Patent US6427079B1 successfully refreshed from Google Patents.
US6427079B1
Expired / Lapsed
US
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Position and orientation measuring with magnetic fields
Assignee: Cormedica Corp
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Filing: 1999-08-09
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Granted: 2002-07-30
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Expires: 2019-08-09
Abstract
Abstract Splines of magnetic field values are used by a processor to determine location parameters in a remote location determination system. The location determination system is used on a laser catheter that is operable to perform myocardial revascularization. An automatic calibration technique compensates for any variations in gain in a sensor and related components. Methods for reducing the effects of eddy currents in surrounding conductive objects are used in electromagnetic position and orientation measurement systems.
Inventors
- 👤 Mark R. Schneider
- 👤 Christopher D. Conover
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 22:14
CPC Classifications
A; A61; A61B; A61B8/00; A61B8/42; A61B8/4245; A61B8/4254; A61B5/00; A61B5/06; A61B5/061; A61B5/062; A61B5/72; A61B5/7225; A61B3/00; A61B3/10; A61B3/113; A61B5/103; A61B5/1036; A61B5/1038; A61B5/7235; A61B5/7253; A61B5/7257
Claims Analysis
Total Claims: 41
Claim 1
Independent Claim
106 words
A remote object location determining system comprising: a generation subsystem having at least one transducer operable to produce an electromagnetic field; a sensing subsystem having at least one transducer operable to measure an electromagnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem; and a processor operably connected to receive sensor signals from the sensing subsystem, and to determine at least two location parameters by comparing measured magnetic field values to a function of splines corresponding to magnetic field values; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers.
Claim 2
Dependent Claim
106 words
A remote object location determining system comprising: a generation subsystem having at least one transducer operable to produce an electromagnetic field; a sensing subsystem having at least one transducer operable to measure an electromagnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem; and a processor operably connected to receive sensor signals from the sensing subsystem, and to determine at least two location parameters by comparing measured magnetic field values to a function of splines corresponding to magnetic field values; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers.
Claim 3
Dependent Claim
31 words
The remote object location determining system of claim 1 wherein the processor has stored splines from measurements taken using known locations prior to using the system for determining unknown location parameters.
Claim 4
Dependent Claim
24 words
The remote object location determining system of claim 2 wherein the processor uses an iteration technique to determine the at least two location parameters.
Claim 5
Dependent Claim
39 words
The remote object location determining system of claim 1 wherein the generation subsystem includes a plurality of transducers operable to produce electromagnetic fields and wherein the driver sequentially drives different transducers of the generation subsystem in a multiplexing operation.
Claim 6
Dependent Claim
46 words
The remote object location determining system of claim 1 wherein the system is a medical system for use on a patient with one of the generating subsystem and sensing subsystem inside the patient and the other of the generating subsystem and sensing subsystem outside the patient.
Claim 7
Dependent Claim
33 words
The remote object location determining system of claim 1 further comprising a catheter operable for endomyocardial revascularization and wherein one of the generation subsystem and sensing subsystem is on or in the catheter.
Claim 8
Dependent Claim
39 words
The remote object location determining system of claim 6 wherein the processor has a plurality of magnetic field values stored from initial measurements and determines location parameters by comparing measured magnetic field values to a function of stored splines.
Claim 9
Dependent Claim
34 words
The remote object location determining system of claim 7 wherein the processor determines gain in the sensing subsystem automatically and determines location parameters independent from any variations in the gain of the sensing subsystem.
Claim 10
Dependent Claim
47 words
The remote object location determining system of claim 1 wherein the processor minimizes inaccuracies in the location parameters by performing eddy current compensation, thus reducing or eliminating inaccuracies that would otherwise be introduced by eddy currents in the vicinity of the sensing subsystem and the generation subsystem.
Claim 11
Dependent Claim
34 words
The remote object location determining system of claim 1 wherein the processor determines gain in the sensing subsystem automatically and determines location parameters independent from any variations in the gain of the sensing subsystem.
Claim 12
Dependent Claim
36 words
The remote object location determining system of claim 10 wherein the system is a medical system for use on a patient, the location parameters providing information used in a process of treating or diagnosing a patient.
Claim 13
Dependent Claim
45 words
The remote object location determining system of claim 11 wherein the medical system is operable for use on a patient with one of the generating subsystem and sensing subsystem inside the patient and the other of the generating subsystem and sensing subsystem outside the patient.
Claim 14
Dependent Claim
29 words
The remote object location determining system of claim 12 further comprising a catheter and wherein one of the generation subsystem and sensing subsystem is on or in the catheter.
Claim 15
Dependent Claim
17 words
The remote object location determining system of claim 13 wherein the catheter is operable for endomyocardial revascularization.
Claim 16
Dependent Claim
20 words
The remote object location determining system of claim 14 wherein the catheter is a laser catheter operable for endomyocardial revascularization.
Claim 17
Dependent Claim
129 words
A remote object location determining system comprising: a generation subsystem having at least one transducer operable to produce an electromagnetic field; a sensing subsystem having at least one transducer operable to sense an electromagnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem; and a processor operably connected to receive sensor signals from the sensing subsystem, the processor operable to determine at least two location parameters of a relationship between the generation subsystem and the sensing subsystem, and wherein the processor determines gain in the sensing subsystem automatically and determines location parameters independent from any variations in the gain of the sensing subsystem; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers.
Claim 18
Dependent Claim
129 words
A remote object location determining system comprising: a generation subsystem having at least one transducer operable to produce an electromagnetic field; a sensing subsystem having at least one transducer operable to sense an electromagnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem; and a processor operably connected to receive sensor signals from the sensing subsystem, the processor operable to determine at least two location parameters of a relationship between the generation subsystem and the sensing subsystem, and wherein the processor determines gain in the sensing subsystem automatically and determines location parameters independent from any variations in the gain of the sensing subsystem; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers.
Claim 19
Dependent Claim
36 words
The remote object location determining system of claim 16 wherein the system is a medical system for use on a patient, the location parameters providing information used in a process of treating or diagnosing a patient.
Claim 20
Dependent Claim
45 words
The remote object location determining system of claim 17 wherein the medical system is operable for use on a patient with one of the generating subsystem and sensing subsystem inside the patient and the other of the generating subsystem and sensing subsystem outside the patient.
Claim 21
Dependent Claim
29 words
The remote object location determining system of claim 18 further comprising a catheter and wherein one of the generation subsystem and sensing subsystem is on or in the catheter.
Claim 22
Dependent Claim
17 words
The remote object location determining system of claim 19 wherein the catheter is operable for endomyocardial revascularization.
Claim 23
Dependent Claim
20 words
The remote object location determining system of claim 20 wherein the catheter is a laser catheter operable for endomyocardial revascularization.
Claim 24
Dependent Claim
84 words
The remote object location determining system of claim 17 wherein the excitation waveforms are selected from the group consisting of a ramp waveform and a triangular waveform, and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers and wherein the processor minimizes inaccuracies in the location parameters by performing eddy current compensation, thus reducing or eliminating inaccuracies that would otherwise be introduced by eddy currents in the vicinity of the sensing subsystem and the generation subsystem.
Claim 25
Dependent Claim
44 words
The remote object location determining system of claim 17 processor operably connected to receive sensor signals from the sensing subsystem, and to determine at least two location parameters by comparing measured magnetic field values to a function of splines corresponding to magnetic field values.
Claim 26
Dependent Claim
159 words
A remote object location determining system comprising: a generation subsystem having at least one transducer operable to produce an electromagnetic field; a sensing subsystem having at least one transducer operable to sense an electromagnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem, the excitation waveforms being selected from the group consisting of a ramp waveform and a triangular waveform; and a processor operably connected to receive sensor signals from the sensing subsystem, the processor operable to determine at least two location parameters of a relationship between the generation subsystem and the sensing subsystem; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers and wherein the processor minimizes inaccuracies in the location parameters by performing eddy current compensation, thus reducing or eliminating inaccuracies that would otherwise be introduced by eddy currents in the vicinity of the sensing subsystem and the generation subsystem.
Claim 27
Dependent Claim
159 words
A remote object location determining system comprising: a generation subsystem having at least one transducer operable to produce an electromagnetic field; a sensing subsystem having at least one transducer operable to sense an electromagnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem, the excitation waveforms being selected from the group consisting of a ramp waveform and a triangular waveform; and a processor operably connected to receive sensor signals from the sensing subsystem, the processor operable to determine at least two location parameters of a relationship between the generation subsystem and the sensing subsystem; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers and wherein the processor minimizes inaccuracies in the location parameters by performing eddy current compensation, thus reducing or eliminating inaccuracies that would otherwise be introduced by eddy currents in the vicinity of the sensing subsystem and the generation subsystem.
Claim 28
Dependent Claim
39 words
The remote object location determining system of claim 24 wherein the generation subsystem includes a plurality of transducers operable to produce electromagnetic fields and wherein the driver sequentially drives different transducers of the generation subsystem in a multiplexing operation.
Claim 29
Dependent Claim
30 words
The remote object location determining system of claim 25 wherein the processor performs eddy current compensation by a non-extrapolated calculating of a response at infinite time of the sensor signals.
Claim 30
Dependent Claim
46 words
The remote object location determining system of claim 24 wherein the system is a medical system for use on a patient with one of the generating subsystem and sensing subsystem inside the patient and the other of the generating subsystem and sensing subsystem outside the patient.
Claim 31
Dependent Claim
33 words
The remote object location determining system of claim 27 further comprising a catheter operable for endomyocardial revascularization and wherein one of the generation subsystem and sensing subsystem is on or in the catheter.
Claim 32
Dependent Claim
44 words
The remote object location determining system of claim 27 processor operably connected to receive sensor signals from the sensing subsystem, and to determine at least two location parameters by comparing measured magnetic field values to a function of splines corresponding to magnetic field values.
Claim 33
Dependent Claim
34 words
The remote object location determining system of claim 27 wherein the processor determines gain in the sensing subsystem automatically and determines location parameters independent from any variations in the gain of the sensing subsystem.
Claim 34
Independent Claim
74 words
A method of determining the position and orientation of a remote object, comprising the steps of: measuring a magnetic field so as to generate first measurement values; characterizing said magnetic field with splines using said first measurement values; measuring said magnetic field at a selected location so as to generate second measurement values; and determining at least two location parameters relative to said selected location by comparing said second measurement values with said splines.
Claim 35
Independent Claim
74 words
A method of determining the position and orientation of a remote object, comprising the steps of: measuring a magnetic field so as to generate first measurement values; characterizing said magnetic field with splines using said first measurement values; measuring said magnetic field at a selected location so as to generate second measurement values; and determining at least two location parameters relative to said selected location by comparing said second measurement values with said splines.
Claim 36
Dependent Claim
15 words
A method according to claim 31 , wherein second location is inside a mammalian body.
Claim 37
Dependent Claim
19 words
A method according to claim 31 , wherein said at least two location parameters include position and orientation information.
Claim 38
Independent Claim
111 words
A system for determining the location of a remote object, comprising: a generation subsystem having at least one transducer operable to produce a magnetic field; a sensing subsystem having at least one transducer operable to measure a magnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem; a processor operably connected to receive sensor signals from the sensing subsystem, and to determine at least two location parameters by comparing measured magnetic field values to a plurality of polynomials fit together to characterize said electromagnetic field; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers.
Claim 39
Independent Claim
111 words
A system for determining the location of a remote object, comprising: a generation subsystem having at least one transducer operable to produce a magnetic field; a sensing subsystem having at least one transducer operable to measure a magnetic field produced by the generation subsystem; a driver operable to apply excitation waveforms to the generation subsystem; a processor operably connected to receive sensor signals from the sensing subsystem, and to determine at least two location parameters by comparing measured magnetic field values to a plurality of polynomials fit together to characterize said electromagnetic field; and wherein at least one of the generation subsystem and the sensing subsystem has a plurality of transducers.
Claim 40
Dependent Claim
98 words
A remote object location determining system, comprising: first means for producing a magnetic field; second means for measuring a magnetic field produced by said first means and providing an output signal containing magnetic field values obtained from measurement of said magnetic field; third means for applying excitation waveforms to said first means; and fourth means, operably connected to said second means, for receiving said output signal and for determining at least two location parameters by comparing said magnetic field values in said output signal to a function of splines characterizing said magnetic field produced by said first means.
Claim 41
Dependent Claim
98 words
A remote object location determining system, comprising: first means for producing a magnetic field; second means for measuring a magnetic field produced by said first means and providing an output signal containing magnetic field values obtained from measurement of said magnetic field; third means for applying excitation waveforms to said first means; and fourth means, operably connected to said second means, for receiving said output signal and for determining at least two location parameters by comparing said magnetic field values in said output signal to a function of splines characterizing said magnetic field produced by said first means.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-07-29 | 2006-01-28 | 2006-07-30 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-07-29 | 2010-01-28 | 2010-07-30 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-07-29 | 2014-01-28 | 2014-07-30 | $7700.00 | Window Closed / Lapsed |