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    Method and apparatus for magnetically controlling catheters in body lumens and cavities
    1.
    发明授权
    Method and apparatus for magnetically controlling catheters in body lumens and cavities 有权
    用于磁体控制体腔和腔内导管的方法和装置

    公开(公告)号：US06522909B1

    公开(公告)日：2003-02-18

    申请号：US09370067

    申请日：1999-08-06

    申请人： Jeffrey M. Garibaldi ,  Rogers C. Ritter ,  Gerard H. Epplin ,  Walter M. Blume

    发明人： Jeffrey M. Garibaldi ,  Rogers C. Ritter ,  Gerard H. Epplin ,  Walter M. Blume

    IPC分类号： A61B505

    CPC分类号： A61N2/02 ,  A61B5/06 ,  A61B5/062 ,  A61B6/12 ,  A61B17/12022 ,  A61B17/12113 ,  A61B17/1214 ,  A61B2017/003 ,  A61B2017/00876 ,  A61B2017/1205 ,  A61L24/001 ,  A61L24/02 ,  A61L31/022 ,  A61M25/0127

    摘要： A method of navigating a magnet-tipped distal end of an elongate medical device through the body includes providing an image display of the part of the body through which the medical device is being navigated and using the display to input the desired path of the medical device by identifying points on the desired path on the display. The magnetic field needed to orient the end of the medical device in the direction of the desired path as indicated on the display is then determined. In one embodiment where only points on the desired path are identified, the field direction is the direction indicated by the points on the desired path. In a second embodiment, where points on the current path and the desired path are identified, the desired angle of deflection is determined, and the direction of the magnetic field is set to lead this desired angle of deflection by 90° to over torque the end of the catheter, and the intensity of the field is determined from a table of experimentally determined field intensities for given angles of deflection. The apparatus for navigating a magnet-tipped medical device through the body in accordance with the invention includes a magnet system for applying a magnetic field to the magnet-tipped distal end of the medical device to orient the distal end of the medical device; a computer for controlling the magnet system to generate a specified magnetic field in the body part; first and second imaging devices connected to the computer, for providing bi-planar images of the body part through which the medical device is being navigated; first and second displays for displaying the images from the image devices; and an input device for inputting points identifying the desired path of the medical device on each of the displays. The computer is programmed to determine the magnetic field necessary to control orient the medical device on the path input on the displays.

    摘要翻译： 通过身体导航细长医疗装置的磁铁尖端的远端的方法包括：提供身体部分的图像显示，医疗装置通过该部分导航，并使用显示器输入医疗装置的期望路径 通过识别显示器上所需路径上的点。 然后确定在显示器上指示的朝向期望路径的方向定向医疗装置的端部所需的磁场。 在仅识别期望路径上的点的一个实施例中，场方向是由期望路径上的点指示的方向。 在第二实施例中，在电流路径和期望路径上的点被识别时，确定期望的偏转角度，并且将磁场的方向设定为将该期望的偏转角度引导90°以使结束的过度扭矩 并且根据给定的偏转角度从实验确定的场强度的表确定场的强度。根据本发明的用于通过身体导航磁头的医疗装置的装置包括用于施加的磁体系统 向所述医疗装置的所述磁铁尖端的远端施加磁场以使所述医疗装置的远端定向; 用于控制磁体系统以在身体部分中产生指定磁场的计算机; 连接到计算机的第一和第二成像装置，用于提供身体部位的双平面图像，医疗装置通过该平面图像进行导航; 用于显示来自图像装置的图像的第一和第二显示器; 以及输入装置，用于输入识别每个显示器上的医疗装置的期望路径的点。 计算机被编程以确定在显示器上的路径输入上控制医疗装置的定向所必需的磁场。

    METHOD AND APPARATUS FOR MAGNETICALLY CONTROLLING CATHETERS IN BODY LUMENS AND CAVITIES
    2.
    发明申请
    METHOD AND APPARATUS FOR MAGNETICALLY CONTROLLING CATHETERS IN BODY LUMENS AND CAVITIES 审中-公开
    用于磁体控制身体和眼睛中的导管的方法和装置

    公开(公告)号：US20100063385A1

    公开(公告)日：2010-03-11

    申请号：US12537012

    申请日：2009-08-06

    申请人： Jeffrey M. Garibaldi ,  Rogers C. Ritter ,  Gerard H. Epplin ,  Walter M. Blume

    发明人： Jeffrey M. Garibaldi ,  Rogers C. Ritter ,  Gerard H. Epplin ,  Walter M. Blume

    IPC分类号： A61B5/05 ,  A61B1/00

    CPC分类号： A61B6/12 ,  A61B1/00158 ,  A61B5/06 ,  A61B5/062 ,  A61B17/12022 ,  A61B17/12113 ,  A61B17/1214 ,  A61B2017/003 ,  A61B2017/00876 ,  A61B2017/1205 ,  A61L24/001 ,  A61L24/02 ,  A61L31/022 ,  A61M25/0127 ,  A61N2/02

    摘要： A method of navigating a magnet-tipped distal end of an elongate medical device through the body includes providing an image display of the part of the body through which the medical device is being navigated and using the display to input the desired path of the medical device by identifying points on the desired path on the display. The magnetic field needed to orient the end of the medical device in the direction of the desired path as indicated on the display is then determined. In one embodiment where only points on the desired path are identified, the field direction is the direction indicated by the points on the desired path. In a second embodiment, where points on the current path and the desired path are identified, the desired angle of deflection is determined, and the direction of the magnetic field is set to lead this desired angle of deflection by 90° to over-torque the end of the catheter, and the intensity of the field is determined from a table of experimentally determined field intensities for given angles of deflection.The apparatus for navigating a magnet-tipped medical device through the body in accordance with the invention includes a magnet system for applying a magnetic field to the magnet-tipped distal end of the medical device to orient the distal end of the medical device; a computer for controlling the magnet system to generate a specified magnetic field in the body part; first and second imaging devices connected to the computer, for providing bi-planar images of the body part through which the medical device is being navigated; first and second displays for displaying the images from the image devices; and an input device for inputting points identifying the desired path of the medical device on each of the displays. The computer is programmed to determine the magnetic field necessary to control orient the medical device on the path input on the displays.

    摘要翻译： 通过身体导航细长医疗装置的磁铁尖端的远端的方法包括：提供身体部分的图像显示，医疗装置通过该部分导航，并使用显示器输入医疗装置的期望路径 通过识别显示器上所需路径上的点。 然后确定在显示器上指示的朝向期望路径的方向定向医疗装置的端部所需的磁场。 在仅识别期望路径上的点的一个实施例中，场方向是由期望路径上的点指示的方向。 在第二实施例中，在电流路径和期望路径上的点被识别时，确定期望的偏转角，并且将磁场的方向设定为将该期望的偏转角度引导90°以过度扭矩 导管的端部，并且从给定的偏转角度的实验确定的场强度的表确定场的强度。 根据本发明的用于通过身体导航磁头医疗装置的装置包括：磁体系统，用于将磁场施加到医疗装置的磁头顶端，以定向医疗装置的远端; 用于控制磁体系统以在身体部分中产生指定磁场的计算机; 连接到计算机的第一和第二成像装置，用于提供身体部位的双平面图像，医疗装置通过该平面图像进行导航; 用于显示来自图像装置的图像的第一和第二显示器; 以及输入装置，用于输入识别每个显示器上的医疗装置的期望路径的点。 计算机被编程以确定在显示器上的路径输入上控制医疗装置的定向所必需的磁场。

    OPEN FIELD SYSTEM FOR MAGNETIC SURGERY
    3.
    发明申请
    OPEN FIELD SYSTEM FOR MAGNETIC SURGERY 审中-公开
    开放式磁场手术系统

    公开(公告)号：US20120330089A1

    公开(公告)日：2012-12-27

    申请号：US13441366

    申请日：2012-04-06

    申请人： Rogers C. Ritter ,  Jeffrey M. Garibaldi ,  Charles Wolfersberger ,  Francis M. Creighton ,  Peter R. Werp ,  Bevil J. Hogg ,  Walter M. Blume

    发明人： Rogers C. Ritter ,  Jeffrey M. Garibaldi ,  Charles Wolfersberger ,  Francis M. Creighton ,  Peter R. Werp ,  Bevil J. Hogg ,  Walter M. Blume

    IPC分类号： A61N2/02 ,  A61N2/10

    CPC分类号： A61B34/73 ,  A61B6/0457 ,  A61B6/4441 ,  A61B34/70 ,  A61B2034/733

    摘要： A system of navigating a magnetic medical device within that part of a patient located within an operating region of the system, the system comprising magnets, and preferably electromagnets, arranged to provide a magnetic field sufficient to navigate the magnetic medical device within the operating region. There are preferably three magnetic coils arranged in mutually perpendicular planes such that their axes intersect in the operating region. The magnetic coils are sized and arranged so that a patient can easily access the operating region to allow virtually any portion of the patient to be positioned within the operating region. The openness of the magnetic system allows access to the operating region by a bi-planer imaging system.

    摘要翻译： 一种在位于系统的操作区域内的患者的该部分内导航磁性医疗装置的系统，所述系统包括磁体，优选地电磁体，其被设置成提供足以在操作区域内导航磁性医疗装置的磁场。 优选地，在相互垂直的平面中布置有三个磁性线圈，使得它们的轴线在操作区域相交。 磁性线圈的尺寸和布置使得患者可以容易地进入操作区域，以允许患者的几乎任何部分位于操作区域内。 磁性系统的开放性允许通过双平面成像系统进入操作区域。

    Open field system for magnetic surgery
    4.
    发明授权
    Open field system for magnetic surgery 有权
    开放磁场手术系统

    公开(公告)号：US06241671B1

    公开(公告)日：2001-06-05

    申请号：US09211723

    申请日：1998-12-14

    申请人： Rogers C. Ritter ,  Jeffrey M. Garibaldi ,  Charles Wolfersberger ,  Francis M. Creighton ,  Peter R. Werp ,  Bevil J. Hogg ,  Walter M. Blume

    发明人： Rogers C. Ritter ,  Jeffrey M. Garibaldi ,  Charles Wolfersberger ,  Francis M. Creighton ,  Peter R. Werp ,  Bevil J. Hogg ,  Walter M. Blume

    IPC分类号： A61B600

    CPC分类号： A61B34/73 ,  A61B6/0457 ,  A61B6/4441 ,  A61B34/70 ,  A61B2034/733

    摘要： A system of navigating a magnetic medical device within that part of a patient located within an operating region of the system, the system comprising magnets, and preferably electromagnets, arranged to provide a magnetic field sufficient to navigate the magnetic medical device within the operating region. There are preferably three magnetic coils arranged in mutually perpendicular planes such that their axes intersect in the operating region. The magnetic coils are sized and arranged so that a patient can easily access the operating region to allow virtually any portion of the patient to be positioned within the operating region. The openness of the magnetic system allows access to the operating region by a bi-planer imaging system.

    摘要翻译： 一种在位于系统的操作区域内的患者的该部分内导航磁性医疗装置的系统，所述系统包括磁体，优选地电磁体，其被设置为提供足以导航所述操作区域内的所述磁性医疗装置的磁场。 优选地，在相互垂直的平面中布置有三个磁性线圈，使得它们的轴线在操作区域相交。 磁性线圈的尺寸和布置使得患者可以容易地进入操作区域，以允许患者的几乎任何部分位于操作区域内。 磁性系统的开放性允许通过双平面成像系统进入操作区域。

    METHOD AND APPARATUS FOR MAGNETICALLY CONTROLLING MOTION DIRECTION OF MECHANICALLY PUSHED CATHETER
    8.
    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
    9.
    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 of and apparatus for intraparenchymal positioning of medical devices
    10.
    发明授权
    Method of and apparatus for intraparenchymal positioning of medical devices 失效
    医疗器械实时定位的方法和装置

    公开(公告)号：US5931818A

    公开(公告)日：1999-08-03

    申请号：US969165

    申请日：1997-11-12

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

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

    IPC分类号： A61B5/06 ,  A61B6/12 ,  A61B19/00 ,  A61M25/00 ,  A61M25/01 ,  A61M25/095 ,  A61M31/00

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

    摘要： A catheter and magnet combination adapted for intraparenchymal positioning of the catheter in the body with a magnetic field. The catheter has a proximal and distal ends and a lumen therebetween. A magnet is disposed in the distal end of the lumen so that the distal end of the catheter can be positioned within the body with the aid of an externally applied magnetic field. A tether is attached to the magnet and extends through the lumen and out the proximal end so that the magnet can be removed from the catheter through the lumen once the distal end of the catheter is properly positioned. In one embodiment of the invention, the tether is sufficiently stiff to be able to push the catheter through the tissue. With this embodiment, the magnetic field orients the magnet and thus the tip of the catheter, and some or all of the force for moving the catheter is applied via the tether.

    摘要翻译： 一种导管和磁体组合，其适于用导管在体内实时磁场定位。 导管具有近端和远端以及其间的内腔。 磁体设置在内腔的远端，使得导管的远端借助于外部施加的磁场可以位于身体内。 系绳附接到磁体并延伸穿过内腔并离开近端，使得一旦导管的远端被适当定位，磁体可以通过内腔从导管中移除。 在本发明的一个实施例中，系链足够坚固以能够推动导管穿过组织。 利用该实施例，使磁体和导管的尖端定向的磁场以及用于移动导管的力的一些或全部通过系绳施加。