U.S. patent number 7,966,059 [Application Number 11/699,003] was granted by the patent office on 2011-06-21 for rotating and pivoting magnet for magnetic navigation.
This patent grant is currently assigned to Stereotaxis, Inc.. Invention is credited to Seth Burgett, Francis M. Creighton, IV.
United States Patent |
7,966,059 |
Creighton, IV , et
al. |
June 21, 2011 |
Rotating and pivoting magnet for magnetic navigation
Abstract
A system for magnetically navigating a medical device in an
operating region within the body of a patient. The system includes
a magnet having a front field projecting from the front of the
magnet sufficient to project a magnetic field into the operating
region in the patient. The magnet is mounted for movement between a
navigation position in which the magnet is located adjacent to the
patient with the front of the magnetic generally facing the
operating region, and an imaging position in which the magnet is
spaced from the patient and the front generally faces away from the
operating region.
Inventors: |
Creighton, IV; Francis M. (St.
Louis, MO), Burgett; Seth (St. Louis, MO) |
Assignee: |
Stereotaxis, Inc. (St. Louis,
MO)
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Family
ID: |
37908361 |
Appl.
No.: |
11/699,003 |
Filed: |
January 26, 2007 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20070146106 A1 |
Jun 28, 2007 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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10946634 |
Sep 21, 2004 |
7313429 |
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10347525 |
Jan 17, 2003 |
7019610 |
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10056227 |
Jan 23, 2002 |
6975197 |
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11699003 |
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10796568 |
Mar 9, 2004 |
7264584 |
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09678640 |
Oct 3, 2000 |
6702804 |
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60157619 |
Oct 4, 1999 |
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Current U.S.
Class: |
600/427;
128/899 |
Current CPC
Class: |
A61B
34/70 (20160201); H01F 7/0278 (20130101); A61B
34/73 (20160201); A61B 6/12 (20130101); A61B
2034/732 (20160201) |
Current International
Class: |
A61B
6/00 (20060101) |
Field of
Search: |
;600/424-427
;335/296-306 ;128/899 |
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Primary Examiner: Barrera; Ramon M
Attorney, Agent or Firm: Harness, Dickey & Pierce,
P.L.C.
Parent Case Text
CROSS REFERENCE TO RELATED APPLICATION
This is a continuation of U.S. patent application Ser. No.
10/946,634, filed Sep. 21, 2004, now U.S. Pat. No. 7,313,429 for
Method For Safely And Efficiently Navigating Magnetic Devices In
The Body, which is a continuation-in-part of U.S. patent
application Ser. No. 10/347,525, filed Jan. 17, 2003, now U.S. Pat.
No. 7,019,610 for Magnetic Navigation System, which is a
continuation-in-part of U.S. patent application Ser. No.
10/056,227, filed Jan. 23, 2002, now U.S. Pat. No. 6,975,197 for
Rotating and Pivoting Magnet for Magnetic Navigation; this
continuation application also claims priority to U.S. patent
application Ser. No. 10/796,568, filed Mar. 9, 2004, now U.S. Pat.
No. 7,264,584 which is a continuation of U.S. patent application
Ser. No. 09/678,640, now U.S. Pat. No. 6,702,804, for Method For
Safely And Efficiently Navigating Magnetic Devices In The Body,
which claims priority to Provisional Application 60/157,619, filed
Oct. 4, 1999, now abandoned; all of the above applications are
incorporated herein by reference.
Claims
What is claimed is:
1. A system for magnetically navigating a medical device in an
operating region within the body of a patient, the system
comprising: two or more magnets each having a magnetic field
projecting from the front of the magnet, which collectively are
sufficient to apply a magnetic field of a selected direction in an
operating region in the patient; a magnet support for each of the
two or more magnets, the magnet supports being pivotable between an
active position near the patient and an inactive position away from
the patient, each of the two or more magnetics being rotatable
about the patient to maintain the magnitude of the magnetic field,
and further being capable of translation towards or away from the
patient to allow the two or more magnets to be centered around the
operating region of the patient, the two or more magnets being
movable between a first position of maximum clockwise rotation
about the patient and a second position of maximum
counter-clockwise rotation about the patient; and an X-ray imaging
system proximate to the two or more magnets, the X-ray imaging
system being capable of a predetermined range of rotation about the
patient to provide X-ray images of the operating region concurrent
with operation of the two or more magnets, wherein the rotation of
the two or more magnets to a maximum position interferes with the
range of rotation of the imaging system in at least one maximum
position.
2. A magnet system for applying a magnetic field of selected
direction to an operating region inside a patient on a support, to
control a magnetic medical object in the operating region, the
magnet system comprising: two or more magnets, each on a magnet
support, and each being movable with respect to its magnet support
to rotate about the patient between first and second maximum
positions to control the direction of a magnetic field for
controlling the magnetic medical object in the operating region in
the patient, and each being capable of translation towards or away
from the patient to allow the two or more magnets to be centered
around the operating region of the patient, the magnet supports
being mounted on a pivoting base so that the magnet supports can be
moved between active and inactive positions by the pivoting of the
base, an X-ray imaging system proximate to the two or more magnets,
the X-ray imaging system having a range of movement about the
patient to obtain X-ray images of the operating region; and wherein
the two or more magnets can be rotated about the patient to prevent
obstruction of the imaging system's range of movement, while
maintaining the magnitude of the magnetic field in a selected
direction in the operating region, the rotation of the two or more
magnets to a maximum position interfering with the range of
rotation of the imaging system in at least one maximum
position.
3. A magnet system for applying a magnetic field of selected
direction to an operating region within the body of a patient, the
magnet system comprising two or more magnets; a support for
mounting each of the two or more magnets, the supports being
movable to rotate the two or more magnets between first and second
maximums about the patient for changing the position and
orientation of the two or more magnets to change the direction of
the magnetic field applied to the operating region, wherein the
supports are moveable for rotating each of the two or more magnets
about a first axis that rotates about a second axis perpendicular
to the first axis, and translating each of the two or more magnets
towards or away from the patient, the two or more magnet supports
being mounted on a pivoting base, such that the magnet supports may
be moved between an active and inactive position by the pivoting of
the base; and an X-ray imaging system capable of a range of
rotation about the patient and within the space between the two or
more magnets, wherein the two or more magnets may be rotated to
provide for an increased range of rotation for the X-ray imaging
system while also maintaining the magnitude of the applied magnetic
field wherein the two or more magnets are further capable of
translation towards or away from the patient to allow the two or
more magnets to be centered around the operating region of the
patient, and wherein the rotation of the two or more magnets to a
maximum position interferes with the range of rotation of the
imaging system in at least one maximum position.
4. A magnet system for applying a magnetic field of selected
direction to an operating region within the body of a patient, the
magnet system comprising: an X-ray imaging system comprising a
range of movement about the patient to obtain X-ray images of the
operating region; two or more magnets sufficient for applying a
magnetic field in a selected direction in the operating region of a
patient: a support for mounting each of the two or more magnets,
the supports being movable to rotate the one or more magnets about
the patient between first and second maximums to change the
position and orientation of the magnets to change the direction of
magnetic field applied to the operating region in the patient, the
magnets being movable between a first maximum rotation position in
which the imaging system may be moved to face the left side of the
patient, and a second maximum rotation position in which the
imaging system may be moved to face the right side of the patient;
the two or more magnets being configured to maintain the magnitude
of the magnetic field applied in a selected direction at any point
of rotation between the first and second maximum rotation
positions; the two or more magnets further being capable of
translation towards or away from the patient to allow the two or
more magnets to be centered around the operating region of the
patient; the supports being mounted on a pivoting base so that the
supports may be moved between an active and inactive position by
the pivoting of the base wherein the rotation of the two or more
magnets to a maximum position interferes with the range of rotation
of the imaging system in at least one maximum position.
5. A magnet system for applying a magnetic field of a selected
direction to a region within a subject body, the magnet system
comprising: an X-ray imaging system having a range of movement
about the patient to obtain X-ray images of the region; a plurality
of supports, each of which provides for a mounting of a magnet that
permits rotation of the magnet about the support; at least one
magnet on each support configured to apply a magnetic field of a
selected direction while moving relative to the support between a
first position and second position of maximum rotation about the
subject body; and wherein the plurality of supports are movable to
rotate the magnets about the patient while maintaining the selected
magnetic field direction while being moveable to provide clearance
for the X-ray imaging system to move about the patient, such that
the X-ray imaging system can obtain images of the subject body from
any position in its range of movement concurrent with the operation
of the magnets on the plurality of supports.
6. The magnet system of claim 5, wherein the plurality of supports
are further movable to translate towards the patient to allow the
magnets on the plurality of supports to be centered around the
operating region of the patient.
7. The magnet system of claim 6, wherein the range of movement of
the magnets on the plurality of supports between maximum positions
interferes with the range of rotation of the imaging system.
8. The magnet system of claim 7, wherein the plurality of magnet
supports are mounted on a pivoting base, and wherein the magnet
supports are movable between an active and inactive position by
pivoting of the base.
9. The magnet system of claim 8, further comprising a curved rail
on each of the plurality of supports, wherein the magnets on the
plurality of supports are mounted to the curved rail to permit
movement of the magnets along to the rail for providing rotation
about the patient.
Description
BACKGROUND OF THE INVENTION
This system relates to magnetic navigation of medical devices in
the body, and in particular to a system for applying a magnetic
field of selected direction to an operating region in a subject's
body to orient a magnetically responsive medical device.
Magnetic navigation of medical devices has significantly improved
to ability of medical professionals to control medical devices in
the body. Early magnetic navigation techniques involved the use of
superconducting magnets. While these techniques were, and remain,
highly effective, advances in permanent magnetic materials and in
the design of permanent magnets, have made it possible to use
permanent magnets for magnetic navigation. While the magnetic
fields created by superconducting magnets can be readily changed by
changing the currents in the superconducting electromagnetic coils,
in order to change the magnetic field created by permanent magnets
for navigation, it is generally necessary to change the position
and/or orientation of the permanent magnet. In order to accurately
control the magnetic field applied by permanent magnets, it is
necessary to accurately control the position and/or orientation of
the permanent magnet.
SUMMARY OF THE INVENTION
The present invention relates to a magnetic navigation system, and
in particular to a system including magnet units comprising a
permanent magnet, and a support for controlling the position and
orientation of a permanent magnet. The system is adapted for
magnetically navigating a medical device in an operating region
within the body of a patient. Generally, the system comprises a
magnet having a front field projecting from the front of the magnet
sufficient to project a magnetic field into the operating region in
the patient. The magnet is mounted for movement between a
navigation position in which the magnet is located adjacent to the
patient with the front of the magnet generally facing the operating
region, and an imaging position in which the magnet is spaced from
the patient and the front generally faces away from the operating
region.
According to another aspect of the invention, the system includes a
magnet system comprising: a magnet and a support for mounting the
magnet and changing the position and orientation of the magnet to
change the direction of magnetic field applied to the operating
region. The support is preferably capable of pivoting the magnet
about a first axis that rotates about a second axis perpendicular
to the first axis, and translating the magnet, preferably parallel
to the second axis.
In a second embodiment the support preferably also provides for
rotation of the magnet around the operating region, to accommodate
rotation of an imaging system about the operating region.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of a magnetic surgery suite
incorporating magnet assemblies in accordance with the principles
of this invention;
FIG. 1A is a top plan view of the magnetic surgery suite;
FIG. 2 is an exploded front perspective view of one of the magnet
assemblies (the other magnet assembly being a mirror image
thereof), with the cover removed to show details of
construction;
FIG. 3 is a front perspective view of the magnet assembly, with the
cover removed;
FIG. 4 is a front perspective view of the magnet assembly, showing
the lower cover;
FIG. 5 is a front perspective view of the magnet assembly, showing
the upper cover;
FIG. 6 is a rear perspective view of the magnet assembly;
FIG. 7 is a front elevation view of the magnet assembly;
FIG. 8 is a further exploded front perspective view of the
positioner system of the magnet assembly
FIG. 9 is a front elevation view of the positioner system of the
magnet assembly;
FIG. 10 is a left side elevation view of the positioner system of
the magnet assembly
FIG. 11 is a right side elevation view of the positioner system of
the magnet assembly;
FIG. 12 is a rear elevation view of the positioner system;
FIG. 13 is a top plan view of the positioner system;
FIG. 14 is a bottom plan view of the positioner system;
FIG. 15 is a front elevation view of the phi drive mechanism of the
magnet assembly;
FIG. 16 is a top plan view of the phi drive mechanism;
FIG. 17 is a left side elevation view of the phi drive
mechanism;
FIG. 18 is a right side elevation view of the phi drive
mechanism;
FIG. 19 is a front elevation view of the front plate of the phi
drive mechanism;
FIG. 20 is a left side elevation view of the front plate of the phi
drive mechanism;
FIG. 21 is a right side elevation view of the front plate of the
phi drive mechanism;
FIG. 22 is a horizontal transverse view of the front plate of the
phi drive mechanism, taken along the plane of line 22-22 in FIG.
19;
FIG. 23 is an exploded perspective view of the phi drive
mechanism;
FIG. 24 is a front elevation view of the theta drive mechanism of
the magnet assembly;
FIG. 25 is a top plan view of the theta drive mechanism;
FIG. 26 is a left side elevation view of the theta drive
mechanism;
FIG. 27 is a bottom plan view of the theta drive mechanism;
FIG. 28 is a front perspective view of the theta drive
mechanism;
FIG. 29 is a front elevation view of theta drive motor;
FIG. 30 is a top plan view of the theta drive motor;
FIG. 31 is a bottom plan view of the theta drive motor;
FIG. 32 is a left side elevation view of the theta motor;
FIG. 33 is perspective view of the theta motor;
FIG. 34 is an front elevation view of the z drive mechanism;
FIG. 35 is a left side elevation view of the z drive mechanism;
FIG. 36 is a right side elevation view of the z drive
mechanism;
FIG. 37 is bottom plan elevation of the z drive mechanism;
FIG. 38 is an exploded perspective view of the z drive
mechanism
FIG. 39 is a perspective view of the pedestal;
FIG. 40 is an exploded front perspective view of the pedestal
showing the pivot assembly, the drive system assembly, and the
locking system;
FIG. 41 is an exploded front perspective view of the pedestal with
the pivot assembly, the drive system assembly, and the locking
system assembly removed;
FIG. 42 is a bottom plan view of the pedestal;
FIG. 43 is a longitudinal cross sectional view of the pedestal
taken along the plane of line 43-43 in FIG. 42;
FIG. 44 is a side elevation view of the pedestal;
FIG. 45 is an exploded perspective view of the pivot assembly for
pivotally mounting the pedestal;
FIG. 46 is a perspective view of the drive mechanism;
FIG. 47 is a perspective view of the drive assembly;
FIG. 48 is a side elevation view of the magnet;
FIG. 49 is a front elevation view of the magnet;
FIG. 50 is a side elevation view of the magnetic surgery suite
incorporating magnet assemblies in accordance with a second
preferred embodiment of this invention oriented to allow
positioning of the imaging system in a maximum left anterior
oblique imaging position;
FIG. 51 is a side elevation view of the magnetic surgery suite
incorporating magnet assemblies in accordance with a second
preferred embodiment of this invention oriented to allow
positioning of the imaging system in a maximum right anterior
oblique imaging position;
FIG. 52 is a side elevation view of the magnetic surgery suite
incorporating magnet assemblies in accordance with a second
preferred embodiment of this invention oriented with a maximum
offset of one of the assemblies to illustrate the centering of the
magnetic field on the operating region; and
FIG. 53 is a side elevation view of the support for guiding the
rotation of the magnet assemblies about the operating region.
Corresponding reference numerals indicate corresponding parts
throughout the several views of the drawings.
DETAILED DESCRIPTION OF THE INVENTION
A magnetic surgery suite incorporating magnet units in accordance
with the principles of this invention is indicated generally as 20
in FIG. 1. As shown in FIG. 1, the suite 20 comprises an operating
room 22 and a control room 24. The control room 24 is preferably
adjacent to the operating room 22, and has a window 26 from which
the procedure taking place in the operating room 22 can be viewed.
However, the control room 24 does not have to be adjacent to the
operating room 22, and instead could be located remotely from the
operating room, for example on a different floor, or in a different
building, or even in a different city.
The operating room 22 includes a patient support, such as a patient
bed 26, and a pair of magnet units 28 and 30, disposed on opposite
sides of the patient bed to project a magnetic field into the
operating region in a patient on the patient bed. The operating
room also includes an imaging system 32, comprising a C-arm
mounting at least one x-ray source 34 and at least one x-ray
receiver 36, such as an amorphous silicon imaging plate. Cabinets
38 and 40 are provided for computer controllers and other
electronics for operating the magnet units 28 and 30 and the
imaging system 32. A plurality of displays 42 (six in this
preferred embodiment) are mounted on an articulating arm 44 from
the ceiling. The displays 42 display images from the imaging system
32, and screens from the control system for operating the magnet
units 28 and 30. A plurality of controls 46 are provided on the
patient bed 26 for operating a user interface to control the magnet
units 28 and 30, in conjunction with the screens displayed on the
displays 42.
The control room 24 includes a cabinet 48 for a processor for
operating the user interface for controlling the magnet units 28
and 30. A plurality of displays 50 (two in this preferred
embodiment) are provided for displaying images from the imaging
system 32, and screens from the user interface. A plurality of
controls 52 are provided on the patient bed 26 for operating a user
interface to control the magnet units 28 and 30, in conjunction
with the screens on the displays 52.
Each of the magnet units 28 and 30 projects a strong magnet field
from its front face, so that together, the magnets provide a magnet
field of sufficient strength to orient a magnetic medical device in
an operating region in the patient on the patient bed 26. Because
of the strength of the field projected by the magnet units 28 and
30, the units are preferably rotatably mounted to swing between an
operative position in which the units face the patient support, and
project a field into the operating region in the patient on the
patient bed, and a stowed position, in which the magnet units do
not face the patient bed.
As shown in FIG. 2, each of the magnet units 28 and 30 comprises a
magnet 100, a mechanism 200 for moving the magnet to change the
magnetic field applied by the magnet 100 to the operating region in
a patient, and a pedestal 700, for supporting the mechanism 200 and
magnet 100. As described in more detail below the magnet 100 is
preferably a compound magnet designed so that relatively small
translations and/or rotations result in significant changes in the
magnetic field direction projected into an operating region in the
patient. As described in more detail below, the mechanism 200 is
adapted to support and translate and/or rotate the magnet 100 to
change the direction of the field applied by the magnet to the
operating region in the patient. The magnet 100 and the mechanism
300 are preferably designed so that they can project a magnetic
field in any direction in the operating region in the patient, or
at least so that when both magnet units 28 and 30 are positioned on
opposite sides of the patient, the combined effect of the magnets
from the units projects a magnetic field in any direction.
In this preferred embodiment, the mechanism preferably provides
three movements of the magnet 100: translation of the magnet toward
and away from the patient (referred to herein as translation in the
z-direction), rotation of the magnet about an axis parallel to the
z-direction, referred to herein as rotation about the .theta.-axis,
and pivoting of the magnet about an axis perpendicular to the
.theta.-axis, referred to herein as pivoting about the .phi. axis.
The movements of the magnet 100 in the z direction, about the
.theta.-axis, and about the .phi. axis permitted by the mechanism
300 are sufficient to create a magnetic field of suitable strength
for magnetic navigation, in any direction in the operating region
in the patient. Of course, additional or different translations and
or rotations could be provided for the same or different magnet
design. The strength of the field projected by the magnets is
preferably at least 0.05 Tesla, and more preferably at least 0.09
Tesla.
The magnet 100 is preferably comprised of a plurality of block 102
arranged and mounted on a backing plate 104, for example with
adhesive the magnet 100 further includes a cover 106, preferably
with a smooth, contoured finished surface enclosing the assembly of
blocks 102. Each of the blocks is made of a permeable magnetic
material, and has a size, shape, position and magnetization
direction to optimize field properties (direction and strength)
while accommodating manufacturing. Examples of suitable magnets are
disclosed in magnets such as those disclosed in U.S. patent
application Ser. No. 10/082,715, filed Feb. 25, 2002, U.S. patent
application Ser. No. 10/056,227, filed Jan. 23, 2003, and/or U.S.
patent application Ser. No. 09/546,840, filed Apr. 11, 2000, the
disclosures of all of which are incorporated herein by
reference.
The magnet 100 and mechanism 300 are mounted on pedestal 800. As
indicated above, and described in more detail below, the pedestal
800 is mounted for pivoting about a post 802, and has wheels 804
which allow the pedestal to pivot from a stowed position, in which
the magnet 100 generally faces away from the patient, to an
operative position in which the magnet generally faces the
patient.
The magnet 100 and mechanism 300 are preferably enclosed is a cover
200 to protect the mechanism from interference, to prevent persons
from being injured or property from being damaged by the mechanism,
to reduce patient anxiety, and to enhance the appearance of the
unit. As shown in FIG. 3, this cover includes a frame 202 slidably
mounted around the base of the mechanism 300. As shown in FIG. 4,
the cover also comprises a front base cap 204, which is generally
U-shaped and adapted to be secured on the front and sides of the
pedestal 800, a top base cap 206, which is adapted to be secured
over the top of the pedestal, around the mechanism 300, and a rear
base cap 208, which is adapted to be secured on the back of the
pedestal cap device. As shown in FIG. 5, the cover 200 also
comprises a front panel 210, adapted for mounting on the frame 202
over the front of the magnet 100 and mechanism 300, and left and
right side panels 212 and 214 adapted for mounting on the frame 202
over the sides of the magnet and mechanism. An inverted U-shaped
frame 216 is mounted on the frame 202 over the back of the
mechanism 300. The frame 216 mounts a conduit 218 for enclosing
power and control leads, and a back panel 220 for covering the back
of the mechanism. A cooling fan unit 222 is mounted on the frame
202, inside the panel 220 to circulate air inside the cover through
louvered openings formed in the cover 220.
As shown in FIG. 8, the mechanism 300 preferably comprises a .phi.
pivot mechanism 302, for pivoting the magnet 100 about the .phi.
axis; a .theta.-rotation mechanism 402, for rotating the magnet 100
about the .theta.-axis; and a z-drive mechanism 602 for translating
the magnet in the z-direction.
As shown in FIGS. 15-22, the .phi. pivot mechanism 302 comprises a
front plate 304, adapted for mounting the magnet 100. The front
plate 304 is pivotally mounted to a back plate 306. The back plate
306 is adapted to be mounted on the .theta.-rotation mechanism 402,
and has two parallel brackets 308 and 310 projecting from its front
face for mounting the front plate 304. A hub 312 on the back of the
front plate 304 is pivotally mounted between the brackets 308 and
310, so that the front plate can pivot. In this preferred
embodiment, the front plate 304, and thus the magnet 100 mounted on
the front plate can pivot plus and minus 40.degree., for a total
range of motion of 80.degree.. This range of motion is based upon
the properties of the magnet 100, which in this preferred
embodiment provides a 180.degree. change in field direction over a
range of pivoting of 80.degree.. With a different magnet, the range
of pivoting could be made larger or smaller, as desired.
As best shown in FIG. 23, a motor brake 314 is mounted on bracket
308, a motor mounting adapter 316 is mounted over the motor brake
on the bracket 308. A motor 318 is mounted on the mounting adapter
316, to turn drive shaft 320 having key 322 thereon. A housing 24
encloses the motor 318. The drive shaft 320 engages the front plate
304 so that rotation of the drive shaft caused by motor 318 causes
the plate to pivot about the .phi. pivot mechanism.
A +.phi. limit switch 324 is mounted on a block 326 on the front
face of plate 306, and is adapted to engage a stop 328 on the front
plane 304. Similarly, a -.phi. limit switch 330 is mounted on a
block 332 on the front face of plate 308, and is adapted to engage
a stop 334 on the front plate. A theta sensor flag 336, which is
used by the theta position sensor as described below, is secured on
the back plate 306. Phi sensor flags 338 are secured on the back of
front plate 304. A rotary encoder 340 is mounted on an encoder
mounting plate 342, on the bracket 310, and is driven by the key
322 on the drive shaft 320.
The .theta. rotation mechanism 402 is shown in FIGS. 24-28. The
.theta. rotation mechanism 402 comprises a carriage 404, which is
preferably made of aluminum or other strong, lightweight,
non-magnetic material. As best shown in FIG. 28, the carriage 404
has a generally cylindrical opening 406 therein in which the outer
race of a bearing 408 is mounted. Front and rear retaining hubs 410
and 412 are secured together, sandwiching the inner race of the
bearing 408 between them. A retaining ring is mounted in the
carriage 404 over the front retaining hub 414. The phi pivot
mechanism 302 is mounted to the front retaining hub 410, for
rotation around about the theta axis.
A position sensor 416 is mounted in a recess in the front of the
carriage 404, and is triggered by the flag 338 on the phi pivot
mechanism.
A cam tray 420, mounting a cam 422, is also secured on the bottom
of the carriage 404. A plurality of stops 424 are also mounted on
the bottom of the carriage 404. A pair of C-shaped brackets 426 are
mounted on the bottom of the carriage for engage and moving the
cover as the theta mechanism 402 moves in the z direction, as
described below. A precision gear 428 is mounted on a bracket 430
on the bottom of the carriage. The precision gear is used in
sensing the position in the z-direction as a back up to the
position sensing built in to the z drive mechanism 602.
The driver for the .theta. rotation mechanism 402 is indicated
generally as 434 in FIGS. 29-33. The driver 434 comprises a servo
motor 436, a gear box 438, a reducer mounting plate 440, and a
pinion 442. The pinion 440 engages and drives a gear 442 secured to
the rear hub 444, causing rotation in the theta direction.
As shown in FIGS. 35-38, the z drive mechanism 602 comprises base
plate 604. Mounting plates 606 are provided on the underside of
base plate, on either side, for securing the base plate to the
pedestal 800. Tracks 608 and 610 are mounted on the plate 604. Two
carriages 612 are slidably mounted on each of the tracks 608 and
610, for slidably mounting the carriage 404 of the theta drive
mechanism 402. A servo motor 614 is mounted on the base plate 604
with a bracket 616. A flexible shaft coupling 618, drive screw
bearing 620 connect ball screw shaft 622 to the servo motor 614.
The end of the ball screw shaft 622 is supported in drive screw
bearing 624. A bracket 626 is mounted on the ball screw shaft 622
and is secured to the underside of the carriage 402, to move the
carriage.
Stops 628 are mounted on the base plate 604 adjacent one end. Stops
630 are mounted on the base plate 604 adjacent the other end. Limit
switches 632 and 634 are mounted on the plate 604 with brackets 636
an 638, respectively. A rotary encoder 640 is mounted on the base
plate 604, and has a pinion 642. The pinion 642 engages the
precision gear 428 on the bottom of the carriage 404, and measures
the position of the carriage relative to the base plate 604. Rails
644 are mounted on the sides of the base plate 604 for slidably
mounting the cover 200.
As shown in FIG. 39, the pedestal 800 comprises a frame 808, with a
platform 810 for mounting the mechanism 402. The pedestal 800 is
pivotally mounted for rotation about post 402, which is secured to
the floor of the operating room. A collar 812 secured to the frame
808 surrounds, and rotates around the post 402. A drive mechanism
814 is mounted in the frame 808, for driving the pedestal 800 to
rotate around the post 402. A lock mechanism 816 is also mounted in
the frame 808, for securing the pedestal against movement.
As shown in FIGS. 40 and 45, the post 802 is surrounded by a
weldment 818. A stop tube 820 is mounted over the post 802,
providing stops 822 and 824 for limiting the rotational movement of
the pedestal. Lower outer mounting plate 826 and lower inner
mounting plate 828, and upper outer mounting plate 830 and upper
inner mounting 832 are secured above and below block 834, mounting
spherical bearing 836. Limit switches 838, 840, 842, and 844 are
mounted on the upper mounting ring and are tripped by movement
relative to cam 846 secured on the top of the post 802.
As shown in FIGS. 40 and 46, the drive mechanism 814 comprises a
motor 848 connected to gear box 850. A hand crank 852 on shaft 854
is also connected to gear box 850. Sheaves 856 and 858 and belt 860
connect the gear box 850 to the drives shaft 862, which in turn
drives drive wheel 864. Thus the motor can operate the drive wheel,
or in a situation where power is not available, hand crank 852 an
be used to operate the drive wheel, and pivot the pedestal around
post 802.
As shown in FIGS. 40 and 47, the lock mechanism 816 comprises an
electric motor 870 which turns a gear box 872 to pull or push rod
874. The pulling or pushing of the rod 874 causes the lock member
876 to pivot. The lock member 876 has a tab 878, which pivots into
and engages a slot in the floor of the procedure room. A hand crank
880 on shaft 882 also turns the gear box 872, to manually pull or
push rod 874. An spring biased interlock bar 884, interferes with
the hand crank, and must be manipulated out of the way in order to
manually operate the lock mechanism 816.
A second preferred embodiment of a magnet assembly in accordance
with the principles of this invention is indicated generally as 900
and 902 in FIGS. 50-53. The magnet assemblies 900 and 902 are
adapted to be mounted on opposite sides of a support to be on
opposite sides of a subject on a support. The magnet assemblies 900
and 902 are similar in construction to assemblies 28 and 30 of the
first embodiment, and corresponding reference numerals indicate
corresponding parts through out the several views of the drawings.
Like the magnet assemblies 28 and 30 of the first embodiment, the
magnet assemblies 900 and 902 of the second embodiment comprise a
magnet and a mechanism for moving the magnet. Also like the magnet
assemblies 28 and 30, the assemblies 900 and 902 provide at least
three motions to change the position and orientation of the magnets
to thereby change the direction of the net magnetic field applied
to the operating region in a subject on the support. More
specifically, the assemblies 902 and 904 each move the magnet
toward and away from the operating region (translation in the z
direction); rotate the magnet about an axis parallel to the
z-direction (rotation about an axis .theta.); and pivot the magnet
about an axis perpendicular to the .theta. axis (pivoting about an
axis .phi.. As described above, the magnets in the assemblies 900
and 902 are designed and configured that with these three motions,
the magnets can provide a magnetic field in any direction in the
operating region.
However, unlike the assembles 28 and 30, the assemblies 900 and 902
provide a forth movement, a rotation .psi. about an axis .psi.
through the operating region, and preferably an axis parallel to
the longitudinal axis of the subject and support through the
operating region. In the preferred embodiment, the .psi. axis is
the axis of the rotation of the C-arm 500. This additional
movement, which is preferably coordinated, allows the magnets to
move about the operating region to accommodate imaging equipment,
while maintaining the generally opposed configuration of the
magnets, and thereby allowing the magnet assemblies to maintain the
direction and strength of the magnetic field applied to the
operating region.
In this second preferred embodiment the magnet assemblies 900 and
902 permit the coordinated movement of their respective magnets
about the .psi. axis plus and minus 15.degree.. Of course a greater
or lesser range of motion could be provided, and further the
movement does not have to be coordinated, if the system control can
take into account changes in the relative locations of the magnets
when controlling the other three permitted motions of the magnets
to achieve the desired field direction and strength.
As shown in FIGS. 50-51, a C-arm 500 is preferably provided for
imaging the operating region in a subject on the support. The C-arm
500 rotates about an axis parallel to the longitudinal axis of the
subject on the support. However, the magnet assemblies 28 and 30 of
the first embodiment can sometimes interfere with imaging in
certain planes, for example the Left Anterior Oblique (LAO) plane
and the Right Anterior Oblique (RAO) plane, in which the x-ray
source 34 and x-ray receiver 36 are oriented to image in planes
45.degree. from horizontal, on the right and left sides of the
subject. These are useful images to physicians who are familiar
with and therefore comfortable working with such images. Depending
on the imaging equipment and the magnets, to achieve LAO or RAO
imaging it may be necessary to move the magnets out of the way of
the C-arm. In the second preferred embodiment shown in FIGS. 50-53,
the assemblies 900 and 902 permit coordinated movement of the
magnets about the operating region (and more specifically about the
.psi. axis) by plus or minus 15.degree. which is sufficient to
accommodate the 45.degree. plus or minus movement of the C-arm
500.
As the magnets move because of movement of their respective magnet
assemblies 900 and 902, the system controls the magnets translating
them along their respective z axes, rotating them about their
respective .theta. axes, and pivoting them about their respective
.phi. axes to maintain the direction of the applied magnetic field
in the operating region in the subject.
As shown in FIG. 50, the magnet assemblies 900 and 902 rotate their
respective magnets about the .psi. axis to accommodate the C-arm
500 pivoting to the RAO imaging position, and as shown in FIG. 51,
the magnet assemblies 900 and 902 rotate their respective magnets
about the .psi. axis to accommodate the C-arm 500 pivoting the LAO
imaging position.
As shown in FIG. 52, the magnet assemblies 900 and 902 rotate their
respective magnets about the .psi. axis to accommodate eccentric
positioning of the subject on the support. Positioning the magnets
rotationally around the operating region allows the magnets to be
positioned more closely to the operating region than if the magnets
could not be moved and remained at the sides of the subject. In the
positions shown in FIG. 52, the magnets can be extended along the
z-axis to be as close to the operating region as possible.
As shown in FIG. 53, each of the magnets are carried on a carriage
904. The carriages each have mechanisms as described above with
respect to magnet units 28 and 30 for moving the magnets in the z
direction, rotating the magnets about the .theta. direction, and
pivoting the magnets about the .phi. axis. Each of the carriages
904 has an arcuate track 906, which is preferably an arc of a
circle centered at the .psi. axis. Each of the carriages has
rollers 908 for following the track 906. Each of the carriages 904
also has a motor driven reel 910 and a pulley 912, and a cable 914
extends from the reel 910, over the pulley 912, and is anchored on
the carriage 904. As the reel 910 winds the cable 914, the carriage
904 is pulled upwardly along the track 906, and as the reel 910
unwinds the cable 914, the carriage is lowered along the track
906.
The magnet assemblies 900 and 902 are preferably controlled so that
as the carriage 904 on assembly 900 is raised the carriage 904 on
assembly 902 is lowered. Thus the magnets of the two assemblies on
substantially opposing sides of the operating region. In operation
the magnet assemblies 900 and 902 are typically operated with their
carriages in a level position, as shown in FIG. 53. When the
physician calls for an RAO view, the magnet assemblies 900 and 902
are operated so that carriage 904 of magnet assembly 900 raises,
and the carriage 904 of assembly 902 lowers to accommodate the
rotation of the C-arm 500 to the RAO position. Similarly, when the
physician calls for an LAO view, the magnet assemblies 900 and 902
are operated so that carriage 904 of magnet assembly 900 lowers,
and the carriage 904 of assembly 902 raises to accommodate the
rotation of the C-arm 500 to the LAO position.
The above described improvements and advantages of the second
preferred embodiment should be readily apparent to one skilled in
the art, as to enabling a full range of X-ray imaging while
maintaining continuous magnetic navigation capability. It should be
noted that the control of the magnet units 28 and 30 of the
navigation system and other various movement controls could be
controlled by a user input from an input device such as a joystick,
mouse, or hand-held localized stylus, or it could automatically be
controlled by a computer. Additional design considerations such as
the above improvement in maintaining a desired magnetic field
direction throughout a rotation range of a magnet unit may be
incorporated without departing from the spirit and scope of the
invention. Likewise, a variety of medical devices such as
catheters, cannulas, guidewires, microcatheters, endoscopes and
others known to those skilled in the art can be remotely guided
according to the principles taught herein. Accordingly, it is not
intended that the invention be limited by the particular form
described above, but by the appended claims.
* * * * *