Sparse calibration of magnetic field created by coils in metal-rich environment

    公开(公告)号:US11504023B2

    公开(公告)日:2022-11-22

    申请号:US16716278

    申请日:2019-12-16

    IPC分类号: A61B5/00 A61B5/06 G01B7/004

    摘要: A calibration method includes receiving magnetic field values, which are generated by a plurality of real magnetic transmitters and are measured at multiple positions on a grid in a region containing a magnetic field perturbing element. Approximate locations of the real magnetic transmitters are received. Using the approximate locations, a respective plurality of imaginary magnetic sources is characterized inside the field perturbing element. Using the measured magnetic field values, the approximate locations, and the characterized imaginary sources, there are iteratively calculated (i) actual locations of the real and imaginary magnetic sources in the region, and (ii) modeled magnetic field values that would result from the real and imaginary magnetic sources at the actual locations. Using the calculated locations, and the modeled magnetic field values at the multiple positions on the grid, a magnetic field calibration function is derived for the region.

    REGISTRATION OF FRAMES OF REFERENCE
    2.
    发明申请

    公开(公告)号:US20200242339A1

    公开(公告)日:2020-07-30

    申请号:US16748993

    申请日:2020-01-22

    IPC分类号: G06K9/00 G06K9/20

    摘要: Apparatus, including a patient tracker, attached to a subject, having magnetic field sensors and optical landmarks with known spatial relationships to each other. A camera acquires a 3D optical image, in a first frame of reference (FOR), of the subject's face. A magnetic radiator assembly generates magnetic fields at the subject's head, thereby defining a second FOR. A processor: processes field sensor signals to acquire location coordinates of the sensors in the second FOR; segments a tomographic image of the subject, having a third FOR, to identify the subject's face in the third FOR; computes a first transformation between the third and first FORs to map the tomographic face image to the 3D optical image; maps the optical landmarks to the third FOR; maps the respective location coordinates of the sensors to the first FOR; and computes a second transformation between the second FOR and the third FOR.

    USER INTERFACE FOR IMAGE GUIDED SURGERY SYSTEM

    公开(公告)号:US20210315636A1

    公开(公告)日:2021-10-14

    申请号:US17194466

    申请日:2021-03-08

    IPC分类号: A61B34/10 A61B34/20 A61B34/00

    摘要: A virtual camera may be positioned relative to a 3-D model of a patient anatomy in order to provide a virtual camera view of the surrounding anatomy and tracked surgical instruments being deployed to the anatomy. Visual context provided by the virtual camera may be limited in some cases, such as where a surgical instrument is being used within a very narrow anatomical passageway or cavity. To provide more placement flexibility, an IGS system providing a virtual camera receives inputs defining variable visual characteristics for different segments or regions of the 3-D model, which may include hiding certain segments or making certain segments semi-transparent. With such a system, the view of the 3-D model provided by the virtual camera view may be modified to remove or deemphasize less relevant segments, to display or emphasize more relevant segments (e.g., critical patient anatomy), or both.

    Registration of frames of reference

    公开(公告)号:US11123144B2

    公开(公告)日:2021-09-21

    申请号:US16748993

    申请日:2020-01-22

    摘要: Apparatus, including a patient tracker, attached to a subject, having magnetic field sensors and optical landmarks with known spatial relationships to each other. A camera acquires a 3D optical image, in a first frame of reference (FOR), of the subject's face. A magnetic radiator assembly generates magnetic fields at the subject's head, thereby defining a second FOR. A processor: processes field sensor signals to acquire location coordinates of the sensors in the second FOR; segments a tomographic image of the subject, having a third FOR, to identify the subject's face in the third FOR; computes a first transformation between the third and first FORs to map the tomographic face image to the 3D optical image; maps the optical landmarks to the third FOR; maps the respective location coordinates of the sensors to the first FOR; and computes a second transformation between the second FOR and the third FOR.

    Calibration Jig for a Catheter Comprising a Position Sensor

    公开(公告)号:US20190353471A1

    公开(公告)日:2019-11-21

    申请号:US15980625

    申请日:2018-05-15

    IPC分类号: G01B7/14 A61M25/01 A61B5/06

    摘要: An apparatus includes a calibration fixture, a calibration position sensor, and interface circuitry. The calibration fixture is sized and shaped to fit over a distal-end of a medical probe, such that the distal-end makes physical contact with a wall of the calibration fixture. The calibration position sensor is fixed in the calibration fixture at a known position relative to the wall, and configured, in response to sensing a magnetic field, to produce position signals indicative of a given position of the calibration position sensor. The interface circuitry is electrically coupled to the calibration position sensor, and is configured to output the position signals.

    Endoscope with dual image sensors

    公开(公告)号:US10955657B2

    公开(公告)日:2021-03-23

    申请号:US16695500

    申请日:2019-11-26

    IPC分类号: G02B23/24 A61B1/00

    摘要: An endoscopic camera has two or more cameras positioned at a distal end, positioned to provide partially overlapping fields of view. The cameras communicate captured digital images the length of the flexible endoscope, where they may be saved and processed to provide additional imaging features. With partially overlapping images from two or more cameras, image processing can provide panoramic images, super resolution images, and three-dimensional images. One or more of these image modes may also be enhanced to provide a virtualization window that displays a portion of a larger or higher resolution image. The virtualization window displays the selected area of the image, and may be moved or zoomed around the image to provide a virtual endoscope repositioning experience, where the endoscope remains statically positioned but the virtualization window presents a sense of movement and navigation around the surgical area.

    SPARSE CALIBRATION OF MAGNETIC FIELD CREATED BY COILS IN METAL-RICH ENVIRONMENT

    公开(公告)号:US20210177298A1

    公开(公告)日:2021-06-17

    申请号:US16716278

    申请日:2019-12-16

    IPC分类号: A61B5/06 G01B7/004

    摘要: A calibration method includes receiving magnetic field values, which are generated by a plurality of real magnetic transmitters and are measured at multiple positions on a grid in a region containing a magnetic field perturbing element. Approximate locations of the real magnetic transmitters are received. Using the approximate locations, a respective plurality of imaginary magnetic sources is characterized inside the field perturbing element. Using the measured magnetic field values, the approximate locations, and the characterized imaginary sources, there are iteratively calculated (i) actual locations of the real and imaginary magnetic sources in the region, and (ii) modeled magnetic field values that would result from the real and imaginary magnetic sources at the actual locations. Using the calculated locations, and the modeled magnetic field values at the multiple positions on the grid, a magnetic field calibration function is derived for the region.

    MAPPING OF NASAL PASSAGES BEFORE AND AFTER A PROCEDURE

    公开(公告)号:US20210068855A1

    公开(公告)日:2021-03-11

    申请号:US17062966

    申请日:2020-10-05

    摘要: Apparatus, including a probe having a distal end insertable into a nasal sinus of a human patient, and a location sensor positioned within the distal end. A sinuplasty balloon is positioned on the distal end at a selected opening of the nasal sinus. A processor receives first signals from the location sensor while the distal end is inserted into the nasal sinus and prior to positioning of the balloon at the selected opening, and generates a first map of the sinus. The processor inflates the balloon when it is at the selected opening, so as to enlarge the selected opening, and subsequently deflates the balloon. The processor then receives second signals from the location sensor and generates therefrom a second map of the sinus. The processor registers the first map with the second map and generates from the registered maps a numerical increase in size of the selected opening.