General Electric Company

Ge Medical Systems Global Technology Company, LLC

Peter Traneus Anderson

Gerald L Beauregard

Christopher D Cherry

Dun Alex Li

Gerald Lee Beauregard

Gopal Biligeri Avinash

Richard Aufrichtig

Vernon Jensen

Daniel Eduardo Groszmann

John Robert Lamberty

Jonathan David Schiff

Allison Leigh Weiner

Nora T Tgavalekos

Lonnie B Weston

Paul Kenneth Kuhn

A surgical navigation system including an ultrasound catheter is disclosed herein. The ultrasound catheter includes a flexible catheter housing defining a distal end, a transducer array disposed at least partially within the catheter housing, and a motor coupled with the transducer array. The motor is configured to rotate the transducer array in order to image a three-dimensional volume. The ultrasound catheter also includes a tracking element adapted to provide an estimate of a position and/or orientation of the distal end of the catheter housing. The tracking element is disposed within the catheter housing and immediately adjacent to the distal end.

Surgical navigation system with a trackable ultrasound catheter

Certain embodiments of the present invention provide a method for correlating data including: receiving from a tracking subsystem a first data set including a tracked position of an object; receiving from an imaging subsystem a second data set including an image of the object; and comparing automatically at least a portion of the first data set with at least a portion of the second data based at least in part on the tracked position of the object and the image of the object. In an embodiment, the comparing automatically the first data set with the second data set is performable in real-time. In an embodiment, the method further includes registering the first data set with the second data set. In an embodiment, the tracking subsystem tracks the object electromagnetically, at least in part. In an embodiment, the imaging subsystem includes an x-ray imaging subsystem. In an embodiment, the first data set is generatable by the tracking subsystem substantially in real-time. In an embodiment, the method further includes determining an offset between at least a portion of the first data set and at least a portion of the second data set. In an embodiment, the method further includes performing an adjustment based at least in part on the offset on at least one of: the tracking subsystem, the imaging subsystem, and a data processing subsystem.

Methods and systems for registration of surgical navigation data and image data

An electromagnetic tracking system comprising at least one electromagnetic transmitter assembly or at least one electromagnetic receiver assembly with two coils attachable to a trackable object to be tracked. The two coils including a first large coil and a second small coil, with the second small coil positioned asymmetrically with respect to the first large coil. The electromagnetic tracking system enables a medical professional to continually track the position and orientation of the object during a medical procedure.

Coil arrangement for an electromagnetic tracking system

Certain embodiments of the present invention provide a system and method for software configurable electromagnetic tracking. Certain embodiments of the system include a transmitter and/or a receiver for measuring a position in a coordinate system. The system also includes tracker electronics for determining position of the transmitter and/or receiver using information from the transmitter and/or receiver. The tracker electronics are configurable for a plurality of tracking system architectures. The tracker electronics may generate a processing scheme for a tracking system architecture. Additionally, the tracker electronics may simultaneously support a plurality of tracking system architectures. The tracker electronics may be modular, configurable tracker electronics. The tracker electronics may use software to generate support for a plurality of tracking system architectures.

System and method for electromagnetic tracking operable with multiple coil architectures

An electromagnetic tracking coil arrangement, comprising three co-planar electromagnetic sensors and a fourth electromagnetic sensor that is not co-planar with the three co-planar sensors, wherein the three co-planar electromagnetic sensors and the fourth electromagnetic sensor are each located at a vertex of a tetrahedron.

Coil arrangement for electromagnetic tracking method and system

Certain embodiments of the present invention provide a system and method for improved distortion measurement and compensation. Certain embodiments include selecting a set of sources on a surface of a volume, determining mutual inductances from the set of sources on the surface, and calculating distortion from the volume using the mutual inductances from the set of sources on the surface. In an embodiment, distortion is calculated using an integral method and/or a finite element analysis. The volume may be modeled as a simplified construct, such as a ring model, a coil array with straight line segments model, a polygon model, and/or dipole array model. The model may be adjusted based on the distortion calculated from the volume. Magnetic fields may also be used to calculate distortion. In an embodiment, an object may be tracked using a distortion mapping.

Method and system for field mapping using integral methodology

Provided is an electromagnetic coil arrangement comprising a set of electromagnetic sensors at fixed locations with respect to each other, each of the electromagnetic sensors comprising a planar coil coupled to a conductive layer, the planar coil comprising non-concentric rings. Further, provided is an electromagnetic tracking system, comprising an electromagnetic coil arrangement, at least one complementary electromagnetic sensor and a processor configured to process a signal comprising data indicative of a mutual inductance between the at least one complementary electromagnetic sensor and each of the set of the electromagnetic sensors of the electromagnetic coil arrangement. Also, provided are a method of tracking and a method of manufacturing an electromagnetic coil arrangement.

Electromagnetic tracking method and system

Certain embodiments of the present invention provide an antiscatter grid including an electromagnetic coil array integrated with the antiscatter grid. The electromagnetic coil array is registered with the antiscatter grid. The electromagnetic coil array is configured to detect an electromagnetic field at the antiscatter grid. In an embodiment, the electromagnetic coil array may be positioned in front of the antiscatter grid. In an embodiment, the electromagnetic coil array may be positioned behind the antiscatter grid. In an embodiment, the electromagnetic coil array may be attached to the antiscatter grid. In an embodiment, a portion of the electromagnetic coil array may be transparent to x-rays. In an embodiment, the electromagnetic coil array may include one or more electromagnetic coils. In an embodiment, the electromagnetic coil array may be a printed circuit board (PCB) electromagnetic coil array.

Electromagnetic coil array integrated into antiscatter grid

Provided is an electromagnetic tracking system, comprising a coil arrangement comprising a first coil configured to generate a first magnetic field and a second coil configured to generate a second magnetic field and a drive unit configured to provide a first drive current to the first coil and to provide a second drive current to the second coil, wherein the first drive current and the second drive current are at about the same frequency, wherein the frequency is below 60 Hz, and wherein the first electromagnetic field and the second magnetic field are generated out of phase. Also provided is a method of electromagnetic tracking comprising generating a first electromagnetic field at a frequency, generating a second electromagnetic field at about the frequency, wherein the frequency is below 60 Hz and wherein the first electromagnetic field and the second magnetic field are generated out of phase, sensing the first electromagnetic field and the second electromagnetic field and processing a waveform indicative of a combination of the sensed first electromagnetic field and the sensed second electromagnetic field.

Provided is an electromagnetic tracking system, including at least one electromagnetic field receiver having at least one scalar-magnetometer, at least one electromagnetic field transmitter, and tracker electronics. Also provided is a method for electromagnetic tracking, including generating at least one magnetic field, sensing the at least one magnetic field with at least one scalar-magnetometer, and determining a relative position of the at least one scalar-magnetometer based on the sensed at least one magnetic field.

Electromagnetic tracking employing scalar-magnetometer

The present invention provides an electromagnetic tracking system that includes a field generator and a field sensor arranged to generate and detect, respectively, an electromagnetic field. Both the transmitter and receiver coils are connected to signal conditioning and processing circuitry to provide outputs indicative of the coil signals. A processor operates on the signals to determine the coordinates of the sensing assembly relative to the generator assembly. The signal processor produces ratiometric outputs, and applies a mutual inductance model to solve for position/orientation coordinates. In some embodiments, a disturber in the form of a conductive ring or a sheath is disposed about an interfering piece of equipment to moderate and standardize disturbances due to eddy currents.

Magnetic tracking system

Described herein are one or more implementations for an electromagnetic (EM) position and orientation tracking system operating at an ultra-low frequency, which reduces the strength of eddy currents produced by nearby field-distorting electrically-conductive materials ('distorters'). This effectively reduces the overall distorting effect of distorters.

Ultra-low frequency electromagnetic tracking system

The presently described technology provides a method for simultaneously employing two or more coil architectures in an electromagnetic tracking system. The method includes providing a transmitter that includes three single-coil transmitters, one or more receivers each including three single-coil receivers, and a receiver array that includes a plurality of single-coil receivers; tracking one or more of the single-coil transmitters of the transmitter with respect to the receiver array; and simultaneously tracking one or more of the receivers with respect to the transmitter.

System and method for employing multiple coil architectures simultaneously in one electromagnetic tracking system

Certain embodiments of the present invention provide a method for detecting an electromagnetic field in an imaging system including emitting an electromagnetic field with an electromagnetic transmitter, sensing an electromagnetic field with an imaging system detector, and reading a field image from the detector based at least in part on the electromagnetic field. The imaging system detector is capable of reading an object image and a field image. The detector may be an amorphous silicon flat panel x-ray detector. The electromagnetic transmitter may be used in surgical navigation. The position of a surgical device, instrument, and/or tool may be determined based in part on the field image. The detector may be coordinated to acquire the field image when the electromagnetic transmitter is emitting an electromagnetic field. The detector may be coordinated to acquire the object image when the electromagnetic transmitter is not emitting an electromagnetic field.

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Andover, MA, United States of America

Peter Traneus Anderson