signals comprises generating the reference signals at reference positions outside of the body of the subject.
18. A method according to claim 16, wherein generating the reference signals comprises generating the reference signals at fixed, known positions relative to the field-generating positions.
19. A method according to claim 16, comprising calculating corrected sensor signals responsive to the reference errors and responsive to the generated sensor signals, wherein calculating the position of the sensor comprises calculating the position responsive to the corrected sensor signals.
20. A method according to claim 16, wherein calculating the reference error comprises:
measuring a magnetic field value at at least one of the reference positions, responsive to the interaction of the metal article with the energy fields; and designating the reference error corresponding to the at least one of the reference positions to be responsive to the measured magnetic field value.
21. A method according to claim 16, wherein determining the undistorted reference parameters comprises calculating the undistorted reference parameter for at least one of the reference positions responsive to a relative position of the at least one of the reference positions with respect to the field-generating positions.
22. A method according to claim 21, wherein calculating the undistorted reference parameter comprises calculating the undistorted reference parameter substantially independently of the interaction of the metal article with the energy fields.
23. A method according to claim 21, wherein calculating the undistorted reference parameter for the at least one of the reference positions comprises calculating a magnetic field value at the at least one of the reference positions, responsive to the relative position of the at least one of the reference positions with respect to the field-generating positions.
24. A method according to claim 16, wherein determining the undistorted reference parameter for at least one of the reference positions comprises measuring a value that is responsive to a relative position of the at least one of the reference positions with respect to the field-generating positions.
25. A method according to claim 24, wherein measuring the value comprises measuring the value substantially independently of the interaction of the metal article with the energy fields.
26. A method according to claim 24, wherein measuring the value comprises measuring a magnetic field value at the at least one of the reference positions.
27. A method according to claim 16, wherein determining the undistorted reference parameter for at least one of the reference positions comprises substantially equating the undistorted reference parameter with the reference position.
28. A method according to claim 27, wherein calculating the reference error comprises designating the reference error, for the at least one of the reference positions, to be an apparent spatial offset of the reference position responsive to the interaction of the metal article with the energy fields.
29. A method according to claim 16, wherein generating the reference signals comprises generating the reference signals at at least three non-collinear reference positions.
30. A method according to claim 29, wherein generating the reference signals comprises generating the reference signals at at least four non-coplanar reference positions.
CA2450195A 2002-11-22 2003-11-19 Dynamic metal immunity Expired - Fee Related CA2450195C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/302,112 US7945309B2 (en) 2002-11-22 2002-11-22 Dynamic metal immunity
US10/302,112 2002-11-22

Publications (2)

Publication Number Publication Date
CA2450195A1 true CA2450195A1 (en) 2004-05-22
CA2450195C CA2450195C (en) 2012-02-07

Family

ID=32229912

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2450195A Expired - Fee Related CA2450195C (en) 2002-11-22 2003-11-19 Dynamic metal immunity

Country Status (14)

Country Link
US (1) US7945309B2 (en)
EP (1) EP1421900B1 (en)
JP (1) JP4717341B2 (en)
KR (1) KR20040045363A (en)
AT (1) ATE341995T1 (en)
AU (1) AU2003262437B2 (en)
CA (1) CA2450195C (en)
CY (1) CY1106241T1 (en)
DE (1) DE60308979T2 (en)
DK (1) DK1421900T3 (en)
ES (1) ES2272904T3 (en)
IL (1) IL158943A (en)
PT (1) PT1421900E (en)
SI (1) SI1421900T1 (en)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8000772B2 (en) * 2005-10-19 2011-08-16 Biosense Webster, Inc. Metal immunity in a reverse magnetic system
US9364293B2 (en) * 2006-04-28 2016-06-14 Biosense Webster, Inc. Reduced field distortion in medical tools
US7688064B2 (en) * 2006-07-11 2010-03-30 Biosense Webster Inc. Probe for assessment of metal distortion
US8082020B2 (en) 2006-08-07 2011-12-20 Biosense Webster, Inc. Distortion-immune position tracking using redundant magnetic field measurements
DE102007009764A1 (en) * 2007-02-27 2008-08-28 Siemens Ag Catheter application supporting method for treating cardiac arrhythmia, involves determining position of patient during recording of image and/or during recording of electro-anatomical mapping
US8447539B2 (en) * 2007-06-29 2013-05-21 Nec Corporation Electromagnetic field distribution measurement apparatus
US8391952B2 (en) * 2007-10-11 2013-03-05 General Electric Company Coil arrangement for an electromagnetic tracking system
WO2010076676A1 (en) * 2009-01-05 2010-07-08 Koninklijke Philips Electronics, N.V. System and method for dynamic metal distortion compensation for electromagnetic tracking systems
US10307205B2 (en) * 2010-12-10 2019-06-04 Biosense Webster (Israel) Ltd. System and method for detection of metal disturbance based on orthogonal field components
US9211094B2 (en) 2010-12-10 2015-12-15 Biosense Webster (Israel), Ltd. System and method for detection of metal disturbance based on contact force measurement
US9044244B2 (en) 2010-12-10 2015-06-02 Biosense Webster (Israel), Ltd. System and method for detection of metal disturbance based on mutual inductance measurement
WO2012155050A2 (en) 2011-05-12 2012-11-15 The Johns Hopkins University Electromagnetic tracking system and methods of using same
JP5908981B2 (en) 2011-09-06 2016-04-26 エゾノ アクチェンゲゼルシャフト Imaging probe and method for obtaining position and / or orientation information
US9257220B2 (en) 2013-03-05 2016-02-09 Ezono Ag Magnetization device and method
GB201303917D0 (en) 2013-03-05 2013-04-17 Ezono Ag System for image guided procedure
US9459087B2 (en) 2013-03-05 2016-10-04 Ezono Ag Magnetic position detection system
JP2017527327A (en) 2014-07-03 2017-09-21 セント・ジュード・メディカル・インターナショナル・ホールディング・エスエーアールエルＳｔ． Ｊｕｄｅ Ｍｅｄｉｃａｌ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｈｏｌｄｉｎｇ Ｓ．ａ，ｒ．ｌ． Local magnetic field generator
CA2919901A1 (en) 2015-02-04 2016-08-04 Hossein Sadjadi Methods and apparatus for improved electromagnetic tracking and localization
CO7280147A1 (en) * 2015-05-21 2015-05-29 Univ Antioquia Image-based computer surgical navigation system
WO2017017999A1 (en) * 2015-07-24 2017-02-02 オリンパス株式会社 Position detection system and guidance system
JP6064109B1 (en) * 2015-07-24 2017-01-18 オリンパス株式会社 Position detection system and guidance system
US9730760B2 (en) * 2015-09-30 2017-08-15 Steven M Hacker Electromagnetic resonant surgical scalpel handle and electromagnetic sensor system apparatus thereof
EP3432794B1 (en) * 2016-05-03 2020-09-09 St. Jude Medical International Holding S.à r.l. Magnetic field distortion detection and correction in a magnetic localization system
US10751126B2 (en) 2016-10-28 2020-08-25 Covidien Lp System and method for generating a map for electromagnetic navigation
JP7035043B2 (en) * 2016-10-28 2022-03-14 コヴィディエン リミテッド パートナーシップ Systems and methods for identifying the location and / or orientation of electromagnetic sensors based on maps
US10722311B2 (en) 2016-10-28 2020-07-28 Covidien Lp System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map
US11065064B2 (en) * 2017-11-14 2021-07-20 Biosense Webster (Israel) Ltd. Calibration of a rigid ENT tool
US10695109B2 (en) 2017-12-13 2020-06-30 DePuy Synthes Products, Inc. Intramedullary nail with cannulation access hole
US11944388B2 (en) 2018-09-28 2024-04-02 Covidien Lp Systems and methods for magnetic interference correction
US20200100843A1 (en) * 2018-09-28 2020-04-02 Covidien Lp Smart extended working channel localization
US10973588B2 (en) * 2018-10-24 2021-04-13 Biosense Webster (Israel) Ltd. On-the-fly calibration for catheter location and orientation
US11642172B2 (en) * 2019-03-05 2023-05-09 Biosense Webster (Israel) Ltd. Showing catheter in brain

Family Cites Families (101)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3644825A (en) 1969-12-31 1972-02-22 Texas Instruments Inc Magnetic detection system for detecting movement of an object utilizing signals derived from two orthogonal pickup coils
US3868565A (en) 1973-07-30 1975-02-25 Jack Kuipers Object tracking and orientation determination means, system and process
US4017858A (en) 1973-07-30 1977-04-12 Polhemus Navigation Sciences, Inc. Apparatus for generating a nutating electromagnetic field
US4054881A (en) 1976-04-26 1977-10-18 The Austin Company Remote object position locater
US4173228A (en) 1977-05-16 1979-11-06 Applied Medical Devices Catheter locating device
US4287809A (en) 1979-08-20 1981-09-08 Honeywell Inc. Helmet-mounted sighting system
US4317078A (en) 1979-10-15 1982-02-23 Ohio State University Research Foundation Remote position and orientation detection employing magnetic flux linkage
US4605897A (en) 1980-10-20 1986-08-12 Honeywell Inc. Apparatus and method for distance determination between a receiving device and a transmitting device utilizing a curl-free magnetic vector potential field
US4394831A (en) * 1981-02-12 1983-07-26 Honeywell Inc. Helmet metal mass compensation for helmet-mounted sighting system
US4710708A (en) 1981-04-27 1987-12-01 Develco Method and apparatus employing received independent magnetic field components of a transmitted alternating magnetic field for determining location
US4416289A (en) 1981-05-07 1983-11-22 Mccormick Laboratories, Inc. Circuits for determining very accurately the position of a device inside biological tissue
JPS59672A (en) 1982-06-27 1984-01-05 Tsutomu Jinno Distance measuring sensor
US4613866A (en) 1983-05-13 1986-09-23 Mcdonnell Douglas Corporation Three dimensional digitizer with electromagnetic coupling
US4526177A (en) 1983-06-24 1985-07-02 Rudy Michael A Electronic anatomical probe
US4642786A (en) 1984-05-25 1987-02-10 Position Orientation Systems, Ltd. Method and apparatus for position and orientation measurement using a magnetic field and retransmission
EP0174082A1 (en) * 1984-07-23 1986-03-12 Judd Engineering Limited Projectile stabilising fin unit
EP0203560A1 (en) 1985-05-31 1986-12-03 Tegal Corporation Plasma trench etch
US4651436A (en) 1985-06-05 1987-03-24 Gaal Peter S Probe for measuring deviations from linearity
US4771237A (en) 1986-02-19 1988-09-13 Panametrics Method and apparatus for calibrating a displacement probe using a polynomial equation to generate a displacement look-up table
US4849692A (en) 1986-10-09 1989-07-18 Ascension Technology Corporation Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields
US4945305A (en) 1986-10-09 1990-07-31 Ascension Technology Corporation Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields
US4791412A (en) 1988-01-28 1988-12-13 Controlled Information Corporation Magnetic article surveillance system and method
DE68909355T2 (en) 1988-09-02 1994-03-31 British Gas Plc Device for controlling the position of a self-propelled drilling tool.
US4905698A (en) 1988-09-13 1990-03-06 Pharmacia Deltec Inc. Method and apparatus for catheter location determination
CN1049287A (en) 1989-05-24 1991-02-20 住友电气工业株式会社 The treatment conduit
JP2959723B2 (en) 1990-04-25 1999-10-06 オリンパス光学工業株式会社 Endoscope insertion device
EP0419729A1 (en) 1989-09-29 1991-04-03 Siemens Aktiengesellschaft Position finding of a catheter by means of non-ionising fields
US5068608A (en) 1989-10-30 1991-11-26 Westinghouse Electric Corp. Multiple coil eddy current probe system and method for determining the length of a discontinuity
JP2750201B2 (en) 1990-04-13 1998-05-13 オリンパス光学工業株式会社 Endoscope insertion state detection device
US5253647A (en) 1990-04-13 1993-10-19 Olympus Optical Co., Ltd. Insertion position and orientation state pickup for endoscope
FR2665530B1 (en) 1990-08-03 1994-04-08 Sextant Avionique MAGNETIC RADIATOR AND SENSOR FOR DETERMINING THE POSITION AND ORIENTATION OF A MOBILE.
GB9018660D0 (en) 1990-08-24 1990-10-10 Imperial College Probe system
JP3012341B2 (en) 1990-12-25 2000-02-21 オリンパス光学工業株式会社 Endoscope device
US5211165A (en) 1991-09-03 1993-05-18 General Electric Company Tracking system to follow the position and orientation of a device with radiofrequency field gradients
US5265610A (en) 1991-09-03 1993-11-30 General Electric Company Multi-planar X-ray fluoroscopy system using radiofrequency fields
US5251635A (en) 1991-09-03 1993-10-12 General Electric Company Stereoscopic X-ray fluoroscopy system using radiofrequency fields
JP2735747B2 (en) 1991-09-03 1998-04-02 ゼネラル・エレクトリック・カンパニイ Tracking and imaging system
US5255680A (en) 1991-09-03 1993-10-26 General Electric Company Automatic gantry positioning for imaging systems
US5425367A (en) 1991-09-04 1995-06-20 Navion Biomedical Corporation Catheter depth, position and orientation location system
US5437277A (en) 1991-11-18 1995-08-01 General Electric Company Inductively coupled RF tracking system for use in invasive imaging of a living body
US5453689A (en) 1991-12-06 1995-09-26 Massachusetts Institute Of Technology Magnetometer having periodic winding structure and material property estimator
IL102218A (en) 1992-06-16 2003-06-24 Elbit Systems Ltd Tracker employing a rotating electromagnetic field
US5274328A (en) 1992-07-20 1993-12-28 Magnetek Inc. Temperature compensation for magnetostrictive position detector
US5325873A (en) 1992-07-23 1994-07-05 Abbott Laboratories Tube placement verifier system
ES2115776T3 (en) 1992-08-14 1998-07-01 British Telecomm POSITION LOCATION SYSTEM.
US5553611A (en) 1994-01-06 1996-09-10 Endocardial Solutions, Inc. Endocardial measurement method
US5375596A (en) 1992-09-29 1994-12-27 Hdc Corporation Method and apparatus for determining the position of catheters, tubes, placement guidewires and implantable ports within biological tissue
US5309913A (en) 1992-11-30 1994-05-10 The Cleveland Clinic Foundation Frameless stereotaxy system
DE4300529C2 (en) 1993-01-12 1995-07-13 Andreas Zierdt Method and device for determining the spatial arrangement of a direction-sensitive magnetic field sensor
EP1219259B1 (en) 1993-04-22 2003-07-16 Image Guided Technologies, Inc. System for locating relative positions of objects
US5347289A (en) * 1993-06-29 1994-09-13 Honeywell, Inc. Method and device for measuring the position and orientation of objects in the presence of interfering metals
US5391199A (en) 1993-07-20 1995-02-21 Biosense, Inc. Apparatus and method for treating cardiac arrhythmias
US5425382A (en) 1993-09-14 1995-06-20 University Of Washington Apparatus and method for locating a medical tube in the body of a patient
US5558091A (en) 1993-10-06 1996-09-24 Biosense, Inc. Magnetic determination of position and orientation
CN1226960C (en) 1994-08-19 2005-11-16 生物感觉有限公司 Medical diagnosis, treatment and imaging systems
US5829444A (en) * 1994-09-15 1998-11-03 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
JP3135068B2 (en) * 1994-09-15 2001-02-13 ビジュアリゼイション テクノロジー インコーポレイテッド Position tracking and image generation system for medical applications using a reference unit fixed to the patient's head
DE4439691A1 (en) 1994-11-07 1996-05-09 Philips Patentverwaltung Procedure for determining the spatial field distribution
US6690963B2 (en) * 1995-01-24 2004-02-10 Biosense, Inc. System for determining the location and orientation of an invasive medical instrument
US6246898B1 (en) * 1995-03-28 2001-06-12 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5797849A (en) 1995-03-28 1998-08-25 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5577502A (en) 1995-04-03 1996-11-26 General Electric Company Imaging of interventional devices during medical procedures
FR2734900B1 (en) 1995-06-01 1997-07-04 Sextant Avionique METHOD FOR DETERMINING THE POSITION AND ORIENTATION OF A MOBILE SYSTEM, IN PARTICULAR OF THE SIGHT LINE IN A HELMET VIEWFINDER
US5752513A (en) 1995-06-07 1998-05-19 Biosense, Inc. Method and apparatus for determining position of object
US5729129A (en) * 1995-06-07 1998-03-17 Biosense, Inc. Magnetic location system with feedback adjustment of magnetic field generator
US5592939A (en) 1995-06-14 1997-01-14 Martinelli; Michael A. Method and system for navigating a catheter probe
US5715822A (en) 1995-09-28 1998-02-10 General Electric Company Magnetic resonance devices suitable for both tracking and imaging
US5682886A (en) 1995-12-26 1997-11-04 Musculographics Inc Computer-assisted surgical system
US6453190B1 (en) 1996-02-15 2002-09-17 Biosense, Inc. Medical probes with field transducers
DE69733249T8 (en) 1996-02-15 2006-04-27 Biosense Webster, Inc., Diamond Bar DETERMINATION OF THE EXACT POSITION OF ENDOSCOPES
EP0910300B1 (en) 1996-02-15 2003-12-03 Biosense, Inc. Site marking probe
JP3881028B2 (en) * 1996-02-15 2007-02-14 バイオセンス・インコーポレイテッド Movable transmit or receive coils for position detection systems
WO1997029678A2 (en) 1996-02-15 1997-08-21 Biosense Inc. Catheter calibration and usage monitoring system
US5769843A (en) 1996-02-20 1998-06-23 Cormedica Percutaneous endomyocardial revascularization
AU704129B2 (en) 1996-02-27 1999-04-15 Biosense, Inc. Location system with field actuation sequences
AU722748B2 (en) 1996-05-06 2000-08-10 Biosense, Inc. Radiator calibration
US5767669A (en) * 1996-06-14 1998-06-16 Ascension Technology Corporation Magnetic field position and orientation measurement system with dynamic eddy current rejection
US5997473A (en) 1996-09-06 1999-12-07 Olympus Optical Co., Ltd. Method of locating a coil which consists of determining the space occupied by a source coil generating a magnetic field
US5831260A (en) 1996-09-10 1998-11-03 Ascension Technology Corporation Hybrid motion tracker
SE9603314D0 (en) 1996-09-12 1996-09-12 Siemens Elema Ab Method and apparatus for determining the location of a catheter within the body of a patient
US6122538A (en) 1997-01-16 2000-09-19 Acuson Corporation Motion--Monitoring method and system for medical devices
US6380732B1 (en) 1997-02-13 2002-04-30 Super Dimension Ltd. Six-degree of freedom tracking system having a passive transponder on the object being tracked
US5879297A (en) * 1997-05-08 1999-03-09 Lucent Medical Systems, Inc. System and method to determine the location and orientation of an indwelling medical device
US6147480A (en) * 1997-10-23 2000-11-14 Biosense, Inc. Detection of metal disturbance
GB2331807B (en) 1997-11-15 2002-05-29 Roke Manor Research Catheter tracking system
US6073043A (en) * 1997-12-22 2000-06-06 Cormedica Corporation Measuring position and orientation using magnetic fields
US6239724B1 (en) 1997-12-30 2001-05-29 Remon Medical Technologies, Ltd. System and method for telemetrically providing intrabody spatial position
CA2327696A1 (en) 1998-04-09 1999-10-21 Boston Scientific Corporation Self-calibrating systems and methods for locating and guiding operative elements within the interior of living bodies
US6201987B1 (en) * 1998-05-26 2001-03-13 General Electric Company Error compensation for device tracking systems employing electromagnetic fields
US6373240B1 (en) * 1998-10-15 2002-04-16 Biosense, Inc. Metal immune system for tracking spatial coordinates of an object in the presence of a perturbed energy field
US6246231B1 (en) 1999-07-29 2001-06-12 Ascension Technology Corporation Magnetic field permeable barrier for magnetic position measurement system
US6427079B1 (en) 1999-08-09 2002-07-30 Cormedica Corporation Position and orientation measuring with magnetic fields
US6474341B1 (en) 1999-10-28 2002-11-05 Surgical Navigation Technologies, Inc. Surgical communication and power system
US6493573B1 (en) 1999-10-28 2002-12-10 Winchester Development Associates Method and system for navigating a catheter probe in the presence of field-influencing objects
US6172499B1 (en) * 1999-10-29 2001-01-09 Ascension Technology Corporation Eddy current error-reduced AC magnetic position measurement system
US6369564B1 (en) 1999-11-01 2002-04-09 Polhemus, Inc. Electromagnetic position and orientation tracking system with distortion compensation employing wireless sensors
US6400139B1 (en) * 1999-11-01 2002-06-04 Polhemus Inc. Methods and apparatus for electromagnetic position and orientation tracking with distortion compensation
US6484118B1 (en) 2000-07-20 2002-11-19 Biosense, Inc. Electromagnetic position single axis system
JP4288443B2 (en) * 2000-09-07 2009-07-01 株式会社島津製作所 Head motion tracker and its measurement value correction method
US6774624B2 (en) * 2002-03-27 2004-08-10 Ge Medical Systems Global Technology Company, Llc Magnetic tracking system
JP4008341B2 (en) 2002-12-02 2007-11-14 シャープ株式会社 Error diffusion gradation generation method, error diffusion gradation image display method, and gradation generation encoder

Also Published As

Publication number Publication date
EP1421900B1 (en) 2006-10-11
DK1421900T3 (en) 2007-02-19
SI1421900T1 (en) 2007-04-30
JP4717341B2 (en) 2011-07-06
CY1106241T1 (en) 2011-06-08
JP2004174244A (en) 2004-06-24
IL158943A (en) 2010-04-29
US20040102696A1 (en) 2004-05-27
KR20040045363A (en) 2004-06-01
ES2272904T3 (en) 2007-05-01
ATE341995T1 (en) 2006-11-15
IL158943A0 (en) 2004-05-12
PT1421900E (en) 2006-12-29
AU2003262437B2 (en) 2008-12-11
EP1421900A1 (en) 2004-05-26
AU2003262437A1 (en) 2004-06-10
DE60308979T2 (en) 2007-04-12
DE60308979D1 (en) 2006-11-23
US7945309B2 (en) 2011-05-17
CA2450195C (en) 2012-02-07

Similar Documents

Publication Publication Date Title
CA2450195A1 (en) Dynamic metal immunity
AU722748B2 (en) Radiator calibration
EP1878384B1 (en) Probe for assessment of metal distortion
EP1604610B1 (en) Method and apparatus for tracking an object, in particular a catheter, using energy fields
RU2583346C2 (en) Detection of concealed metallic or magnetic object
JP4563633B2 (en) Inductive measurement method for objects
DE69809411D1 (en) SYSTEM AND METHOD FOR DETERMINING THE LOCALIZATION AND ORIENTATION OF A PERMANENTLY Lingering MEDICAL INSTRUMENT
MXPA06012033A (en) Metal immunity in a reverse magnetic system.
EP1510174B1 (en) Apparatus, method and software for tracking an object
CA2335499A1 (en) Apparatus for detecting metals
JP3436376B2 (en) How to balance a rotating body
AU2004202168B2 (en) Dynamic metal immunity by hysteresis
EP3181197B1 (en) Braking system for gymnastic machines and operating method thereof
KR102021563B1 (en) Nondestructive testing apparatus
WO2001046682A3 (en) Method and device for the in situ detection of the degree of conversion of a non-magnetic phase in a ferromagnetic phase of a metallic work piece
JP4612914B2 (en) Jaw movement measuring device
CN211205181U (en) Angle sensor and correction parameter calculation unit
JP4371535B2 (en) Radiation instrumentation system calibration method
JPS60216959A (en) Detection of level of continuous casting mold
JP4585709B2 (en) Simple calibration method for electromagnetic molten steel level detector
KR101543411B1 (en) Apparatus for measuring coating layer thickness and the method thereof
JPH11250844A (en) Outer magnetic field fluctuation correcting device
JPH02140621A (en) Vortex type mold level instrument
JPS58111724A (en) Electromagnetic type fused steel level detecting apparatus for continuous casting mold
JPH0224347U (en)

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed

Effective date: 20211119