US5592939A — Method and system for navigating a catheter probe

Claim 1

Independent Claim 115 words

A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of: inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil; determining the orientation of said sensing coil using said induced orientation signal values; inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil; and determining the position of said sensing coil using said positional signal values and said determined orientation.

Claim 2

Independent Claim 115 words

A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of: inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil; determining the orientation of said sensing coil using said induced orientation signal values; inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil; and determining the position of said sensing coil using said positional signal values and said determined orientation.

Claim 3

Dependent Claim 61 words

The method as recited in claim 1, wherein the step of inducing said set of orientation signal values comprises the steps of: generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by a principal magnetic component in one axial dimension and relatively smaller magnetic components in two other axial dimensions.

Claim 4

Dependent Claim 63 words

The method as recited in claim 1, wherein the step of inducing said set of positional signal values comprises the steps of: generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by two principal gradient magnetic components in respective axial dimensions and a relatively smaller magnetic components in a third axial dimension.

Claim 5

Dependent Claim 82 words

The method as recited in claim 3, wherein said generating step further includes the steps of: generating said fields to provide a plurality of constant signal surfaces for the sensing coil such that an intersection between two such surfaces with components in the same axial dimensions produces a line along which said sensing coil is located; wherein said two such surfaces are identified from among said plurality of constant signal surfaces by their ability to induce one of said positional signal values.

Claim 6

Dependent Claim 35 words

The method as recited in claim 4, further comprises the steps of: weighting each line in accordance with a signal strength of said corresponding constant signal surface; and determining an intersection of said weighted lines.

Claim 7

Dependent Claim 19 words

The method as recited in claim 5, wherein six constant signal surfaces are generated to produce three intersection lines.

Claim 8

Independent Claim 131 words

A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: first transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of an orientation of said sensing coil and independent of the position of said sensing coil; second transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of the position of said sensing coil; and analysis means, coupled to said first transmit means and said second transmit means, for determining the position and orientation of said sensing coil from said induced signal values.

Claim 9

Independent Claim 131 words

A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: first transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of an orientation of said sensing coil and independent of the position of said sensing coil; second transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of the position of said sensing coil; and analysis means, coupled to said first transmit means and said second transmit means, for determining the position and orientation of said sensing coil from said induced signal values.

Claim 10

Independent Claim 131 words

A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil; analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil; second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.

Claim 11

Independent Claim 131 words

A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil; analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil; second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.

Claim 12

Dependent Claim 48 words

The system as recited in claim 8, wherein the first signal-inducing means comprises: field generation means for successively generating magnetic field patterns projected into said navigational domain, each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions.

Claim 13

Dependent Claim 18 words

The system as recited in claim 9, wherein said field generation means comprises a set of magnetic coils.

Claim 14

Dependent Claim 31 words

The system as recited in claim 10, wherein said magnetic coils are disposed in a planar top of an examination deck upon which a patient is disposed during a surgical procedure.

Claim 15

Dependent Claim 41 words

The system as recited in claim 10, wherein said magnetic coils are disposed in a planar top and in rail members edge supported by said planar top for an examination deck upon which a patient is disposed during a surgical procedure.

Claim 16

Dependent Claim 44 words

The system as recited in claim 8, wherein the second signal-inducing means comprises: field generation means for successively generating magnetic field patterns each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.

Claim 17

Dependent Claim 17 words

The system as recited in claim 13, wherein the field generation means comprises a magnetic coil assembly.

Claim 18

Independent Claim 129 words

A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of: defining the location of said sensing coil with a set of independent location parameters; and sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.

Claim 19

Independent Claim 129 words

A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of: defining the location of said sensing coil with a set of independent location parameters; and sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.

Claim 20

Dependent Claim 70 words

The method as recited in claim 15, wherein said sequence of magnetic fields comprises: a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; and a series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.

Claim 21

Dependent Claim 81 words

The method as recited in claim 16, wherein said signal expression groups include: an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; and a position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil.

Claim 22

Dependent Claim 43 words

The method as recited in claim 17, wherein the step of sequentially solving said individual signal expression groups includes the steps of: initially solving the induced signal expressions of said orientation group; and next solving the induced signal expressions of said position group.

Claim 23

Independent Claim 132 words

A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: means for defining the location of said sensing coil with a set of independent location parameters; and field generation means for sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.

Claim 24

Independent Claim 132 words

A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising: means for defining the location of said sensing coil with a set of independent location parameters; and field generation means for sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.

Claim 25

Dependent Claim 70 words

The system as recited in claim 19, wherein said sequence of magnetic fields comprises: a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; and a series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.

Claim 26

Dependent Claim 81 words

The system as recited in claim 20, wherein said signal expression groups include: an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; and a position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil.

Claim 27

Dependent Claim 38 words

The system as recited in claim 21, wherein said field generation means comprises: analysis means for solving the induced signal expressions of said orientation group; and analysis means for solving the induced signal expressions of said position group.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2000-01-14	2000-07-15	2001-01-14	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2004-01-14	2004-07-15	2005-01-14	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2008-01-14	2008-07-15	2009-01-14	$7700.00	Window Closed / Lapsed

Method and system for navigating a catheter probe

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