US6475223B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for magnetically controlling motion direction of a mechanically pushed catheter
Assignee: Stereotaxis Inc
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Filing: 1999-07-20
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Granted: 2002-11-05
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Expires: 2019-07-20
Abstract
Abstract The movement of a catheter through a medium, which may be living tissue such as a human brain, is controlled by mechanically pushing a flexible catheter having a magnetic tip through the medium and applying a magnetic field having a magnitude and a direction that guides the mechanically-pushed catheter tip stepwise along a desired path. The magnetic field is controlled in a Magnetic Stereotaxis System by a processor using an adaptation of a PID (proportional, integral, and derivative) feedback method. The magnetic fields are applied by superconducting coils, and the currents applied through the coils are selected to minimize a current metric.
Inventors
- 👤 Peter R. Werp
- 👤 Walter M. Blume
- 👤 Francis M. Creighton, IV
- 👤 Rogers C. Ritter
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 14:50
CPC Classifications
A; A61; A61M; A61M25/00; A61M25/01; A61M25/0105; A61M25/0127; A61B; A61B34/00; A61B34/70; A61B34/73; A61B90/00; A61B90/10; A61B2034/731; A61B2034/732; A61B90/36; A61B90/37; A61B2090/374; A61B6/00; A61B6/12
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
158 words
A device for guiding a catheter having a magnetic tip through a medium, the device comprising: (a) a helmet having a cavity configured to encompass a medium through which a catheter is to be guided; (b) a magnetic field generator for generating a magnetic field in the cavity; (c) a position sensor for sensing a location of a magnetic tip of a catheter in the cavity and generating a signal indicative of the sensed location; (d) an advancement mechanism for pushing the magnetic tip of the catheter through the medium; and (e) a processor responsive to the signal from the position sensor and having an operator control input, the processor being configured to control the magnetic field generated by the magnetic field generator in response to commands input via the operator control input and the signal received from the position sensor, and the processor is configured to operate the advancement mechanism for pushing the tip of the catheter.
Claim 2
Independent Claim
158 words
A device for guiding a catheter having a magnetic tip through a medium, the device comprising: (a) a helmet having a cavity configured to encompass a medium through which a catheter is to be guided; (b) a magnetic field generator for generating a magnetic field in the cavity; (c) a position sensor for sensing a location of a magnetic tip of a catheter in the cavity and generating a signal indicative of the sensed location; (d) an advancement mechanism for pushing the magnetic tip of the catheter through the medium; and (e) a processor responsive to the signal from the position sensor and having an operator control input, the processor being configured to control the magnetic field generated by the magnetic field generator in response to commands input via the operator control input and the signal received from the position sensor, and the processor is configured to operate the advancement mechanism for pushing the tip of the catheter.
Claim 3
Dependent Claim
17 words
The device of claim 1 wherein the magnetic field generator comprises a set of six superconducting coils.
Claim 4
Dependent Claim
25 words
The device of claim 2 wherein the six superconducting coils are configured as three sets of unbalanced pairs generating magnetic fields in mutually perpendicular directions.
Claim 5
Dependent Claim
15 words
The device of claim 3 wherein the helmet is configured to encompass a human head.
Claim 6
Dependent Claim
15 words
The device of claim 1 wherein the magnetic field generator comprises a plurality of coils.
Claim 7
Independent Claim
147 words
A device for guiding a catheter having a magnetic tip through a medium, the device comprising: (a) a magnetic field generator for generating a magnetic field in the medium through which a catheter is to be guided; (b) a position sensor for sensing a location of a magnetic tip of a catheter in the cavity and generating a signal indicative of the sensed location; (c) an advancement mechanism for pushing the magnetic tip of the catheter through the medium; and (d) a processor responsive to the signal from the position sensor and having an operator control input, the processor being configured to control the magnetic field generated by the magnetic field generator in response to commands input via the operator control input and the signal received from the position sensor, and the processor is configured to operate the advancement mechanism for pushing the tip of the catheter.
Claim 8
Independent Claim
147 words
A device for guiding a catheter having a magnetic tip through a medium, the device comprising: (a) a magnetic field generator for generating a magnetic field in the medium through which a catheter is to be guided; (b) a position sensor for sensing a location of a magnetic tip of a catheter in the cavity and generating a signal indicative of the sensed location; (c) an advancement mechanism for pushing the magnetic tip of the catheter through the medium; and (d) a processor responsive to the signal from the position sensor and having an operator control input, the processor being configured to control the magnetic field generated by the magnetic field generator in response to commands input via the operator control input and the signal received from the position sensor, and the processor is configured to operate the advancement mechanism for pushing the tip of the catheter.
Claim 9
Dependent Claim
17 words
The device of claim 6 wherein the magnetic field generator comprises a set of six superconducting coils.
Claim 10
Dependent Claim
25 words
The device of claim 6 wherein the six superconducting coils are configured as three sets of unbalanced pairs generating magnetic fields in mutually perpendicular directions.
Claim 11
Dependent Claim
17 words
The device of claim 6 wherein the magnetic field generator is configured to encompass a human head.
Claim 12
Dependent Claim
15 words
The device of claim 6 wherein the magnetic field generator comprises a plurality of coils.
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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) | 2005-11-04 | 2006-05-06 | 2006-11-05 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-11-04 | 2010-05-06 | 2010-11-05 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-11-04 | 2014-05-06 | 2014-11-05 | $7700.00 | Window Closed / Lapsed |