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    METHOD AND APPARATUS FOR MAGNETICALLY CONTROLLING MOTION DIRECTION OF MECHANICALLY PUSHED CATHETER
    2.
    发明申请
    METHOD AND APPARATUS FOR MAGNETICALLY CONTROLLING MOTION DIRECTION OF MECHANICALLY PUSHED CATHETER 有权
    用于磁力控制机械方向的方法和装置

    公开(公告)号：US20100174234A1

    公开(公告)日：2010-07-08

    申请号：US12628711

    申请日：2009-12-01

    申请人： Peter R. Werp ,  Walter M. Blume ,  Francis M. Creighton, IV ,  Rogers C. Ritter

    发明人： Peter R. Werp ,  Walter M. Blume ,  Francis M. Creighton, IV ,  Rogers C. Ritter

    IPC分类号： A61M25/08

    CPC分类号： A61M25/0127 ,  A61B6/12 ,  A61B34/73 ,  A61B90/10 ,  A61B2034/732 ,  A61B2090/374 ,  A61M25/01

    摘要： 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.

    摘要翻译： 通过机械地将具有磁性尖端的柔性导管机械地推动通过介质并且施加具有引导机械的大小和方向的磁场来控制导管通过可能是诸如人脑的活体组织的介质的移动 沿着所需的路径逐步引导导管末端。 通过使用PID（比例，积分和微分）反馈方法的调整的处理器在磁立体定位系统中控制磁场。 磁场由超导线圈施加，并且通过线圈施加的电流被选择以使电流量度最小化。

    Method and apparatus for magnetically controlling motion direction of mechanically pushed catheter
    6.
    发明授权
    Method and apparatus for magnetically controlling motion direction of mechanically pushed catheter 有权
    用于磁力控制机械推动导管运动方向的方法和装置

    公开(公告)号：US08088129B2

    公开(公告)日：2012-01-03

    申请号：US12628711

    申请日：2009-12-01

    申请人： Peter R. Werp ,  Walter M. Blume ,  Francis M. Creighton, IV ,  Rogers C. Ritter

    发明人： Peter R. Werp ,  Walter M. Blume ,  Francis M. Creighton, IV ,  Rogers C. Ritter

    IPC分类号： A61B19/00

    CPC分类号： A61M25/0127 ,  A61B6/12 ,  A61B34/73 ,  A61B90/10 ,  A61B2034/732 ,  A61B2090/374 ,  A61M25/01

    摘要： 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.

    摘要翻译： 通过机械地将具有磁性尖端的柔性导管机械地推动通过介质并且施加具有引导机械的大小和方向的磁场来控制导管通过可能是诸如人脑的活体组织的介质的移动 沿着所需的路径逐步引导导管末端。 通过使用PID（比例，积分和微分）反馈方法的调整的处理器在磁立体定位系统中控制磁场。 磁场由超导线圈施加，并且通过线圈施加的电流被选择以使电流量度最小化。

    Method for locating magnetic implant by source field
    7.
    发明授权
    Method for locating magnetic implant by source field 失效
    通过源场定位磁性植入物的方法

    公开(公告)号：US06505062B1

    公开(公告)日：2003-01-07

    申请号：US09020942

    申请日：1998-02-09

    申请人： Rogers C. Ritter ,  Bevil J. Hogg ,  Peter R. Werp ,  Francis M. Creighton, IV

    发明人： Rogers C. Ritter ,  Bevil J. Hogg ,  Peter R. Werp ,  Francis M. Creighton, IV

    IPC分类号： A61B500

    CPC分类号： A61B5/066 ,  A61B5/06 ,  A61B5/743

    摘要： An apparatus and method for locating a magnetic implant in a surgical application using the field of a source magnet for the implant guiding field. The source magnet is an electromagnet having a separate calibrated magnetic field component in addition to the guiding field, so that both the magnitude and orientation of the magnetic field as a function of position around the magnet are known. A magnetic implant is provided with a sensor, such as a three-axis Hall effect sensor, to provide an indication of the magnitude and orientation of an applied magnetic field when the implant is surgically implanted in a patient. After implantation, the source magnet is energized with a current having a modulated component. The modulated component is received and filtered from the signal received from the Hall effect sensor in the implant, and provided to a processor that computes the location of the implant relative to the electromagnet based upon the detected magnitude and orientation of the modulated component of the magnetic field, and the location and orientation of the electromagnet. Localizers may be used to supply the relative locations of the patient and the electromagnet to the processor. A display may be provided to display a representation of the location of the implant in the patient, which may also be superimposed over a preoperative image of the patient.

    摘要翻译： 一种用于在外科应用中使用用于植入物引导区的源磁体的场来定位磁性植入物的装置和方法。 源极磁体除了引导场之外还具有单独的校准磁场分量的电磁体，使得作为磁体周围位置的函数的磁场的大小和取向都是已知的。 磁性植入物设置有诸如三轴霍尔效应传感器的传感器，以在植入物被手术植入患者体内时提供所施加的磁场的大小和取向的指示。 在植入之后，源磁体用具有调制分量的电流通电。 调制分量从在植入物中从霍尔效应传感器接收的信号接收和滤波，并提供给处理器，该处理器基于检测到的磁性调制分量的大小和取向来计算植入物相对于电磁体的位置 场，以及电磁铁的位置和方向。 定位器可用于将患者和电磁体的相对位置提供给处理器。 可以提供显示器来显示植入物在患者中的位置的表示，其也可以叠加在患者的术前图像上。

    Articulated magnetic guidance systems and devices and methods for using same for magnetically-assisted surgery
    8.
    发明授权
    Articulated magnetic guidance systems and devices and methods for using same for magnetically-assisted surgery 失效
    铰接磁导引系统及其用于磁辅助手术的装置和方法

    公开(公告)号：US06459924B1

    公开(公告)日：2002-10-01

    申请号：US09189633

    申请日：1998-11-10

    申请人： Francis M. Creighton, IV ,  Peter R. Werp ,  Rogers C. Ritter

    发明人： Francis M. Creighton, IV ,  Peter R. Werp ,  Rogers C. Ritter

    IPC分类号： A61B600

    CPC分类号： A61B1/00158 ,  A61B34/70 ,  A61B34/73 ,  A61B90/10 ,  A61B2034/733 ,  A61B2090/376 ,  A61M25/0127

    摘要： An articulated magnet assembly optionally includes one or two additional fixed magnets to guide or move such as by pulling or pushing a magnetic structure in the body. The magnetic structure may be a magnetic tip of a catheter or a magnetic seed, or other such magnetic assembly, implant or device. The device is arranged to facilitate biplanar, real-time, X-ray imaging of the patient. The moved magnet can be a large, strong permanent magnet or a cored solenoid. The added, fixed electromagnets may have either normally conducting or superconducting coils. The magnet on the articulated magnet assembly can move radially, along a polar direction, and at an azimuthal angle, and may also pivot in place to direct an opposite pole of the magnet in the direction of the patient. Magnetically-assisted surgery can be performed, in some instances, by pivoting the magnet on one or two axes without withdrawing it from the vicinity of the patient to control the direction and/or orientation of a temporarily or permanently implanted magnetic surgical device. If the magnet is an electromagnetic coil, this pivoting may or may not have to be accompanied by a ramping of current in the coil.

    摘要翻译： 铰接式磁体组件可选地包括一个或两个额外的固定磁体，以引导或移动，例如通过拉动或推动体内的磁性结构。 磁性结构可以是导管或磁性种子的磁性尖端，或其他这样的磁性组件，植入物或装置。 该装置被设置为便于患者的双平面，实时，X射线成像。 移动的磁体可以是大的，强的永久磁铁或磁心线圈。 所添加的固定电磁铁可以具有正常导电或超导线圈。 关节式磁体组件上的磁体可以沿着极性方向和方位角径向移动，并且还可以枢转到适当位置，以引导磁体在患者方向上的相反极点。 在一些情况下，可以进行磁辅助手术，通过在一个或两个轴上枢转磁体而不将其从患者附近撤出，以控制临时或永久植入的磁性手术装置的方向和/或取向。 如果磁体是电磁线圈，则该枢转可能伴随着线圈中的电流的斜坡而不必伴随。