Magnetic field probe for determining a disposition to an implantable marker using additional detection zones

Abstract

It is crucial for medical professionals to accurately locate magnetic markers during both invasive and non-invasive treatments and therapies. There is provided a magnetic field probe (101, 102, 103, 104) for determining a magnetic field vector of an implantable marker (200), the magnetic field probe: comprising a distal end (160), a first magnetic sensor (111) proximate the distal end (160), and a second magnetic sensor (112); a distal marker detection zone (190) disposed to define a distal marker detection zone (190) extending further distally away from the distal end, and to define a flank marker detection zone (192, 194) extending more laterally and / or more radially away from the longitudinal axis or plane (151, 152, 153); a detector arranged to determine whether the angular arrangement and / or distance coincide with the flank marker detection zone; and arranged to alter, attenuate and / or suppress the processing of the field vector determination if the arrangement (170) of markers does not coincide with the flank marker detection zone. More flank locations can be perceived to be located on one side and behind the distal end of the magnetic field probe, providing a more intuitive magnetic probe for finding an implantable marker, particularly where the magnetic probe reference has exceeded the implantable marker.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202480063816.0 (22) Application Date 2024.08.03 (30) Priority Data 2035534 2023.08.03 NL (85) PCT International Application Entering National Phase Date 2026.04.02 (86) PCT International Application Application Data PCT / IB2024 / 057525 2024.08.03 (87) PCT International Application Publication Data WO2025 / 027586 EN 2025.02.06 (71) Applicant: Cerris Medical Systems Pte Ltd Address: Eindhoven, North Brabant, Netherlands (72) Inventors: Bram Schömers, Adrianus Cornelis, Peterus van Lesen, Vladislava Vladimirova, Dinkova (74) Patent Agency: Shenzhen Zhongyi United Intellectual Property Agency Co., Ltd., 44414 Patent Attorney: Mao Minxin (51) Int.Cl. A61B 5 / 06 (2006.01) A61B 34 / 20 (2006.01) (54) Invention Title: Magnetic Field Probe for Determining the Placement of Implantable Markers Using Additional Detection Zones (57) Abstract: During both invasive and non-invasive treatments and therapies, it is crucial for medical professionals to accurately locate magnetic markers. A magnetic field probe (101, 102, 103, 104) is provided for determining the magnetic field vector of an implanted marker (200), the magnetic field probe including a distal end (160), a first magnetic sensor (111) near the distal end (160), and a second magnetic sensor (112); configured to define a distal marker detection area (190) extending further distally away from the distal end, and to define flank marker detection areas (192, 194) extending more laterally and / or more radially away from the longitudinal axis or plane (151, 152, 153); configured to determine whether the angular arrangement and / or distance coincides with the flank marker detection areas; and configured to modify, attenuate, and / or suppress the processing of field vector determination if the arrangement (170) of the marker does not coincide with the flank marker detection areas. More flank positions can be sensed on one side and behind the distal end of the magnetic probe, thus providing a more intuitive magnetic probe for locating implanted markers, especially when the magnetic probe reference has exceeded the implanted marker. Claims 4 pages Description 32 pages Drawings 11 pages CN 122341310 A 2026.07.03 CN 1 22 34 13 10 A 1. A magnetic probe (101, 102, ...) for determining one or more arrangements (170) of an implanted marker (200).103, 104), the implantable marker (200) is configured to generate a magnetic field when in use, the magnetic field probe (101, 102, 103, 104) includes: a distal end (160) adapted to be positioned near an animal or human; a first magnetic sensor (111) positioned near the distal end (160) and arranged along the transverse axis or plane (181) of the first probe; a second magnetic sensor (112) arranged along the transverse axis or plane (182) of the second probe and positioned between the first magnetic sensor (111) and the proximal end (165); The first magnetic sensor (111) and the second magnetic sensor (112) are configured to determine one or more magnetic field vectors of the implanted marker (200) during use; and a processor is configured to collect measurements from the first magnetic sensor (111) and the second magnetic sensor (112), and is further configured to determine one or more magnetic field vectors of the implanted marker (200) during use; the processor is configured to perform the following operations: defining one or more distal marker detection areas (190) extending further distally from the distal end (160) of the magnetic field probe (101, 102, 103, 104) along the longitudinal axis or plane (151, 152, 153) of the probe, wherein the longitudinal axis or plane (151, 152, 153) of the probe is perpendicular to the transverse axis or plane (181) of the first probe and perpendicular to the transverse axis or plane (182) of the second probe. Define one or more lateral marker detection areas (192, 194) extending from the lateral axis or plane (181) of the first probe to the lateral axis or plane (182) of the second probe and extending more laterally and / or more radially away from the longitudinal axis or plane (151, 152, 153) of the probe; use the one or more magnetic field vectors to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200); determine that the angular arrangement and / or distance falls within the one or more lateral marker detection areas (192, 194) if the one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) substantially coincide with the one or more lateral marker detection areas (192, 194); and modify, attenuate, and / or suppress the processing of determining the one or more magnetic field vectors if the one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the one or more lateral marker detection areas (192, 194). 2. The magnetic field probe according to claim 1, wherein the one or more flank marker detection areas (192, 194)3. The magnetic field probe according to any of the preceding claims, wherein the second magnetic sensor (112) is positioned near the proximal end (165) of the magnetic field probe (101, 102, 103, 104). 4. The magnetic field probe according to any of the preceding claims, wherein the one or more flanking marker detection areas (192, 194) extend to an axis or plane including one or more physical and / or virtual locations, passing through the proximal end (165). 5. The magnetic field probe according to any of the preceding claims, wherein the one or more flanking marker detection areas (192, 194) extend to an axis or plane including one or more physical and / or virtual locations, passing through the flanks (162, 167) of the magnetic field probe (101, 102, 103, 104). 6. The magnetic field probe according to any of the preceding claims, wherein the one or more flank marker detection areas (192, 194) are substantially symmetrical about the longitudinal axis or plane (151, 152, 153) of the probe. (Claims 1 / 4 page 2 CN 122341310 A) 7. The magnetic field probe according to any of the preceding claims, wherein two or more marker detection areas (190, 192, 194) share one or more boundaries. 8. The magnetic field probe according to any of the preceding claims, wherein the processor is configured to define one or more proximal marker detection areas (196) extending further proximally along the longitudinal axis or plane (151, 152, 153) away from the proximal end (165) of the magnetic field probe (101, 102, 103, 104). 9. The magnetic field probe according to any preceding claim, wherein the processor is configured to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) relative to a magnetic probe reference (121, 122), the magnetic probe reference comprising: one or more virtual positions along a longitudinal axis or plane (151, 152, 153) of the probe, one or more physical and / or virtual positions along an axis or plane passing through the distal end (160), one or more physical and / or virtual positions along an axis or plane passing through the proximal end (165), one or more physical and / or virtual positions along an axis or plane passing through the flanks (162, 167), one or more virtual positions along a transverse axis or plane of the probe (181, 182), or any combination thereof. 10. The magnetic field probe according to any preceding claim, wherein the magnetic field probe (101, 102, 103, 104) comprises at least one additional magnetic sensor (113, 114), and wherein the first magnetic sensor (111), the second magnetic sensor...(112) and the at least one additional magnetic sensor (113, 114) are included in one or more 1D, 2D or 3D arrays. 11. The magnetic field probe according to any of the preceding claims, wherein the distal end (160) of the magnetic field probe (101, 102, 103, 104) is configured to: be arranged adjacent to the outer surface of the skin (300); contact the outer surface of the skin (300); be inserted through the outer surface of the skin (300); be inserted into a body cavity; or any combination thereof. 12. The magnetic field probe according to any of the preceding claims, wherein the magnetic field probe (101, 102, 103, 104) includes an acoustic transducer configured to provide audio feedback, and wherein the audio characteristics of the audio feedback are configured by the processor to vary depending on whether the one or more angular arrangements (170) and / or one or more distances coincide with the one or more flanking marker detection areas (192, 194); or whether the one or more angular arrangements (170) and / or one or more distances coincide with the one or more distal marker detection areas (190). 13. The magnetic field probe according to any of the preceding claims, wherein the processor is configured to determine one or more configurable aspects of the one or more marker detection areas (190, 192, 194, 196) based on: one or more measurements from one or more sensors; one or more suitable parameters; one or more parameters provided by the user; selections made by the user; or any combination thereof. 14. A magnetic field probe (101, 102, 103, 104) for determining one or more arrangements (170) of an implantable marker (200), the implantable marker (200) being configured to generate a magnetic field in use, the magnetic field probe comprising: a distal end (160) adapted to be arranged in proximity to an animal or human body; a first magnetic sensor (111) arranged near the distal end (160) and along a transverse axis or plane (181) of the first probe; and a second magnetic sensor (112) arranged along a transverse axis or plane (182) of the second probe and disposed between the first magnetic sensor (111) and the proximal end (165); Wherein, the first magnetic sensor (111) and the second magnetic sensor (112) are configured to determine one or more magnetic field vectors of the implanted marker (200) in use; and a processor is configured to collect measurements from the first magnetic sensor and the second magnetic sensor, and is configured to determine one or more magnetic field vectors of the implanted marker in use; the processor is configured to perform the following operations: (Claims 2 / 4, page 3, CN 122341310 A) Define one or more flank marker detection areas (192, 194), the one or more flank marker detection areas being derived from the...A first probe transverse axis or plane (181) extends to the second probe transverse axis or plane (182) and extends more laterally and / or more radially away from the probe longitudinal axis or plane (151, 152, 153), wherein the probe longitudinal axis or plane (151, 152, 153) is perpendicular to the first probe transverse axis or plane (181) and perpendicular to the second probe transverse axis or plane (182); defines one or more proximal marker detection areas (196) that extend more proximally away from the proximal end (165) of the magnetic field probes (101, 102, 103, 104) along the probe longitudinal axis or plane (151, 152, 153); uses the one or more magnetic field vectors to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200); If one or more angular arrangements (170) and / or one or more distances coincide with one or more flank marker detection areas (192, 194), determine that the angular arrangement and / or distance falls within the one or more flank marker detection areas (192, 194); and if one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the one or more flank marker detection areas (192, 194), modify, attenuate and / or suppress the processing for determining one or more magnetic field vectors. 15. The magnetic field probe of claim 14, wherein the processor is configured to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) relative to a magnetic probe reference (121, 122), the magnetic probe reference comprising: one or more virtual positions along the longitudinal axis or plane of the probe (151, 152, 153), one or more physical and / or virtual positions along an axis or plane passing through the distal end (160), one or more physical and / or virtual positions along an axis or plane passing through the proximal end (165), one or more physical and / or virtual positions along an axis or plane passing through the flanks (162, 167), one or more virtual positions along the transverse axis or plane of the probe (181, 182), or any combination thereof. 16. The magnetic field probe according to claim 14 or 15, wherein the processor is configured to: modify, attenuate, and / or suppress the processing of determining one or more magnetic field vectors when one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the one or more lateral marker detection areas (192, 194) and do not coincide with one or more proximal marker detection areas (196). 17. The magnetic field probe according to any preceding claim, wherein the processor is configured to determine the implanted marker...One or more distances of the marker (200) relative to a magnetic probe reference (122), the magnetic probe reference comprising: one or more physical and / or virtual locations along an axis or plane passing through the distal end (160), one or more physical and / or virtual locations along an axis or plane passing through the proximal end (165), one or more virtual locations along a probe transverse axis or plane (181, 182), or any combination thereof. 18. A detector unit for detecting one or more arrangements and / or distances of an implanted marker (200), the detector unit comprising a display and comprising one or more magnetic field probes (101, 102, 103, 104) according to any preceding claim, wherein the processor is configured to indicate to a user on the display the determination result of one or more arrangements and / or distances. 19. The detector unit of claim 18, wherein the processor is configured to indicate one or more marker detection areas (190, 192, 194, 196) on the display. 20. A method for determining one or more arrangements (170) of an implantable marker (200), the implantable marker (200) being configured to generate a magnetic field in use, the method comprising: providing a magnetic field probe (101, 102, 103, 104) including a processor and a distal end (160), the magnetic field probe (101, 102, 103, 104) comprising: a first magnetic sensor (111) proximal to the distal end (160) and arranged along a first probe transverse axis or plane (181); a second magnetic sensor (112) arranged along a second probe transverse axis or plane (182) and disposed between the first magnetic sensor (111) and the proximal end (165); and configuring the processor to collect measurements from the first magnetic sensor (111) and the second magnetic sensor (112); The processor is configured to determine one or more magnetic field vectors of the implanted marker (200) during use; the processor is configured to define one or more distal marker detection regions (190) extending further distally from the distal end (160) of the magnetic field probe (101, 102, 103, 104) along the probe longitudinal axis or plane (151, 152, 153), wherein the probe longitudinal axis or plane (151, 152, 153) is perpendicular to the first probe transverse axis or plane (181) and perpendicular to the second probe transverse axis or plane (182); the processor is configured to define one or more flank marker detection regions (192, 194) extending from the first probe transverse axis or plane (181) to the second probe transverse axis or plane.(182) and extend more laterally and / or more radially away from the longitudinal axis or plane (151, 152, 153) of the probe; use one or more magnetic field vectors to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200); determine that the angular arrangement and / or distance falls within the one or more flank marker detection areas (192, 194) if the one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the one or more flank marker detection areas (192, 194); and modify, attenuate and / or suppress the processing of determining one or more magnetic field vectors if the one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the one or more flank marker detection areas (192, 194). Claims 4 / 4 Page 5 CN 122341310 A Magnetic field probe for determining the placement of implanted markers using an additional detection area Technical Field

[0001] This disclosure relates to a magnetic field probe for determining the placement of implanted markers, a detection unit including the probe, and a method for detecting the placement of implanted markers. Background Art

[0002] During both invasive and non-invasive treatments and therapies, it is crucial for medical professionals to accurately locate areas of interest in tissues. Professionals often rely on vision and manual manipulation to locate and remember areas of interest, which typically involves marking the outer surface of the skin. Imaging techniques and / or imaging devices (such as X-rays and / or ultrasound) can also be used to assist in locating areas of interest—however, this use depends on the availability of the device, the technology capable of distinguishing the area of ​​interest from the surrounding tissue, and the professional's skill in interpreting the images. Furthermore, medical professionals performing specialized treatments may not have access to imaging devices or the ability to interpret images, thus requiring additional specialists. Inaccuracy in the ability to locate areas of interest may mean that not all areas are treated, or that treatment is incomplete.

[0003] Due to advancements in diagnostic screening procedures and improvements in imaging modalities and associated image quality, various types of cancer are increasingly being diagnosed at earlier stages. In principle, early detection is beneficial to patients because it typically allows for more conservative treatment approaches, while late detection is usually associated with more sophisticated treatments. For example, late detection of a tumor (breast tumor) may require frequent monitoring of tumor growth, surgery to remove tumor tissue, or even a mastectomy.

[0004] Paradoxically, conservative treatment of very early-stage tumors is challenging for medical professionals—because these tumors are often small and difficult to distinguish from surrounding healthy tissue by visual inspection or palpation.The lesion is also referred to as a "non-palpable" lesion. Without an inherent means of distinguishing the tissue of concern from its surrounding healthy tissue, medical professionals require intraoperative guidance to increase their probability of locating the full extent of the unhealthy tissue while minimizing exposure to healthy tissue areas from both invasive and non-invasive treatments and therapies.

[0005] This is a problem for both therapeutic and cosmetic procedures and treatments (including measurements and scans, tumor size measurement and monitoring, tumor removal, polyp removal, cosmetic surgery, tissue removal and / or correction, and implantation device placement—for example, placement may be required for contraceptive devices such as Implanon).

[0006] Both wired and wireless placement technologies are typically used prior to treatment. Guidewire-guided placement (WGL) takes the form of (various) anchored guidewires, which are typically inserted on the day of surgery, and in which the guidewire extends from the breast to guide subsequent procedures. With various known drawbacks, wireless placement technology has emerged, driving advancements in the field of surgery. Newer solutions for marking and locating areas of concern include the use of radioactive markers, but the use of radioactive materials is strictly controlled and regulated. Electromagnetic and RFID (Radio Frequency Identification) markers have been developed, but these markers are bulky and prone to failure. Any inaccuracy in locating the area of ​​concern can lead to incomplete treatment, increasing the risk of unsuccessful invasive or non-invasive treatment of the area of ​​concern and / or the need for additional invasive or non-invasive treatment. Recently, the use of implantable magnetic markers (seeds) has been proposed. These magnetic markers offer a higher level of safety compared to radioactive markers, but still require considerable effort from medical professionals to detect the placement (location) of the implanted markers. This becomes even more difficult when using very small magnetic markers to mark very small areas of concern.

[0007] To best support medical professionals, providing both the distance and direction to the marked location is crucial. Specification 1 / 32 pages 6 CN 122341310 A The object of the present invention is to provide improved directional detection for magnetic markers or inductive magnetic beacons.

[0008] According to a first aspect of this disclosure, a magnetic field probe is provided for determining the arrangement of one or more implantable markers, the implantable markers being configured to generate a magnetic field in use, the magnetic field probe comprising: a distal end adapted to be arranged in proximity to an animal or human body; a first magnetic sensor arranged proximal to the distal end and arranged along a transverse axis or plane of the first probe; and a second magnetic sensor arranged along a transverse axis or plane of the second probe and disposed between the first magnetic sensor and the proximal end; wherein the first magnetic sensor and the second magnetic sensor...The sensor is configured to determine one or more magnetic field vectors of the implanted marker during use; and the processor is configured to collect measurements from the first magnetic sensor and the second magnetic sensor, and is further configured to determine one or more magnetic field vectors of the implanted marker during use; the processor is configured to perform the following operations: Define one or more distal marker detection areas extending further distally from the distal end of the magnetic field probe along the longitudinal axis or plane of the probe, wherein the longitudinal axis or plane of the probe is perpendicular to the transverse axis or plane of the first probe and perpendicular to the transverse axis or plane of the second probe; define one or more lateral marker detection areas extending from the transverse axis or plane of the first probe to the transverse axis or plane of the second probe and extending more laterally and / or more radially from the longitudinal axis or plane of the probe; use the one or more magnetic field vectors to determine one or more angular arrangements and / or one or more distances of the implanted marker; determine that the angular arrangement and / or distance falls within the one or more lateral marker detection areas if the one or more angular arrangements and / or one or more distances of the implanted marker substantially coincide with the one or more lateral marker detection areas; and modify, attenuate, and / or suppress the processing of determining the one or more magnetic field vectors if the one or more angular arrangements and / or one or more distances of the implanted marker do not coincide with the one or more lateral marker detection areas.

[0009] This magnetic field probe can advantageously define one or more distal marker detection areas at a more distal location, away from the distal end of the probe, so that the user can distinguish different types of magnetic field information relative to the probe at a more distal location. These more distal locations can be perceived by the user as being located in front of the distal end of the magnetic field probe. Alternatively, this magnetic field probe can advantageously define one or more flank marker detection areas away from the flanks of the probe, so that the user can distinguish different types of magnetic field information relative to the probe at a more flank location. These more flank locations can be perceived by the user as being located to one side of the magnetic field probe. Alternatively, these more flank locations can be perceived by the user as providing magnetic field information behind the distal end of the magnetic field probe, thereby providing a more intuitive magnetic probe for locating implanted markers, especially when the magnetic probe reference has exceeded the implanted marker.

[0010] Configurations that can improve usability include: setting the one or more flanking marker detection areas to extend from an axis or plane passing through the distal end, including one or more physical and / or virtual locations; setting the second magnetic sensor near the proximal end of the magnetic field probe; setting the one or more flanking marker detection areas to extend to an axis or plane passing through the proximal end, including one or more physical and / or virtual locations; and setting the one or more flanking marker detection areas...The configuration extends to an axis or plane that passes through the flanks of the magnetic field probe, including one or more physical and / or virtual locations; and / or the one or more flank marker detection areas are configured to be substantially symmetrical about the longitudinal axis or plane of the probe.

[0011] Advantageous configurations may include: configuring one or more sections in the plane passing through the marker detection area to include portions having circular, elliptical, oval, triangular, rectangular, square sections, or any combination thereof; configuring one or more marker detection areas to include one or more portions having arcuate, bow-shaped, cylindrical, conical, or any combination thereof; configuring one or more marker detection areas to include one or more portions having parabolic, linear, or hyperbolic shapes; configuring two or more marker detection areas to share one or more boundaries; and / or configuring two or more marker detection areas to differ in one or more parameters selected from the group consisting of: extent, shape, orientation, arrangement, scaling, resolution, angular boundaries, longitudinal extent, lateral extent, or any combination thereof.

[0012] According to another aspect of this disclosure, the processor is configured to define one or more proximal marker detection regions that extend further proximally away from the proximal end of the magnetic field probe along the longitudinal axis or plane of the probe.

[0013] Alternatively or additionally, the magnetic probe described herein may advantageously define one or more proximal marker detection regions at a more proximal location away from the proximal end, so that a user can distinguish different types of magnetic field information relative to the magnetic field probe at the more proximal location. These more proximal locations can be perceived by the user as being located behind the proximal end of the magnetic field probe.

[0014] Configurations that further enhance usability include setting the processor to determine one or more angular arrangements and / or one or more distances of the implanted marker relative to a magnetic probe reference, the magnetic probe reference including: one or more virtual positions along a longitudinal axis or plane of the probe, one or more physical and / or virtual positions along an axis or plane passing through the distal end, one or more physical and / or virtual positions along an axis or plane passing through the proximal end, one or more physical and / or virtual positions along an axis or plane passing through the flanks, one or more virtual positions along a transverse axis or plane of the probe, or any combination thereof.

[0015] According to another aspect of this disclosure, the magnetic field probe includes at least one additional magnetic sensor, and wherein the first magnetic sensor, the second magnetic sensor, and the at least one additional magnetic sensor are included in one or more 1D, 2D, or 3D arrays.

[0016] According to another aspect of this disclosure, the processor is configured to be user-configurable.

[0017] By providing two or more software-configurable marker detection areas, the user can select, set, and / or configure these areas.Or a configuration can be configured particularly well-suited to, for example, the intended location, intended proximity, intended magnetic field strength, and intended marker orientation of the implanted marker in a human or animal. Users can also select, set, and / or configure configurations they personally deem particularly efficient for marker localization. Since two or more detection zones can be set in several dimensions, two or more of these shapes and cross-sectional shapes can be combined. Simple and / or complex shapes can be used. Depending on the (user's) intended proximity and / or orientation with respect to the implanted marker, two or more marker detection zones can also be selected, set, and / or configured to employ a specific configuration. This can also be automated to some extent, depending on the proximity and / or orientation measured (by the probe). Any combination of varying degrees is also possible.

[0018] Another advantage of providing one or more software-configurable marker detection zones of interest is that users can select, set, and / or configure two or more marker detection zones. This can provide, for example, coarse / fine marker detection zone configurations—marker detection zones with smaller angles can further improve accuracy and sensitivity as the distal end of the probe gets closer to the implanted magnetic marker.

[0019] Another advantage of providing one or more software-configurable detection zones of interest is that the user can set and / or configure any number of marker detection zones. Another advantage is that the user can select, set, and / or configure additional marker detection zones with different degrees of special overlap. These can be substantially fixed, dynamic, or any combination thereof.

[0020] According to another aspect of this disclosure, a magnetic field probe is provided for determining one or more arrangements of an implantable marker, the implantable marker being configured to generate a magnetic field upon use. The magnetic field probe includes: a distal end adapted to be arranged in proximity to an animal or human body; a first magnetic sensor arranged near the distal end and along a transverse axis or plane of the first probe; and a second magnetic sensor arranged along a transverse axis of the second probe. (Specification 3 / 32 pages 8 CN 122341310 A) Alternatively, a planar arrangement is provided between the first magnetic sensor and the proximal end; wherein the first and second magnetic sensors are configured to determine one or more magnetic field vectors of the implanted marker during use; and a processor is configured to collect measurements from the first and second magnetic sensors and to determine one or more magnetic field vectors of the implanted marker during use; the processor is configured to perform the following operations: define one or more lateral marker detection areas extending from the lateral axis or plane of the first probe to the lateral axis or plane of the second probe and further laterally and / or radially away from the longitudinal axis or plane of the probe.The probe extends in a manner where its longitudinal axis or plane is perpendicular to the first probe transverse axis or plane and perpendicular to the second probe transverse axis or plane; defines one or more proximal marker detection areas that extend further proximally away from the proximal end of the magnetic field probe along the longitudinal axis or plane of the probe; uses the one or more magnetic field vectors to determine one or more angular arrangements and / or one or more distances of the implanted marker; determines that the angular arrangement and / or distance falls within the one or more lateral marker detection areas if the one or more angular arrangements and / or one or more distances coincide with the one or more lateral marker detection areas; and modifies, attenuates, and / or suppresses the processing of determining the one or more magnetic field vectors if the one or more angular arrangements and / or one or more distances of the implanted marker do not coincide with the one or more lateral marker detection areas.

[0021] The magnetic probe as described herein can advantageously define one or more lateral marker detection areas away from the flanks of the probe, so that the user can distinguish different types of magnetic field information relative to the probe in more lateral positions. These more lateral positions can be perceived by the user as being located on one side of the magnetic field probe. Alternatively, these additional flank locations can be perceived by the user as providing magnetic field information distal to the magnetic field probe. Alternatively, the magnetic probe described herein can advantageously define one or more proximal marker detection regions at more proximal locations, away from the proximal end, allowing the user to distinguish different types of magnetic field information relative to the magnetic field probe at these more proximal locations. These more proximal locations can be perceived by the user as being located proximal to the magnetic field probe.

[0022] Configurations that can further improve usability include: setting the processor to determine one or more angular arrangements and / or one or more distances of the implanted marker relative to a magnetic probe reference, the magnetic probe reference including: one or more virtual positions along a longitudinal axis or plane of the probe, one or more physical and / or virtual positions along an axis or plane passing through the distal end, one or more physical and / or virtual positions along an axis or plane passing through the proximal end, one or more physical and / or virtual positions along an axis or plane passing through the flanks, one or more virtual positions along a transverse axis or plane of the probe, or any combination thereof; and / or setting the processor to: modify, attenuate, and / or suppress the processing of determining one or more magnetic field vectors when the one or more angular arrangements and / or one or more distances of the implanted marker do not coincide with the one or more flank marker detection areas and do not coincide with the one or more proximal marker detection areas.

[0023] According to another aspect of this disclosure, the processor is configured to determine one or more distances of the implanted marker relative to a magnetic probe reference, the magnetic probe reference including: one or more virtual positions along an axis or plane passing through the distal end, one or more virtual positions along an axis or plane passing through the distal end, or any combination thereof.Physical and / or virtual locations, one or more physical and / or virtual locations along an axis or plane passing through the proximal end, one or more virtual locations along a transverse axis or plane of the probe, or any combination thereof.

[0024] By detecting in the flank (or more transverse or more radial) direction, depth distance and / or depth direction can be indicated, thereby providing a more intuitive magnetic probe for locating implanted markers, particularly where the magnetic probe reference has exceeded the implanted marker. Additionally, it may be advantageous to enable the user to determine the posterior boundary of the tissue to be treated by intentionally moving the magnetic marker by a distance equal to the expected range of the tissue to be treated.

[0025] According to another aspect of this disclosure, a detector unit for detecting one or more arrangements and / or distances of implanted markers is provided, the detector unit including a display and including one or more magnetic field probes according to any of the preceding claims 4 / 32 pages 9 CN 122341310 A, wherein the processor is configured to indicate to the user on the display the determination result of one or more arrangements and / or distances. Optionally, it may be advantageous to configure the processor to indicate one or more marker detection areas on the display.

[0026] According to another aspect of this disclosure, a method for determining one or more arrangements of an implantable marker, the implantable marker being configured to generate a magnetic field in use, the method comprising: providing a magnetic field probe including a processor and a distal end, the magnetic field probe including: a first magnetic sensor disposed proximal to the distal end and along a lateral axis or plane of the first probe; a second magnetic sensor disposed along a lateral axis or plane of the second probe and disposed between the first magnetic sensor and the proximal end; configuring the processor to collect measurements from the first magnetic sensor and the second magnetic sensor; configuring the processor to determine one or more magnetic field vectors of the implantable marker in use; configuring the processor to define one or more distal marker detection regions, the one or more distal marker detection regions being... The detection area extends further away from the distal end of the magnetic field probe along the longitudinal axis or plane of the probe, wherein the longitudinal axis or plane of the probe is perpendicular to the transverse axis or plane of the first probe and perpendicular to the transverse axis or plane of the second probe; the processor is configured to define one or more lateral marker detection areas, which extend from the transverse axis or plane of the first probe to the transverse axis or plane of the second probe and further laterally and / or radially away from the longitudinal axis or plane of the probe; one or more magnetic field vectors are used to determine one or more angular arrangements and / or one or more distances of the implanted marker; if the one or more angular arrangements and / or one or more distances coincide with one or more lateral marker detection areas, it is determined that the angular arrangement and / or distance falls within the one or more lateral marker detection areas.Within the wing marker detection area; and where the one or more angular arrangements and / or one or more distances of the implanted marker do not coincide with the one or more wing marker detection areas, the processing of determining one or more magnetic field vectors is altered, attenuated, and / or suppressed.

[0027] The features and advantages of some embodiments of this disclosure, as well as the ways in which such features and advantages are realized, will become more apparent after taking into account the following detailed description of this disclosure in conjunction with the accompanying drawings, which illustrate preferred and exemplary embodiments and are not necessarily drawn to scale, in which: FIG1 depicts a schematic longitudinal section of a magnetic field probe according to this disclosure; FIGS. 2A to 2D depict schematic longitudinal sections of a magnetic field probe configuration according to this disclosure; FIG. 3 depicts a schematic longitudinal section of a magnetic field probe and a marker detection area according to this disclosure; FIG. 4 depicts a schematic end view of a magnetic field probe with a display and a schematic transverse section through a marker detection area according to this disclosure; FIGS. 5A to 5B depict a schematic top view of a magnetic field probe with a display and a schematic longitudinal section through a marker detection area according to this disclosure; FIGS. 6A to 6B depict a schematic top view of a magnetic field probe with a display and a schematic longitudinal section through a marker detection area according to this disclosure; Figures 7A to 7E depict schematic top views of a magnetic field probe with a display according to the present disclosure and schematic longitudinal sections through a marker detection area; and Figures 8A to 8B depict schematic top views of a magnetic field probe with a display according to the present disclosure and schematic longitudinal sections through a marker detection area. Specification 5 / 32 pages 10 CN 122341310 A Detailed Description

[0028] In the following detailed description, numerous non-limiting specific details are set forth to aid in understanding the present disclosure. It will be apparent to those skilled in the art that the computer processing portion of the method can be implemented on any type of standalone system or a client-server compatible system containing any type of client, network, server, and database elements.

[0029] Figure 1 depicts a longitudinal section of a first embodiment magnetic field probe (first magnetic probe) 101 through one or more arrangements (positionings) for determining an implantable marker (seed) 200. These arrangements may include one or more angular arrangements, one or more distance arrangements (distances), or any combination thereof. In the context of this disclosure, angular disposition can be considered synonymous with angular arrangement—it is the angular component of the relative position of the implanted marker 200 with respect to the probe. The implanted marker 200 is schematically depicted as having a circular truncated section.However, the first magnetic probe 101 can be configured to locate a marker (seed) having any physical shape or combination of shapes, any material or any combination of materials, any physical cross section or any combination of physical cross sections, and any combination thereof. Generally, physical properties are less relevant to the location. Generally, magnetic properties during use are more relevant to the location. However, the first magnetic probe 101 can be configured to locate an implantable marker 200 having any magnetic field shape or combination of magnetic field shapes, any magnetic field cross section or any combination of magnetic field cross sections, and any combination thereof. Because the location is 3D, the implantable marker 200 (e.g., a cylindrical permanent magnet) can generate one or more isotropic magnetic fields in one or more orientations and one or more anisotropic fields in one or more orientations. Therefore, the illustrative use of the circular cross section of the implantable marker 200 should be considered to represent an orientation having an isotropic field, an anisotropic field, or any combination thereof.

[0030] To facilitate comparison of different views of the same and different embodiments, axes as used in each figure are also defined. As depicted in Figure 1, the plane of the drawing (paper) lies on X 600 and Y 700, which are substantially perpendicular to each other. The X-axis 600 extends from bottom to top and the Y-axis 700 extends from right to left. The Z-axis 800 is substantially perpendicular to X 600 and Y 700 and extends away from the drawing plane (outside the paper).

[0031] The longitudinal axis 151 (or longitudinal plane 151) of the first magnetic probe 101 is schematically depicted here as substantially parallel to the Y-axis 700 in the depicted cross-section. In all cases, the figures represent 2D views of 3D objects, and therefore the extent and axes should be interpreted as indicating their form only through these exemplary cross-sections. In some examples, the extent and axes may be the same in other cross-sectional planes. In some examples, the depicted virtual and physical objects may be completely or partially symmetrical about the axes. In some examples, the depiction of the axes may represent exemplary cross-sections through the plane. In some examples, the depicted virtual and physical objects may be completely or partially symmetrical about the plane.

[0032] As depicted, the implantable marker 200 (or magnetic marker 200) may be implanted at or below the outer surface of the skin 300 to mark an area of ​​interest. The area of ​​interest may be located on the outer surface of the skin 300. The implantable marker 200 is configured to generate a magnetic field upon use. For example, the implantable marker 200 may include one or more magnetic dipoles.

[0033] The implantable marker 200 may be implanted in the outer surface of the skin 300, just below the outer surface of the skin 300, or a few millimeters or centimeters below the outer surface of the skin. The first magnetic probe 101 may also be used to locate the implantable marker if it is not considered to be implanted, for example, when attached to the outer surface of the skin 300 or inserted into an opening in a human or animal body.

[0034] The implantable marker 200 can be implanted in any convenient manner, such as by injection. For example, the injection can be into soft tissue or an organ, or delivered to the bronchus via a bronchoscope, or delivered to the colon via a colonoscope. The implantation method may depend on, for example, the extent of implantation, the subsequent procedures to be performed, the size of the area of ​​interest, the location of the area of ​​interest, the tissue type within the area of ​​interest, and the tissue type surrounding the area of ​​interest. The implantable marker 200 can be implanted immediately before or earlier than the detection. Alternatively, implantation can be assisted and / or guided using imaging techniques and / or imaging devices (such as ultrasound A-wave, X-ray, mammography, stereotactic, CT, MRI guidance, or any combination thereof).

[0035] For example, a suitable marker 200 may include a magnetic dipole, which may be generally cylindrical with a diameter of 1.45 mm, a length of 2.19 mm, and a remanence (Br) of 1.43 T (NdN52), or with a diameter of 1.75 mm, a length of 5 mm, and a remanence (Br) of 1.43 T (NdN52). A marker with a diameter of 1.45 mm and a length of 4.7 mm may also be suitable. A marker with a diameter of 1.45 mm and a length of 4.6 mm may also be suitable. A marker with a diameter of 1.00 mm and a length of 7.4 mm may also be suitable. As higher grades of neodymium become available, they may also be advantageously used with the embodiments of this disclosure.

[0036] Alternatively or additionally, the implantable marker 200 may include one or more inductive magnetic dipoles. Since the magnetic field probe 101 determines the angular arrangement of the implantable marker 200 based on the properties of the dipole field, the arrangement of the implantable marker 200 used to generate this field is less critical. A combination of various techniques can also be used to generate multiple inductive and / or permanent magnet dipoles.

[0037] The first magnetic probe 101 includes a distal end 160 adapted to be positioned near an animal or human body. The first magnetic field probe 101 may extend between the proximal end 165 and the distal end 160 along a first probe longitudinal axis or plane 151. The proximal end 165 and / or the distal end 160 may be associated with one or more physical and / or virtual locations. For example, a virtual location may be along an axis and / or plane. For example, a physical location may be the extent of the first magnetic field probe 101, such as one or more portions of a housing and / or display. The proximal end 165 and the distal end 160 are further explained below with reference to FIG2A.

[0038] Optionally, the first magnetic field probe 101 may extend between the first side wing 162 and the second side wing 167 along one or more transverse axes or planes perpendicular to the longitudinal axis or plane 151 of the first probe. The first side wing 162 and / or the second side wing 167Wing 167 may be associated with one or more physical and / or virtual locations. For example, a virtual location may be along an axis and / or a plane. For example, a physical location may be the extent of the first magnetic field probe 101, such as one or more portions of the housing and / or display. The first wing 162 and the second wing 167 are further explained below with reference to FIG2A.

[0039] The first magnetic probe 101 may optionally be further configured to determine one or more angular arrangements in one or more dimensions between the first magnetic probe reference (not depicted) and the implanted marker 200. The one or more angular arrangements may include, for example, angular arrangements 170 in one or more XY planes 600, 700 as depicted in FIG1. ​​Alternatively or alternatively, the one or more angular arrangements may include, for example, angular arrangements (not depicted) in one or more YZ planes 700, 800. Alternatively or alternatively, the one or more angular arrangements may include, for example, angular arrangements (not depicted) in one or more XZ planes 600, 800. Alternatively or alternatively, the one or more angular arrangements may include any combination of angular arrangements in one or more planes and / or one or more directions. Alternatively or alternatively, the first magnetic probe 101 may be configured to determine one or more distances from the first magnetic probe reference (not depicted) to the implanted marker 200 in one or more dimensions.

[0040] The first magnetic probe reference (not depicted) may include one or more virtual locations, for example, along a longitudinal axis or plane (such as the first longitudinal axis or plane 151). Alternatively or alternatively, the first magnetic probe reference (not depicted) may include one or more physical and / or virtual locations along an axis or plane passing through the distal end 160, one or more physical and / or virtual locations along an axis or plane passing through the proximal end 165, one or more physical and / or virtual locations along an axis or plane passing through a flank (such as the first flank 162 or the second flank 167), one or more virtual locations along a probe transverse axis or plane (such as the first probe transverse axis or plane 181 or the second probe transverse axis or plane 182), or any combination thereof.

[0041] The first magnetic probe 101 includes at least a first magnetic sensor 111 and a second magnetic sensor 112, which are configured to determine one or more magnetic field vectors of the local magnetic field (Bx, By, Bz) generated by the implanted marker 200 during use. These properties can be used by software algorithms to determine one or more arrangements, for example, the angular arrangement 170 depicted in FIG1. ​​In the example depicted in FIG1, the first magnetic sensor 111 is positioned near the distal end 160 and arranged along the transverse axis or plane 181 of the first probe. The second magnetic sensor 112 is arranged along the transverse axis or plane 181 of the second probe.Plane 182 is arranged and positioned between the first magnetic sensor 111 and the proximal end 165 of the first magnetic probe 101. The first probe transverse axis or plane 181 may also be described as the distal transverse axis or plane 181 of the probe. The second probe transverse axis or plane 182 may also be described as the proximal transverse axis or plane 182 of the probe.

[0042] This may be advantageous when the first magnetic sensor 111 is positioned at the distal end 160. Alternatively or alternatively, this may be advantageous when the second magnetic sensor 112 is positioned close to the proximal end 165. Alternatively or alternatively, this may be advantageous when the second magnetic sensor 112 is positioned at the proximal end 165. The proximal end 165 and the distal end 160 are not depicted in detail in FIG1, but are further explained below with reference to FIG2A.

[0043] At least two magnetic sensors 111, 112 are configured to determine one or more B-field 3D vector measurements of the magnetic field of the implanted marker 200 in use. For example, the magnetic sensor output may be a 3D vector of the B-field. Using two or more magnetic sensors 111, 112, one or more arrangements of the implantable marker 200 can be determined. At least one first measurement associated with the first magnetic sensor 111 and at least one second measurement associated with the second magnetic sensor 112 can be used in a software algorithm to determine one or more arrangements of the implantable marker 200, such as the angular arrangement 170 depicted in FIG. 1. An angular arrangement is a measurement (or estimate) of the orientation of the implantable marker 200 associated with the first magnetic probe 101 as a whole. Alternatively, it may be advantageous to also determine one or more distance arrangements.

[0044] The first magnetic field probe 101 may advantageously define one or more distal marker detection areas 190 at a more distal location away from the distal end 160, so that a user can distinguish different types of magnetic field information 170 relative to the probe 101 at a more distal location. These more distal locations can be perceived by the user as being in front of the distal end 160 of the first magnetic field probe 101.

[0045] Alternatively or additionally, the first magnetic field probe 101 may advantageously define one or more flank marker detection areas (not depicted) remotely from the flanks 162, 167 of the probe 101, so that the user can distinguish different types of magnetic field information 170 relative to the probe 101 in more flank positions. These more flank positions may be perceived by the user as being located on one side of the magnetic field probe 101. Alternatively or additionally, these more flank positions may be perceived by the user as providing magnetic field information 170 behind the distal end 160 of the magnetic field probe 101. One or more flank detection areas (not depicted) are described below with respect to FIG3.

[0046] Alternatively or additionally, the first magnetic field probe 101 may advantageously define one or more proximal marker detection areas (not depicted) in more proximal positions remotely from the proximal end 165, so that the user can distinguish different types of magnetic field information 170 relative to the probe 101 in more proximal positions.Different types of magnetic field information 170. These more proximal locations can be perceived by the user as being behind the proximal end 165 of the first magnetic field probe 101. One or more proximal detection regions (not depicted) are described below with respect to FIG3.

[0047] The magnetic sensors described in this disclosure (such as the first magnetic sensor 111 and the second magnetic sensor 112) can be any suitable magnetic field detector, such as a magnetometer, fluxgate sensor, geomagnetic sensor, Lorentz force digital MEMS, magnetic induction sensor, magnetoresistive sensor, Hall sensor, magnetic tunnel junction, and any combination thereof. For example, one or more of the magnetic sensors disclosed in PCT application WO 2021124300A1, published on June 24, 2021, which is incorporated herein by reference, can be used.

[0048] For example, in particular, one or more of the magnetic sensors disclosed on pages 16 to 18 of PCT application WO 2021124300A1, which is incorporated herein by reference, can be used. Many small IC packages containing 3-axis detection are available. Therefore, a 'multi-axis' solution can be provided through a simple PCB design and preferably a smaller probe diameter. The sensor packages presented below are examples. They are digital, so the interface is relatively simple because less analog design is required. For example, a 3-axis Hall sensor can be used, which uses 3 magnetic detectors to measure three field components Bx, By, and Bz. Typically, such a Hall sensor is an IC package that includes three (3D) substantially perpendicular detectors, thus providing measurements of at least three degrees of freedom at approximately the same physical location in the first magnetic probe 101. Magnetic sensors 111, 112 can be of the same type or different types. In this disclosure, sensors and detectors are sometimes used interchangeably, and the use of sensors and detectors is not important to the technical disclosure.

[0049] Generally, a sensor is considered to be a single hermetically sealed package comprising one or more detectors. A sensor having a single magnetic detector can be considered either a sensor or a detector. According to this disclosure, a package is considered to include two or more sensors if the physical and / or functional spacing between the detectors is large enough to measure significantly different values ​​of a particular B-vector of the magnetic field of the implanted marker 200. Thus, each of the magnetic detectors can provide a B-vector measurement of the magnetic field of the implanted marker 200 relative to a significantly different sensor location (or arrangement) within the first magnetic probe 101. If the physical and / or functional spacing between the detectors is too small (they measure substantially the same value of a particular B-vector), then according to this disclosure, such a package is considered...Includes a sensor. Therefore, each of the detectors can provide a vector measurement of the implanted marker 200 associated with substantially the same location (or arrangement) within the first magnetic probe 101. Note that in some packages, two or more detectors can be configured to measure different orientations—for example, some Hall sensor packages include three detectors oriented substantially perpendicular to each other. When they measure the B vector associated with substantially the same location (or arrangement), they are considered to be included in the same (same) sensor.

[0050] The distal end 160 can be configured to be arranged adjacent to the outer skin surface 300. Alternatively or additionally, the distal end 160 can be configured to be arranged at a distance from the outer skin surface 300. For example, spacers can be used to maintain a fixed distance, or the distance can be zero if the first magnetic probe 101 is further configured to contact the outer skin surface 300. For example, the first magnetic probe 101 can be further configured to push against (or contact) the outer skin surface 300 to create a depression, which can further reduce the distance between the distal end 160 of the first magnetic probe 101 and the implanted marker 200. Typically, the smaller the distance between the first magnetic probe 101 and the implanted marker 200, the larger the amplitude of any signal measured. For example, for some treatments, the distal end 160 of the first magnetic probe 101 may be further configured to be inserted through the outer surface of the skin 300 and / or into a body cavity to further reduce the distance between the probe 101 and the marker 200. This can be done, for example, via a surgical incision or through a body opening.

[0051] Each magnetic sensor 111, 112 measures the B-field 3D vector of any local magnetic field, which may include any background magnetic field (e.g., the Earth's magnetic field) and any magnetic field of the implanted marker 200. These measurements may be provided to a software algorithm that combines these measurements with physical parameters (e.g., orientation, sensitivity, magnetic sensor spacing) to determine one or more angular arrangements of the magnetic marker 200 relative to a predetermined and / or controlled first magnetic probe reference (not depicted). Alternatively or additionally, a processor (not depicted) may be configured to determine one or more distances to the implanted marker 200 in one or more dimensions. As depicted in Figure 1, a 1D array consisting of at least two magnetic sensors 111, 112 can be used. Sensors 111, 112 are depicted as arranged along the longitudinal axis or plane 151 of the first magnetic probe 101, but this is not necessary, as their relative positions (arrangement) can be determined based on measurement and / or design data and considered in the software algorithm. The first magnetic probe 101 is configured to reference the B-vector measurements from sensors 111, 112 to a suitable first magnetic probe reference (not depicted). It may be advantageous to use a first magnetic probe reference (not depicted), which...The reference provides the user with an intuitive reference, such as a position on the probe housing 140 near the distal end 160. Alternatively, it may be advantageous to arrange the first magnetic sensor 111 and the second magnetic sensor 112 along the first longitudinal axis or plane 151, and to include two or more magnetic sensor positions along the first longitudinal axis or plane 151 in the first magnetic probe reference (not depicted) for determination of one or more angular arrangements, as this simplifies the geometric transformation of the measurement data.

[0052] Any convenient determination algorithm can be used. For example, one or more algorithms disclosed in PCT application WO specification 9 / 32 pages 14 CN 122341310 A 2021124300A1, published June 24, 2021, which is incorporated herein by reference. For example, particularly, one or more of the algorithms disclosed in the following figures of PCT application WO 2021124300A1: Figure 3A depicts a schematic simulation of an approximately circular field line representing a cross-section of the magnetic field generated by the magnetic dipole; Figure 3B depicts the relationship between the probe tilt angle and the field tilt angle value in the probe plane; Figures 4A and 4B depict measurements taken at each magnetic sensor when the scanning probe is arranged at different angles with a fixed tilt angle; Figures 5A and 5B depict the difference between the B field tilt angle measured at distances of 15.0 mm, 20.0 mm, and 25.0 mm and the magnetic sensor closest to the far end (i.e., the sensor at 10.0 mm); Figure 6 depicts an example of differential measurement and lateral displacement characteristics that can be used to convert the L-R signal from the sensor into lateral displacement; and Figure 7 depicts an example of the expected magnetic field component when the probe is directly pointed at the magnetic dipole, which is incorporated herein by reference. For example, specifically, one or more of the algorithms disclosed in the specification explaining the following figures in PCT application WO 2021124300A1: Figures 3A, 3B, 4A, 4B, 5A, 5B, 7, and 7 (including the disclosure on page 20, line 7 to page 34, line 18), which is incorporated herein by reference.

[0053] Figure 1 of this disclosure further depicts an example of a marker detection region extending from the distal end 160 along the longitudinal axis or plane 151 of the first probe as indicated by the dashed line. For the purposes of this disclosure, this is an example of a distal marker detection region 190 (distal detection region 190). Although depicted in an approximately triangular cross-section in the XY plane 600-700 and substantially symmetrical, this is not required—any form of cross-section and any combination of cross-sections can be used. For example, a cross-section in one or more planes passing through the distal marker detection area 190 may optionally include portions having approximately circular, arc-shaped, bow-shaped, elliptical, oval, triangular, rectangular, square, or any combination thereof cross-sections.

[0054] The depicted distal marker detection region 190 can be primarily defined by a first extent 1190 of the distal marker detection region 190 in the X-Y plane, which can influence the maximum detection distance. The depicted distal marker detection region 190 can be further defined by a second extent 2190 and a third extent 3190 in the X-Y plane, wherein the second extent 2190 and the third extent 3190 are angular boundaries. The depicted distal marker detection region 190 can be further defined by a first probe lateral axis or plane 181, as described below with respect to Figures 2A and 3. One or more distances between the second extent 2190 and the third extent 3190 of the distal detection region 190 located proximal to the distal end 160 can be predetermined and / or controlled. Alternatively or additionally, one or more distances between the first probe lateral axis or plane 181 and the first extent 1190 of the distal detection region 190 can be predetermined or controlled.

[0055] If one or more distal marker detection areas 190 are substantially symmetrical about the longitudinal axis or plane 151, they can provide a more intuitive magnetic probe for locating the marker 200, particularly when the first magnetic probe 101 is configured to be handheld. For example, the marker detection area can be defined as cylindrical or conical. The conical marker detection area can further have a parabolic, linear, or hyperbolic shape. For example, a parabolic shape can have a wider angle proximal to the distal end 160 and a narrower angle when arranged away from the distal end toward a more negative Y 700. For example, a linear shape can have approximately the same angle proximal to the distal end 160 and also when arranged away from the distal end 160 toward a more negative Y 700, which can also be described as a focused beam. For example, a hyperbolic shape can have a narrower angle proximal to the distal end 160 and a wider angle when arranged away from the distal end 160 toward a more negative Y 700.

[0056] One or more marker detection zones (e.g., one or more distal marker detection zones 190) can be defined by software to act as software-controlled collimators. For example, during processing of B-field vector measurements, angular arrangements and / or distances estimated, measured, and / or determined to be within the marker detection zone of interest can be assigned higher weights and / or amplification factors. Alternatively, during processing, angular arrangements and / or distances estimated, measured, and / or determined to be outside the marker detection zone of interest can be assigned lower weights, alterations, attenuations, and / or suppression. For example, appropriate weighting, alterations, and / or attenuations can be provided during processing by modifying the feedback level based on one or more distances measured by the marker to the longitudinal axis or plane of the magnetic probe (see page 10 / 32 of specification 15 CN 122341310 A). For example, appropriate weighting, alterations, and / or attenuations can be provided during processing by modifying the feedback level based on one or more distances measured by the marker to the lateral axis or plane of the first probe and / or to the distal end.Modification and / or attenuation. For example, the degree of feedback can be modified during processing to provide appropriate weighting, modification, and / or attenuation based on one or more distances measured by the marker to the lateral axis or plane of the second probe and / or to the proximal end. For example, if it is determined that the marker measurement is within one or more marker detection regions of interest, appropriate suppression can be provided during processing by selecting feedback for consideration. For example, similar or different weights, attenuations, and / or suppression can be provided for multiple marker detection regions of interest during processing.

[0057] Alternatively or additionally, during processing, the software can be configured to consider vector measurements in the placement calculation only if the vector measurement value appears to indicate that the implanted marker 200 falls within one or more marker detection regions of interest. For example, if it is determined that the marker measurement is outside one or more marker detection regions of interest, appropriate suppression can be provided during processing by not selecting feedback for consideration. Alternatively, one or more ranges of one or more marker detection regions of interest (e.g., the range 1190 extending from the distal detection region 190) can be used during processing to determine whether the implanted marker 200 appears to fall within one or more longitudinally confined marker detection regions of interest.

[0058] Defining one or more marker detection regions of interest in the software means that simple shapes, such as cylinders, slits, and cones, can be used. Alternatively or additionally, complex shapes can also be used—for example, a narrow cone is used near the distal end 160 of the first magnetic probe 101, which gradually fans out further distal from the distal end 160 or defines a straight (cylindrical) beam further distal from the distal end 160. Determining whether the implanted marker 200 appears to fall within one or more marker detection regions of interest can be implemented as a direct angular measurement test, thereby implementing the desired detection volume. For example, if the implanted marker 200 appears to be located at one or more of the depicted ranges 1190, 2190, 3190 of the distal marker detection area 190, noise may cause the marker 200 to be altered, attenuated, and / or suppressed at times during processing, while at other times it is used during processing. Solutions that can be implemented in the determination process include: employing a hysteresis on the measurement, i.e., a considerable distance and / or angular movement should be made before the B-field vector measurement is considered to be outside one or more marker detection areas of interest when the marker is considered to be within them; treating the positional uncertainty of the 3D localization output as one or more heatmaps in space, as described in PC T application WO 2020111936A1 published June 4, 2020, where the positional uncertainty can be multiplied by one or more marker detection areas of interest and then integrated over volume. If the integral exceeds a threshold, these values ​​are used to determine one or more angular arrangements.And / or one or more distances; and the weights of one or more marker detection zones of interest are shaped into a tapered pattern. For example, the magnetic probe as described herein can be configured to evaluate the B-field vector and return a Jacobian, which can be used to indicate the uncertainty of the estimated marker 200 position. This is similar to methods commonly used to mitigate uncertainty problems in GPS systems.

[0059] Alternatively or additionally, a dynamic filter window can be provided in hardware and / or software when considering measurements. For example, the size of the dynamic filter window can depend on the degree of movement of the magnetic probe as described herein. For example, a longer filter window can be selected, set, and / or configured when the degree of movement of the magnetic probe as described herein is below a predetermined and / or controlled threshold. This can advantageously improve the degree of reliability and / or reduce the degree of noise. This can also provide a higher degree of accuracy, particularly for marker measurements at more distant points, where a lower degree of angular accuracy may result in consecutive measurements indicating that these measurements are located in different marker detection zones. For example, a low degree of movement of the magnetic probe as described herein can be achieved by the user holding the magnetic probe stationary for the shortest possible time. Optionally, one or more additional sensors, such as one or more IMU (Inertial Measurement Unit) sensors and / or one or more background magnetic field sensors, may be provided in the magnetic field probe as described herein for measuring the degree of movement and / or the degree of orientation change. Specification 11 / 32 pages 16 CN 122341310 A

[0060] Optionally, the first magnetic probe 101 may be further configured to determine the longitudinal and / or lateral angular arrangement and / or distance of the implanted marker 200 relative to a magnetic probe reference point (not depicted).

[0061] In this example, the distal end 160 may be configured to be arranged close to the outer skin surface 300, wherein the details of this arrangement depend on the intended use. Alternatively or additionally, the proximal end 165 may be configured to: contact the outer skin surface 300; be inserted through the outer skin surface 300; be inserted into a body cavity; or any combination thereof.

[0062] In this example, the proximal end 165 may be configured to be held by the hand of a user (not depicted), wherein the details of this arrangement depend on the intended use. Alternatively or alternatively, the proximal end 165 may be configured to attach to the tool holder. Alternatively or alternatively, the proximal end 165 may be configured to be arranged close to the outer skin surface 300, wherein the details of this arrangement depend on the intended use. Alternatively or alternatively, the proximal end 165 may be configured to: contact the outer skin surface 300; be inserted through the outer skin surface 300; be inserted into a body cavity; or any combination thereof.

[0063] For example, a software algorithm may use the following to determine: when the tilt (angular arrangement) is zero (or when the implanted marker is zero)When the implant 200 is arranged along the longitudinal axis or plane 151 of the first magnetic probe 101 (e.g., in the Y-Z plane 700-800), the magnetic fields measured at all sensors 111, 112 arranged along the longitudinal axis or plane are in substantially the same direction. When this is detected by the first magnetic probe 101 configured as a handheld probe, the first magnetic probe 101 can substantially “point” toward the direction of the implant 200.

[0064] In a handheld application, the user can rotate the first magnetic probe 101, for example, to different tilt angles in the Y-Z plane 700-800, such that the longitudinal axis or plane 151 has multiple orientations relative to the skin 300. By continuously monitoring the magnetic field vector measurements and determining the degree of deviation (difference) of the magnetic field direction measured by each sensor 111, 112, an indication of the relative tilt (angular arrangement) with respect to the implant 200 can be provided. When the degree of deviation is below a predetermined threshold, the first magnetic probe 101 will substantially “point” toward the implant 200.

[0065] If the background field is not uniform enough, or if the background field sensor picks up the dipole field of the implanted marker (not depicted) (due to the proximity of the implanted marker to the background field sensor), it may be advantageous to locally subtract the background field. For example, by measuring the gradient of the B field due to the spatial variation of the dipole field and assuming the background field is uniform (at least within the measurement range; e.g., the distance between two adjacent sensors). This approach can be used with a 3D array sensitive to curvature in all three directions 600, 700, 800. The 3D array includes magnetic field sensors disposed substantially along a plane and further along at least one axis or plane substantially perpendicular to said plane. It may also include magnetic field sensors disposed substantially along a first plane and further along a second plane substantially perpendicular to the first plane.

[0066] Figures 2A through 2D depict schematic longitudinal sections through a magnetic field probe configuration according to this disclosure. In particular, Figure 2A schematically depicts a magnetic field probe configuration of a first embodiment 101 of the magnetic probe (first magnetic probe 101). The first magnetic probe 101 includes a distal end 160 adapted to be positioned near an animal or human body, wherein a first magnetic sensor 111 is positioned proximal to the distal end 160 and is arranged along a first probe transverse axis or plane 181. The first magnetic probe 101 includes a second magnetic sensor 112 arranged along a second probe transverse axis or plane 182 and disposed between the first magnetic sensor 111 and the proximal end 165.

[0067] In the example depicted in FIG2A, the first magnetic sensor 111 is positioned proximal to the proximal end 165. The first magnetic probe 101 includes a first wing 162 and a second wing 167. The first magnetic sensor 111 is arranged along a first probe longitudinal axis or plane.The first magnetic sensor 111 is arranged in plane 151, and the second magnetic sensor 112 is also arranged along the longitudinal axis or plane 151 of the first probe. The first magnetic sensor 111 and the second magnetic sensor 112 are arranged substantially along the Y-axis 700 and are disposed on a suitable substrate (e.g., PCB) located in the X-Y plane 600-700. This can be considered as a 1D sensor array geometry, in which the magnetic field sensors are arranged substantially along an axis or plane. Specification 12 / 32 pages 17 CN 122341310 A

[0068] Optionally, one or more positions of the proximal end 165, the distal end 160, the first wing 162 and / or the second wing 167 may be associated with one or more physical positions of the first magnetic probe 101 (e.g., optional probe housing 140 and / or optional display one or more portions) and may be predetermined and / or controlled to provide the user with an intuitive reference point, thereby allowing the user to intuitively understand any instructions provided by the first magnetic probe 101. For example, visual, audio, and / or tactile information regarding the estimated distance and orientation of the implanted marker 200 can be provided by the first magnetic probe 101 with respect to one or more physical locations. In the example depicted in FIG2A, the proximal end 165, the distal end 160, the first flank 162, and the second flank 167 are all associated with one or more physical locations on the optional probe housing 140.

[0069] The locations of the first magnetic sensor 111 and / or the second magnetic sensor 112 are associated with one or more virtual locations that directly and / or indirectly define one or more virtual ranges of one or more marker detection areas 190, 192, 194, 196. For example, where one or more virtual locations are used to directly define one or more virtual ranges of one or more marker detection areas 190, 192, 194, 196, the one or more virtual locations are included within the one or more virtual ranges. For example, where one or more virtual locations are used to indirectly define one or more virtual ranges of one or more marker detection areas 190, 192, 194, 196, one or more offsets are applied to the one or more virtual locations in the hardware and / or software, and thus one or more offset virtual locations are included in one or more virtual ranges of one or more marker detection areas 190, 192, 194, 196. For example, by applying one or more distance and / or angular arrangement offsets in the hardware and / or software, the positions of the first magnetic sensor 111 and / or the second magnetic sensor 112 can be associated with or mapped / transformed to one or more physical positions of the first magnetic probe 101. For example, by applying one or more suitable offsets in the hardware and / or software, the virtual positions of the first magnetic sensor 111 and / or the second magnetic sensor 112 can be associated with the proximal end 165, distal end 160, and first side of the first magnetic probe 101.One or more locations of wing 162 and / or the second wing 167 are associated with or mapped / transformed to those locations. Alternatively or alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more physical and / or virtual locations along an axis or plane passing through the distal end 160. Alternatively or alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more physical and / or virtual locations along an axis or plane passing through the proximal end 165. Alternatively or alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more physical and / or virtual locations along an axis or plane passing through the wings 162, 167. Thus, by applying one or more suitable offsets, visual, audio, and / or tactile information regarding the estimated distance and orientation of the implanted marker 200 can be provided by the first magnetic probe 101 with respect to one or more physical and / or virtual reference points.

[0070] Optionally, the processor may be configured to determine one or more arrangements 170 of the implantable marker 200 relative to a magnetic probe reference (not depicted), the magnetic probe reference including one or more positions along a first probe longitudinal axis or plane 151. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a second probe longitudinal axis or plane 152. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a third probe longitudinal axis or plane 153. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a first probe transverse (or radial) axis or plane 181. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a second probe transverse (or radial) axis or plane 182.

[0071] The first magnetic sensor 111 and the second magnetic sensor 112 are configured to determine one or more magnetic field vectors of the implantable marker 200 in use. The processor (not depicted) can be configured to collect measurements from the first magnetic sensor 111 and the second magnetic sensor 112, and is configured to determine one or more magnetic field vectors of the implanted marker during use. The processor (not depicted) can be configured to use one or more magnetic field vectors to determine one or more arrangements 170 of the implanted marker 200.

[0072] FIG3 depicts the probe through the first magnetic field 101 and the marker detection areas 190, 192, according to this disclosure.Schematic longitudinal sections of 194 and 196. The first magnetic probe 101 includes a processor (not depicted) configured to define one or more distal marker detection areas 190 extending further distally from the distal end 160 of the first magnetic field probe 101 along a longitudinal axis or plane 151 of the first probe. The longitudinal axis or plane 151 of the probe is disposed perpendicular to a transverse axis or plane 181 of the first probe. The longitudinal axis or plane 151 of the probe is disposed perpendicular to a transverse axis or plane 182 of the second probe.

[0073] The processor (not depicted) is configured to define one or more first flank marker detection areas 192 and / or define one or more second flank marker detection areas 194. The one or more flank marker detection areas 192, 194 extend from the transverse axis or plane 181 of the first probe to the transverse axis or plane 182 of the second probe, thereby extending more laterally and / or more radially away from the longitudinal axis or plane 151 of the probe. The first flank marker detection area 192 may be primarily defined by a first range 1192 of the first flank marker detection area 192 in the X-Y plane, which may affect the maximum detection distance. The first flank marker detection area 192 may be further defined by a first probe longitudinal axis or plane 151. The first flank marker detection area 192 may be further defined in the X-Y plane by a first probe transverse axis or plane 181 and a second probe transverse axis or plane 182, wherein the first probe transverse axis or plane 181 and the second probe transverse axis or plane 182 are angular boundaries. Alternatively or additionally, one or more distances between the first longitudinal axis or plane 151 and the first range 1192 of the first flank detection area 192 may be predetermined or controlled.

[0074] The second flank marker detection area 194 may be primarily defined by a first range 1194 of the second flank marker detection area 194 in the X-Y plane, which may affect the maximum detection distance. The second flank marker detection area 194 may be further defined by the longitudinal axis or plane 151 of the first probe. The second flank marker detection area 194 may be further defined in the X-Y plane by the transverse axis or plane 181 of the first probe and the transverse axis or plane 182 of the second probe, wherein the transverse axis or plane 181 of the first probe and the transverse axis or plane 182 of the second probe are angular boundaries. Alternatively or additionally, one or more distances between the first longitudinal axis or plane 151 and the first range 1194 of the second flank detection area 194 may be predetermined or controlled.

[0075] Alternatively or additionally, one or more flank marker detection areas 192, 194 may extend to the axis or plane of the flanks 162, 167 of the first magnetic field probe 101, including one or more physical and / or virtual locations.

[0076] The processor (not depicted) is configured to use one or more magnetic field vectors to determine one of the implanted markers 200One or more arrangements, wherein if the one or more arrangements coincide with one or more flank marker detection areas 192, 194, it is determined that the one or more arrangements fall within the one or more flank marker detection areas 192, 194. A processor (not depicted) is configured to modify, attenuate, and / or suppress processing for determining one or more magnetic field vectors if one or more arrangements of the implanted marker 200 do not coincide with one or more flank marker detection areas 192, 194.

[0077] As described above with respect to FIG. 1, the first magnetic field probe 101 can advantageously enable a user to distinguish different types of magnetic field information 170 relative to a more distal position of the probe 101.

[0078] Alternatively or additionally, the first magnetic field probe 101 can advantageously define one or more flank marker detection areas 192, 194 remotely from the flanks 162, 167 of the probe 101, so that a user can distinguish different types of magnetic field information 170 relative to a more flank position of the probe 101. These more flank positions can be perceived by the user as being located to one side of the magnetic field probe 101. Alternatively, these additional flank locations can be perceived by the user as providing magnetic field information 170 to the distal end 160 of the magnetic field probe 101, as per page 14 / 32 of the specification, CN 122341310 A.

[0079] Optionally, one or more flank marker detection areas 192, 194 can be configured to extend from an axis or plane including one or more physical and / or virtual locations through the distal end 160 by applying one or more offsets. Alternatively, one or more flank marker detection areas 192, 194 can be configured to extend to an axis or plane including one or more physical and / or virtual locations through the proximal end 165 by applying one or more offsets.

[0080] Although the cross-sections depicted in FIG. 3 for the first flank detection area 192 and for the second flank marker detection area 194 are substantially the same in shape and similar in extent, this is not necessary. Alternatively, one or more flank marker detection areas 192, 194 can be configured to be substantially symmetrical about the longitudinal axis or plane 151 of the first probe.

[0081] For example, a cross-section in one or more planes passing through one or more flanking marker detection areas 192, 194 may optionally include portions having approximately circular, arcuate, bow-shaped, elliptical, oval, triangular, rectangular, square, or any combination thereof cross-sections. Alternatively or additionally, one or more flanking marker detection areas 192, 194 may include portions having arcuate, bow-shaped, cylindrical, conical, or any combination thereof shapes. Alternatively or additionally, one or more flanking marker detection areas 192, 194 may include portions having parabolic, linear, or hyperbolic shapes. Optionally, two or more flanking marker detection areas...Wing marker detection areas 192 and 194 may share one or more boundaries. Optionally, two or more wing marker detection areas 192 may differ in parameters selected from the group consisting of: extent, shape, orientation, arrangement, scaling, resolution, angular boundary, longitudinal extent, lateral extent, or any combination thereof.

[0082] Alternatively or additionally, the processor may be configured to define one or more proximal marker detection areas 196 that extend further proximally along the longitudinal axis or plane 151 of the first probe away from the proximal end 165 of the first magnetic field probe 101. The proximal marker detection area 196 may be primarily defined by a first extent 1196 of the proximal marker detection area 196 in the X-Y plane, which may affect the maximum detection distance. The proximal marker detection area 196 may be further defined by a second extent 2196 and a third extent 3196 in the X-Y plane, wherein the second extent 2196 and the third extent 3196 are angular boundaries. The proximal marker detection area 196 may be further defined by the lateral axis or plane 182 of the second probe. One or more distances between the second range 2196 and the third range 3196 located proximal to the proximal end 165 of the proximal detection area 196 may be predetermined and / or controlled. Alternatively or additionally, one or more distances between the lateral axis or plane 182 of the second probe and the first range 1196 of the proximal detection area 196 may be predetermined or controlled. One or more proximal marker detection areas 196 may be arranged in the same, similar or different manner as one or more distal marker detection areas 190 described herein.

[0083] As described above with respect to FIG1, the first magnetic field probe 101 may advantageously enable a user to distinguish different types of magnetic field information relative to the probe 101 at more distal locations, such as one or more arrangements 170.

[0084] Alternatively, the first magnetic field probe 101 may advantageously define one or more proximal marker detection areas 196 at a more proximal location away from the proximal end 165, so that the user can distinguish different types of magnetic field information relative to the probe 101 at a more proximal location, such as one or more arrangements 170. These more proximal locations may be perceived by the user as being located behind the proximal end 165 of the first magnetic field probe 101.

[0085] This may be advantageous when the first magnetic sensor 111 is positioned at the distal end 160. Alternatively, this may be advantageous when the second magnetic sensor 112 is positioned at the proximal end 165.

[0086] Figures 2B to 2D depict further schematic longitudinal sections through a magnetic field probe configuration having at least three or at least four magnetic sensors 111, 112, 113, 114, according to this disclosure. The processor may optionally be configured toMeasurements from all magnetic sensors 111, 112, 113, and 114 are considered to determine overlap with each marker detection area (not depicted). Alternatively, it may be advantageous to consider only measurements from two or more specific magnetic sensors to determine overlap with a specific marker detection area (not depicted). Additionally or alternatively, it may be advantageous to assign higher weighting and / or amplification factors to measurements from two or more specific magnetic sensors to determine overlap with a specific marker detection area (not depicted). Additionally or alternatively, it may be advantageous to assign lower weighting and / or alteration, attenuation, and / or suppression during the processing of measurements from two or more specific magnetic sensors to determine overlap with a specific marker detection area (not depicted).

[0087] For example, measurements from the first magnetic sensor 111 and the second magnetic sensor 112 may be assigned a larger weighting and / or amplification factor to determine overlap with a flank marker detection area (not depicted) further away from the first flank 162. For example, measurements from the third magnetic sensor 113 (depicted only in Figures 2B and 2C) and the fourth magnetic sensor 114 (depicted only in Figures 2C and 2D) may be assigned a higher weighting and / or amplification factor to determine overlap with a flank marker detection area (not depicted) further away from the second flank 167. For example, measurements from the first magnetic sensor 111 and the third magnetic sensor 113 (depicted only in Figures 2B and 2C) may be assigned a higher weighting and / or amplification factor to determine overlap with a distal marker detection area (not depicted) further away from the distal end 160. For example, measurements from the second magnetic sensor 112 and the fourth magnetic sensor 114 (depicted only in Figures 2C and 2D) can be assigned higher weighting and / or amplification factors to determine overlap with a proximal marker detection area (not depicted) further away from the proximal end 165.

[0088] Figure 2B schematically depicts a magnetic field probe configuration of a second embodiment 102 of the magnetic probe (second magnetic probe 102). The second magnetic probe 102 includes a distal end 160 adapted to be positioned adjacent to an animal or human body, wherein a first magnetic sensor 111 is positioned near the distal end 160 and is arranged along the transverse axis or plane 181 of the first probe. The second magnetic probe 102 includes a second magnetic sensor 112 arranged along the transverse axis or plane 182 of the second probe and is positioned between the first magnetic sensor 111 and the proximal end 165. In the example depicted in Figure 2B, the first magnetic sensor 111 is positioned near the proximal end 165. The second magnetic probe 102 includes a first wing 162 and a second wing 167. (Figure 2B)The second magnetic probe 102 depicted is identical to the first magnetic probe 101 depicted in FIG. 2A, except for a1 to a5: a1) The first magnetic sensor 111 is arranged along the longitudinal axis or plane 152 of the second probe, and the second magnetic sensor 112 is also arranged along the longitudinal axis or plane 152 of the second probe.

[0089] a2) The second magnetic probe 102 includes a third magnetic sensor 113 arranged along the transverse axis 181 of the first probe. The third magnetic sensor 113 is arranged along the longitudinal axis or plane 153 of the third probe. The third magnetic sensor 113 is configured to determine one or more magnetic field vectors of the local magnetic field (Bx, By, Bz) generated by the implanted marker 200 during use. These properties can be used by software algorithms to determine one or more arrangements.

[0090] a3) No magnetic sensor is physically arranged along the first longitudinal axis or plane 151.

[0091] a4) A 2D sensor array consisting of at least three magnetic sensors 111, 112, 113 can be used.

[0092] a5) Optionally, the processor may be configured to determine one or more arrangements of the implantable marker 200 relative to a magnetic probe reference (not depicted), the magnetic probe reference including one or more virtual locations along a first probe longitudinal axis or plane 151. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual locations along a second probe longitudinal axis or plane 152. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual locations along a third probe longitudinal axis or plane 153. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual locations along a first probe transverse (or radial) axis or plane 181. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual locations along a second probe transverse (or radial) axis or plane 182.

[0093] In the example depicted in FIG2B, the first magnetic sensor 111 of FIG2B is configured to provide the same function as described above for the first magnetic sensor 111 of FIG1 and FIG2A, the second magnetic sensor 112 of FIG2B is configured to provide the same function as described above for the second magnetic sensor of FIG1 and FIG2A on page 21 CN 122341310 A of the specification 16 / 32, and the third magnetic sensor 113 is configured to provide measurements to the processor to determine, in use, whether the angular arrangement and / or distance coincide with one or more detection areas of interest for markers (not depicted).

[0094] FIG2C schematically depicts the magnetic field probe configuration of a third embodiment 103 of the magnetic probe (third magnetic probe 103).The third magnetic probe 103 includes a distal end 160 adapted to be positioned near an animal or human body, wherein a first magnetic sensor 111 is positioned near the distal end 160 and is arranged along the transverse axis or plane 181 of the first probe. The third magnetic probe 103 includes a second magnetic sensor 112 arranged along the transverse axis or plane 182 of the second probe and positioned between the first magnetic sensor 111 and the proximal end 165. In the example depicted in FIG. 2C, the first magnetic sensor 111 is positioned near the proximal end 165. The third magnetic probe 103 includes a first wing 162 and a second wing 167.

[0095] The third magnetic probe 103 depicted in FIG. 2C is the same as the first magnetic probe 101 depicted in FIG. 2A, except for b1 to b6: b1) The first magnetic sensor 111 is arranged along the longitudinal axis or plane 152 of the second probe, and the second magnetic sensor 112 is also arranged along the longitudinal axis or plane 152 of the second probe.

[0096] b2) The third magnetic probe 103 includes a third magnetic sensor 113 arranged along the transverse axis 181 of the first probe. The third magnetic sensor 113 is arranged along the longitudinal axis or plane 153 of the third probe. The third magnetic sensor 113 is configured to determine one or more magnetic field vectors of the local magnetic field (Bx, By, Bz) generated by the implanted marker 200 during use. These properties can be used by software algorithms to determine one or more arrangements.

[0097] b3) The third magnetic probe 103 includes a fourth magnetic sensor 114 arranged along the transverse axis 182 of the second probe. The fourth magnetic sensor 114 is arranged along the longitudinal axis or plane 153 of the third probe. The fourth magnetic sensor 114 is configured to determine one or more magnetic field vectors of the local magnetic field (Bx, By, Bz) generated by the implanted marker 200 during use. These properties can be used by software algorithms to determine one or more arrangements.

[0098] b4) No magnetic sensor is physically arranged along the first longitudinal axis or plane 151.

[0099] b5) A 2D sensor array consisting of at least four magnetic sensors 111, 112, 113, 114 can be used.

[0100] b6) Optionally, the processor can be configured to determine one or more arrangements of the implantable marker 200 relative to a magnetic probe reference (not depicted), the magnetic probe reference including one or more virtual positions along a first probe longitudinal axis or plane 151. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a second probe longitudinal axis or plane 152. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a third probe longitudinal axis or plane 153.One or more virtual locations. Alternatively or additionally, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual locations along the lateral (or radial) axis or plane 181 of the first probe. Alternatively or additionally, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual locations along the lateral (or radial) axis or plane 182 of the second probe.

[0101] In the example depicted in FIG2C, the first magnetic sensor 111 of FIG2D is configured to provide the same function as described above for the first magnetic sensor 111 of FIG1 and FIG2A, the second magnetic sensor 112 of FIG2C is arranged to provide the same function as described above for the second magnetic sensor of FIG1 and FIG2A, and the third magnetic sensor 113 and the fourth magnetic sensor 114 are configured to provide measurements to the processor to determine, in use, whether the angular arrangement and / or distance coincide with one or more detection areas of interest for markers (not depicted).

[0102] FIG. 2D schematically depicts the magnetic field probe configuration of a fourth embodiment 104 of the magnetic probe (fourth magnetic probe 104). The fourth magnetic probe 104 includes a distal end 160 adapted to be positioned near an animal or human body, wherein a first magnetic sensor 111 is positioned near the distal end 160 and is arranged along the transverse axis or plane 181 of the first probe. The fourth magnetic probe 104 includes a second magnetic sensor 112 arranged along the transverse axis or plane 182 of the second probe and positioned between the first magnetic sensor 111 and the proximal end 165. In the example depicted in FIG. 2D, the first magnetic sensor 111 is positioned near the proximal end 165. The third magnetic probe 103 includes a first wing 162 and a second wing 167.

[0103] The fourth magnetic probe 104 depicted in FIG. 2D is the same as the first magnetic probe 101 depicted in FIG. 2A, except for c1 to c5: c1) The first magnetic sensor 111 is arranged along the longitudinal axis or plane 152 of the second probe, and the second magnetic sensor 112 is also arranged along the longitudinal axis or plane 152 of the second probe.

[0104] c2) The fourth magnetic probe 104 includes a third magnetic sensor 113 arranged along the transverse axis 181 of the first probe. The fourth magnetic sensor 114 is arranged along the longitudinal axis or plane 153 of the third probe. The third magnetic sensor 113 is configured to determine one or more magnetic field vectors of the local magnetic field (Bx, By, Bz) generated by the implanted marker 200 during use. These properties can be used by software algorithms to determine one or more arrangements.

[0105] c3) No magnetic sensor is physically arranged along the first longitudinal axis or plane 151.

[0106] c4)A 2D sensor array consisting of at least three magnetic sensors 111, 112, and 113 can be used.

[0107] c5) Optionally, the processor can be configured to determine one or more arrangements of the implantable marker 200 relative to a magnetic probe reference (not depicted), the magnetic probe reference including one or more virtual positions along a first probe longitudinal axis or plane 151. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a second probe longitudinal axis or plane 152. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a third probe longitudinal axis or plane 153. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a first probe transverse (or radial) axis or plane 181. Alternatively, by applying one or more suitable offsets, the magnetic probe reference (not depicted) may include one or more virtual positions along a second probe transverse (or radial) axis or plane 182.

[0108] In the example depicted in FIG2D, the first magnetic sensor 111 of FIG2D is configured to provide the same function as described above for the first magnetic sensor 111 of FIG1 and FIG2A, the second magnetic sensor 112 of FIG2B is configured to provide the same function as described above for the second magnetic sensor of FIG1 and FIG2A, and the fourth magnetic sensor 114 is configured to provide measurements to the processor to determine, in use, whether the angular arrangement and / or distance coincide with one or more marker detection areas of interest (not depicted).

[0109] Another advantage of providing software-configurable detection areas is that two or more marker detection areas can be set with different ranges, different shapes, different angular boundaries, different longitudinal ranges, different lateral ranges, and any combination thereof. These two or more marker detection areas may share one or more boundaries, be continuous along one or more axes, be discontinuous along one or more axes, or any combination thereof.

[0110] FIG5A and FIG5B depict a schematic top view of a magnetic field probe with a display according to this disclosure, an enlarged view of one or more portions of the display, and a schematic longitudinal section through the marker detection area.

[0111] In the example depicted in Figures 5A and 5B, the magnetic field probes 101, 102, 103, and 104 are provided with a probe display 130, which has a distance value display 132. The magnetic field probes 101, 102, 103, and 104 are configured to define a distal marker detection area 190, which is located away from the distal transverse axis of the probe along the longitudinal axis or plane 151, 152, and 153 of the probe.Extending further to the axis or plane 181. Magnetic field probes 101, 102, 103, and 104 are configured to determine and display one or more distance values ​​132 of the implanted marker 200. Thus, in the example depicted in Figures 5A and 5B, magnetic field probes 101, 102, 103, and 104 are configured to detect only in the forward (or further) direction (forward view) and are configured to determine and display only the distance value 132 of the implanted marker 200.

[0112] In the example depicted in Figure 5A, magnetic field probes 101, 102, 103, and 104 determine that the implanted marker 200 falls within the distal marker detection area 190 and determine the distance value 132 of the marker as "20" and display it on 132. In the example depicted in Figure 5B, the distance between the implanted marker 200 and the magnetic probe is the same as in the example depicted in Figure 5A. In the example depicted in Figure 5B, magnetic probes 101, 102, 103, and 104 determine that the implanted marker 200 does not fall within the distal marker detection area 190, therefore a meaningful distance value 132 to the marker cannot be determined, and 132 is displayed as "--".

[0113] The examples depicted in Figures 5A and 5B may only provide the user with the distance value 132 if the implanted marker 200 is positioned further away from the magnetic probe (further forward).

[0114] Figures 6A and 6B depict examples of magnetic probes that can provide the user with more intuitive visual feedback on how to locate the implanted marker 200. Figures 6A and 6B depict a schematic top view of a magnetic probe with a display according to this disclosure, an enlarged view of one or more portions of the display, and a schematic longitudinal section through one or more marker detection areas. All embodiments of the magnetic field probes disclosed herein can be configured to define one or more marker detection areas as depicted in Figures 6A and 6B. The one or more marker detection areas 190, 192, 194, 196 depicted in Figures 6A and 6B are functionally identical to the one or more marker detection areas depicted in Figure 3. Different shapes, different extents, and / or different symmetries can be defined for the marker detection areas 190, 192, 194, 196 depicted in Figures 6A and 6B if desired.

[0115] In the example depicted in Figures 6A and 6B, the magnetic field probes 101, 102, 103, 104 are provided with a probe display 130, which includes an optional distance value display 132 and an optional detection area display 137. The probe display 130 is disposed on the "top surface" of the magnetic field probes 101, 102, 103, 104, which is located on an axis including X-axis 600 and Y-axis 600.In a plane of 700° (X-Y plane 600-700°). Magnetic field probes 101, 102, 103, 104 extend from the distal transverse (or radial) axis or plane 181 of the probe to the proximal transverse (or radial) axis or plane 182 of the probe. Optionally, to provide improved visibility for the user, the probe display 130 may be configured at an angle to the "top surface" of the magnetic field probes 101, 102, 103, 104, for example, in an "angled-back" configuration.

[0116] Magnetic field probes 101, 102, 103, 104 are configured to define one or more distal marker detection areas 190 that extend further distally along the probe longitudinal axis or plane 151, 152, 153 away from the distal transverse axis or plane 181 of the magnetic field probes 101, 102, 103, 104. Alternatively, magnetic field probes 101, 102, 103, and 104 may be configured to define one or more first flank marker detection areas 192 and / or define one or more second flank marker detection areas 194. The one or more flank marker detection areas 192 and 194 extend from the first probe transverse axis or plane 181 to the second probe transverse axis or plane 182, thereby extending more laterally and / or more radially away from the probe longitudinal axis or plane 151, 152, and 153. Although the cross-sections depicted in Figures 6A and 6B for one or more first flank marker detection areas 192 and for one or more second flank marker detection areas 194 are substantially the same in shape and similar in extent, this is not necessary. Alternatively, magnetic field probes 101, 102, 103, 104 may be configured to define one or more proximal marker detection areas 196, which extend further proximally along the probe longitudinal axis or plane 151, 152, 153 away from the probe proximal transverse axis or plane 182 of the magnetic field probes 101, 102, 103, 104.

[0117] In the example depicted in Figures 6A to 6B, magnetic field probes 101, 102, 103, 104 are configured to determine one or more magnetic field vectors of the implanted marker 200 in use, and are configured to determine and display one or more distance values ​​132 of the implanted marker 200 with respect to a magnetic probe reference 121, which includes one or more physical and / or virtual locations located at the intersection of the probe longitudinal axis or plane 151, 152, 153 and the probe distal transverse axis or plane 181.

[0118] In the examples depicted in Figures 6A to 6B, magnetic field probes 101, 102, 103, and 104 are configured to move forward (or...)The magnetic field probes 101, 102, 103, and 104 are configured to detect in a lateral (or more lateral) direction (forward view), and are configured to determine and display the detection areas 190, 192, and 194 of the implanted marker 200, and to determine and display the distance value 132 of the implanted marker 200. The magnetic field probes 101, 102, 103, and 104 may also be optionally configured not to detect in the forward (or more distal) direction (forward view). If one or more proximal marker detection areas 196 are defined, the magnetic field probes 101, 102, 103, and 104 may also be optionally configured to detect in the rearward (or more proximal) direction (rearward view). The magnetic field probes 101, 102, 103, and 104 are configured to be held by a user's (not depicted) hand. Therefore, one or more active marker detection areas 190, 192, 194, 196 and display 130 are configured to provide the user with visual feedback on how the implanted marker 200 is located.

[0119] In the example depicted in FIG. 6A, the implanted marker 200 is at a specific distance from the magnetic probe reference 121. Magnetic field probes 101, 102, 103, 104 determine that the implanted marker 200 falls within one or more distal marker detection areas 190, and determine the distance value 132 of the marker as "20" and display it on the distance value display 132. Additionally, by modifying the visual aspects of the corresponding display area (e.g., the fill pattern), the detection in one or more distal marker detection areas 190 is indicated in the detection area display 137.

[0120] In the example depicted in FIG. 6B, the distance between the implanted marker 200 and the magnetic probe reference 121 is the same as the distance in the example depicted in FIG. 6A. In the example depicted in FIG6B, magnetic field probes 101, 102, 103, 104 determine that the implanted marker 200 does not fall within one or more distal marker detection areas 190. However, in the example depicted in FIG6B, magnetic field probes 101, 102, 103, 104 determine that the implanted marker 200 falls within one or more first lateral marker detection areas 192, and determine the marker distance value 132 as "20" and display it on the distance value display 132. Furthermore, by modifying the visual aspects of the corresponding display area (e.g., the fill pattern), the detection in one or more first lateral marker detection areas 192 is indicated in the detection area display 137.

[0121] Optionally, it may be advantageous to configure magnetic field probes 101, 102, 103, 104 to detect only in one or more lateral marker detection areas 192, 194. Alternatively, it may be advantageous to configure the magnetic field probes 101, 102, 103, and 104 to detect one or more flanking markers extending only from one flanking side of the magnetic field probes 101, 102, 103, and 104.Detection is performed in areas 192 and 194 (unilateral detection). Optionally, it may be advantageous to configure magnetic field probes 101, 102, 103, and 104 to perform detection only in one or more proximal marker detection areas 196. Optionally, it may be advantageous to configure magnetic field probes 101, 102, 103, and 104 to perform detection only in combinations of one or more flank marker detection areas 192 and 194 with one or more proximal marker detection areas 196.

[0122] Optionally, it may be advantageous to configure magnetic field probes 101, 102, 103, and 104 to indicate detection near the boundaries of one or more marker detection areas 190, 192, 194, and 196 by modifying the visual aspect of one or more non-corresponding display areas 137 (e.g., adjacent display areas 137). Optionally, it may be advantageous to configure the magnetic field probes 101, 102, 103, 104 to indicate detection in one or more marker detection areas 190, 192, 194, 196 by modifying the visual aspects of the corresponding display area and one or more non-corresponding display areas 137 (e.g., one or more adjacent display areas 137 and / or one or more opposite display areas 137). For example, it may be advantageous to indicate to the user 137: detection in one or more first wing marker detection areas 192 is considered as detection in all first wing marker detection areas 192, detection in one or more second wing marker detection areas 194 is considered as detection in all second wing marker detection areas 194, or detection in one or more wing marker detection areas 192, 194 is considered as detection in all wing marker detection areas 192, 194. For example, it may be advantageous to indicate to the user that 137 is detected in the flank marker detection areas 192, 194 or in the proximal detection area 196 as a detection in all flank marker detection areas 192, 194 and all proximal detection areas 196.

[0123] The example depicted in Figures 6A-6B can provide the user with a distance value 132 when the implanted marker 200 is positioned further to the side (more forward) or more flank from the magnetic field probe. Although one or more associated detection areas 190, 192, 194, 196 are indicated on the detection area display 137, no information is provided about where the implanted marker 200 is located in one or more associated detection areas 190, 192, 194, 196.

[0124] Figures 7A-7E depict examples of magnetic field probes that can provide the user with more intuitive visual feedback on how to locate the implanted marker 200. Figures 7A-7E7D depict a display according to this disclosure.The diagram shows a schematic top view of the magnetic field probe, an enlarged view of one or more portions of the display, and a schematic longitudinal section through one or more marker detection areas. All embodiments of the magnetic field probes disclosed herein can be configured to define one or more marker detection areas as depicted in Figures 7A to 7E. The depicted marker detection areas 190, 192, 194, and 196 are functionally identical to those depicted in Figures 6A to 6B. Different shapes, different extents, and / or different symmetries can be defined for the marker detection areas 190, 192, 194, and 196 depicted in Figures 7A to 7E if desired.

[0125] In the example depicted in Figures 7A to 7E, the magnetic field probes 101, 102, 103, and 104 are provided with a probe display 130, wherein the probe display 130 includes an optional distance value display 132, an optional center alignment display 134, an optional depth direction display 135, and an optional direction display 136. Probe display 130 is disposed on the “top surface” of magnetic field probes 101, 102, 103, 104. Magnetic field probes 101, 102, 103, 104 extend from a distal lateral (or radial) axis or plane 181 of the probe to a proximal lateral (or radial) axis or plane 182 of the probe.

[0126] In the example depicted in Figures 7A to 7E, magnetic field probes 101, 102, 103, 104 are configured to define one or more distal marker detection regions 190. Alternatively, magnetic field probes 101, 102, 103, 104 may be configured to define one or more flank marker detection regions 192, 194. Alternatively, magnetic field probes 101, 102, 103, 104 may be configured to define one or more proximal marker detection regions 196.

[0127] In the example depicted in Figures 7A to 7E, magnetic field probes 101, 102, 103, and 104 are configured to determine and display one or more distance values ​​132 of the implanted marker 200 with respect to a first magnetic probe reference 121, which includes one or more virtual locations at the intersection of the probe's longitudinal axis or plane 151, 152, and 153 with the probe's distal transverse axis or plane 181. Alternatively, magnetic field probes 101, 102, 103, and 104 may be configured to determine and display one or more angular arrangements (or orientations) of the implanted marker 200 relative to the first magnetic probe reference 121. Alternatively, magnetic field probes 101, 102, 103, and 104 may be configured to determine and display one or more depth directions 135 of the implanted marker 200 with respect to the magnetic probe reference.

[0128] In the context of this disclosure, depth can generally be used to describe the implanted marker 200 relative to the magnetic probe.One or more distances between needle references, the magnetic probe references including: one or more physical and / or virtual locations along an axis or plane passing through the distal end, one or more physical and / or virtual locations along an axis or plane passing through the proximal end, one or more virtual locations along the probe lateral axis or plane 181, 182, or any combination thereof. In the example depicted in Figures 7A to 7E, depth is used to describe one or more distances between the implanted marker 200 and a second magnetic probe reference 122, the second magnetic probe reference including one or more virtual locations along the probe distal lateral axis or plane 181. The probe distal lateral axis or plane 181 may be positioned near or at the distal end of the magnetic probes 101, 102, 103, 104.

[0129] In the context of this disclosure, depth direction can generally be used to describe the direction in which the magnetic probe reference must move to get closer to the implanted marker 200. In the examples depicted in Figures 7A to 7E, the depth direction is used to describe the direction in which the second magnetic probe reference 122, positioned near the distal end, must move along the probe longitudinal axis or planes 151, 152, 153 to get closer to the implanted marker 200.

[0130] In the examples depicted in Figures 4, 7A to 7E, and 8A to 8B, the "+" depth direction is selected to indicate that the second magnetic probe reference 122, positioned near the distal end, needs to move further forward (as depicted in the negative Y direction 700) to get closer to the implanted marker 200. The "-" depth direction is selected to indicate that the second magnetic probe reference 122, positioned near the distal end, needs to move further backward (as depicted in the positive Y direction 700) to get closer to the implanted marker 200.

[0131] When using a conventional magnetic field probe configured to detect only in the forward (or more distal) direction, the only way to obtain information about the location of the implanted marker 200 is to orient the probe's longitudinal axis or planes 151, 152, 153 in the estimated direction of the implanted marker 200. Through some trial and error and frequent changes in orientation, one or more extents of the implanted marker 200 can be determined.

[0132] By detecting in the flank (or more lateral or more radial) direction, depth distance and / or depth direction can be indicated, thus providing a more intuitive way to locate the marker 200 with the magnetic probe, especially when the second magnetic probe reference 122 has exceeded the magnetic marker 200 (as depicted in Figures 7D and 7E). Additionally, it may be advantageous to enable the user to determine the posterior boundary of the tissue to be treated by intentionally moving the magnetic marker 200 by a distance equal to the expected extent of the tissue to be treated, as depicted in Figure 7E.

[0133] For example, when determining how and where to perform a resection, the surgeon aims to remove a cylindrical or spherical object.The tissue is used to completely remove the tumor, leaving no tumor cells in the body. The center of the spherical or cylindrical tissue can be determined using anterior (or distal) detection, and this information can be used to perform the first part of the resection. However, conventional magnetic field probes set to detect only in the anterior (or distal) direction are of little help in determining one or more posterior extents. By detecting in the flank (or more lateral or more radial) direction, depth distance and / or depth direction can be indicated, allowing the surgeon to intentionally extend beyond the implanted marker 200 as needed, but not beyond the intended tumor extent.

[0134] For example, when using a conventional magnetic field probe set to detect only in the anterior (or distal) direction within a deep cavity, the surgeon may need to pull a semi-finished sample out of the body cavity and measure it by using a lateral scan using a forward-looking technique, then inferring the extent of the tumor beyond that location. In practice, the type of tissue being treated is often highly flexible, so pulling the tissue and taking a reading may not necessarily correlate with the actual seed location when the tissue returns to the cavity. This could result in too little tissue being removed or too much healthy tissue being removed, both of which are undesirable.

[0135] By detecting in the lateral (or more lateral or more radial) direction, depth distance and / or depth direction can be indicated, allowing the surgeon to intentionally extend beyond the implanted marker 200 (as depicted in Figure 7E) while the tissue remains within the body cavity to provide the most accurate representation of the tissue during resection, at which point no significant force is applied to the tissue. Optionally, the depth value display 133 can be configured to display one or more depth distances in millimeters, thereby providing an accurate millimeter scale for better determination of the posterior edge of the tissue to be resected.

[0136] In the example depicted in Figures 7A to 7E, magnetic field probes 101, 102, 103, and 104 are configured to detect in a forward (or more distal) direction (forward view), to detect in a lateral (or more lateral) direction (side view), to determine and display 136 the direction in which the implanted marker 200 is detected, to determine and display 135 the depth direction in which the implanted marker 200 is detected, and to determine and display the distance value 132 of the implanted marker 200. Magnetic field probes 101, 102, 103, and 104 may also optionally be configured not to detect in a forward (or more distal) direction (forward view). If one or more proximal marker detection areas 196 are defined, magnetic field probes 101, 102, 103, and 104 may also optionally be configured to detect in a backward (or more proximal) direction (rear view).

[0137] In the examples depicted in Figures 7A to 7E, magnetic field probes 101, 102, 103, and 104 are configured to be operated by a user (not specified on page 22 / 32, CN 122341310 A).(Depicted) hand grip. Therefore, one or more active marker detection areas 190, 192, 194, 196 and display 130 are configured to provide the user with visual feedback on how to locate the implanted marker 200.

[0138] In the example depicted in FIG. 7A, the implanted marker 200 is at a first specific distance from the first magnetic probe reference 121. Magnetic field probes 101, 102, 103, 104 determine that the implanted marker 200 falls within one or more distal marker detection areas 190 and determine the distance value 132 of the marker as "20" and display it on the distance value display 132. One or more depth directions 135 of the implanted marker 200 relative to the second magnetic probe reference 122 are determined and displayed on the depth direction display 135 by modifying visual aspects (e.g., indicating "+" to correspond to the detection that the magnetic marker 200 is located further away from the second magnetic probe reference 122). Magnetic field probes 101, 102, 103, and 104 determine a high degree of overlap between the implanted marker 200 and the longitudinal axes or planes 151, 152, and 153 of the probes. Therefore, detection along the longitudinal axes or planes 151, 152, and 153 is indicated in the center alignment display 134 by modifying visual aspects (e.g., three concentric circles and a crosshair) in the corresponding display area. The implanted marker 200 is in a specific orientation relative to the first magnetic probe reference 121. The angular arrangement (or orientation) of the implanted marker 200 relative to the first magnetic probe reference 121 is determined and displayed on the orientation display 136 by modifying visual aspects (e.g., the orientation of a pointer).

[0139] In the example depicted in FIG7B, the implanted marker 200 is at a second specific distance from the first magnetic probe reference 121. Magnetic field probes 101, 102, 103, and 104 determine that the implanted marker 200 falls within one or more distal marker detection areas 190 and determine the marker's distance value 132 as "22" and display it on the distance value display 132. One or more depth directions 135 of the implanted marker 200 relative to the second magnetic probe reference 122 are determined and displayed on the depth direction display 135 by modifying visual aspects (e.g., indicating a "+" to correspond to the detection of the magnetic marker 200 being located further away from the second magnetic probe reference 122). Magnetic field probes 101, 102, 103, and 104 determine that the implanted marker 200 has a moderate degree of overlap with the probe's longitudinal axis or plane 151, 152, and 153. Therefore, detection near the probe's longitudinal axis or plane 151, 152, and 153 is indicated in the center alignment display 134 by modifying visual aspects (e.g., three concentric circles without crosshairs) in the corresponding display area. The implanted marker 200 is oriented in a specific direction relative to the first magnetic probe reference 121. The implanted marker is then determined.The marker 200 is arranged (or oriented) at one or more angles relative to the first magnetic probe reference 121 and displayed on the orientation display 136 by modifying visual aspects (e.g., pointer orientation).

[0140] In the example depicted in FIG7C, the implanted marker 200 is located at a third specific distance from the first magnetic probe reference 121 and at a position further away than the second magnetic probe reference 122. Magnetic field probes 101, 102, 103, 104 determine that the implanted marker 200 falls within one or more distal marker detection areas 190 and determine the distance value 132 of the marker as “27” and display it on the distance value display 132. One or more depth directions 135 of the implanted marker 200 relative to the second magnetic probe reference 122 are determined and displayed on the depth orientation display 135 by modifying visual aspects (e.g., indicating “+” – because the depth is further away). Magnetic field probes 101, 102, 103, and 104 determine that the implanted marker 200 has a low degree of overlap with the probe longitudinal axis or plane 151, 152, and 153. Therefore, detection away from the probe longitudinal axis or plane 151, 152, and 153 is indicated in the center alignment display 134 by modifying visual aspects (e.g., two concentric circles without a third concentric circle and no crosshairs) in the corresponding display area. The implanted marker 200 is in a specific orientation relative to the first magnetic probe reference 121. One or more angular arrangements (or orientations) of the implanted marker 200 relative to the first magnetic probe reference 121 are determined and displayed on the orientation display 136 by modifying visual aspects (e.g., the orientation of the pointer).

[0141] In the example depicted in FIG. 7D, the implanted marker 200 is at a second specific distance from the first magnetic probe reference 121, which is the same distance as in the example depicted in FIG. 7B. In the example depicted in Figure 7D, the implanted marker 200 is located closer (or less distant) than the second magnetic probe reference 122. Magnetic probes 101, 102, 103, and 104 determine that the implanted marker 200 falls within one or more first lateral marker detection areas 192 and determine the distance value 132 (as per the marker specification page 23 / 32, 28 CN 122341310 A) as “22” and display it on the distance value display 132. One or more depth directions 135 of the implanted marker 200 relative to the second magnetic probe reference 122 are determined and displayed on the depth direction display 135 by modifying visual aspects (e.g., indicating “-” – because the depth is closer (or less distant)). Magnetic probes 101, 102, 103, and 104 determine that the implanted marker 200 has a low degree of overlap with the probe longitudinal axes or planes 151, 152, and 153. Therefore, at the center...The detection is indicated in the alignment display 134 by modifying visual aspects (e.g., a circle without concentric circles and without crosshairs) in the corresponding display area to indicate detection away from the longitudinal axis of the probe or planes 151, 152, 153. The implanted marker 200 is in a specific orientation relative to the first magnetic probe reference 121. One or more angular arrangements (or orientations) of the implanted marker 200 relative to the first magnetic probe reference 121 are determined and displayed on the orientation display 136 by modifying visual aspects (e.g., the orientation of the pointer).

[0142] In the example depicted in FIG7E, the implanted marker 200 is a fourth specific distance from the first magnetic probe reference 121 and is located closer (or less far) than the second magnetic probe reference 122. Magnetic field probes 101, 102, 103, 104 determine that the implanted marker 200 falls within one or more first flank marker detection areas 192 and determine the distance value 132 of the marker as "55" and display it on the distance value display 132. The implanted marker 200 is determined to be in one or more depth directions 135 relative to the second magnetic probe reference 122 and displayed on the depth orientation display 135 by modifying visual aspects (e.g., indicating a "-" sign because the depth is closer (or less distant)). Magnetic probes 101, 102, 103, 104 determine that the implanted marker 200 has a low degree of overlap with the probe longitudinal axes or planes 151, 152, 153. Therefore, detection away from the probe longitudinal axes or planes 151, 152, 153 is indicated in the center alignment display 134 by modifying visual aspects in the corresponding display areas (e.g., two concentric circles without a third concentric circle and no crosshairs). The implanted marker 200 is in a specific orientation relative to the first magnetic probe reference 121. The implanted marker 200 is determined to be in one or more angular arrangements (or orientations) relative to the first magnetic probe reference 121 and displayed on the orientation display 136 by modifying visual aspects (e.g., the orientation of a pointer).

[0143] Figures 8A and 8B depict examples of magnetic field probes that can provide a user with more intuitive visual feedback on how to locate the implanted marker 200. Figures 8A and 8B depict a schematic top view of a magnetic field probe with a display according to this disclosure, an enlarged view of one or more portions of the display, and a schematic longitudinal section through the marker detection area. All embodiments of the magnetic field probes disclosed herein can be configured to define one or more marker detection areas as depicted in Figures 8A and 8B. The depicted marker detection areas 190, 192, 194, and 196 are functionally identical to those depicted in Figures 6A and 6B. Details less relevant to interpreting the display have been omitted from the examples depicted in Figures 8A and 8B. If desired, the marker detection areas depicted in Figures 8A and 8B can be...190, 192, 194, and 196 define different shapes, different ranges, and / or different symmetries. In the example depicted in Figures 8A and 8B, magnetic field probes 101, 102, 103, and 104 are provided with probe displays 130, wherein the probe displays 130 include optional distance value displays 132, optional center alignment displays 134, optional depth direction displays 135, optional depth value displays 133, and optional direction displays 136.

[0144] In the example depicted in Figures 8A and 8B, magnetic field probes 101, 102, 103, and 104 are configured to define one or more distal marker detection areas 190. Alternatively or alternatively, magnetic field probes 101, 102, 103, and 104 may be configured to define one or more flank marker detection areas 192 and 194. Alternatively or alternatively, magnetic field probes 101, 102, 103, and 104 may be configured to define one or more proximal marker detection areas 196.

[0145] In the example depicted in Figures 8A and 8B, magnetic field probes 101, 102, 103, and 104 are configured to determine and display one or more distance values ​​132 of the implanted marker 200 with respect to a first magnetic probe reference 121, which includes one or more virtual locations located at the intersection of the probe's longitudinal axis or plane 151, 152, 153 and the probe's distal transverse axis or plane 181. Magnetic field probes 101, 102, 103, and 104 are further configured to determine and display one or more angular arrangements (or orientations) of the implanted marker 200 relative to the first magnetic probe reference 121. Magnetic field probes 101, 102, 103, and 104 are further configured to determine and display one or more depth values ​​135 of the implanted marker 200 relative to a second magnetic probe reference 122, the second magnetic probe reference including one or more virtual locations along a distal transverse axis or plane 181 of the probe. Magnetic field probes 101, 102, 103, and 104 are further configured to determine and display one or more depth directions 135 of the implanted marker 200 about the second magnetic probe reference 122.

[0146] In the example depicted in Figures 8A and 8B, magnetic field probes 101, 102, 103, and 104 are configured to detect in a forward (or more distal) direction (forward view), to detect in a lateral (or more lateral) direction (side view), to determine and display 136 the direction in which the implanted marker 200 is detected, to determine and display 135 the depth direction in which the implanted marker 200 is detected, to determine and display the distance value 132 of the implanted marker 200, and to be configured to...The depth value 133 of the implanted marker 200 is determined and displayed. Magnetic field probes 101, 102, 103, and 104 may also be optionally configured not to detect in the forward (or more distal) direction (forward view). If one or more proximal marker detection areas 196 are defined, the magnetic field probes 101, 102, 103, and 104 may also be optionally configured to detect in the backward (or more proximal) direction (rear view).

[0147] In the example depicted in Figures 8A and 8B, the magnetic field probes 101, 102, 103, and 104 are configured to be held by the hand of a user (not depicted). Therefore, one or more active marker detection areas 190, 192, 194, and 196 and the display 130 are configured to provide the user with visual feedback on how the implanted marker 200 was located.

[0148] In the example depicted in FIG8A, the implanted marker 200 is positioned at a first specific distance from the first magnetic probe reference 121, which is the same distance as in the example depicted in FIG7D. In the example depicted in FIG8A, the implanted marker 200 is located closer (or less far) than the second magnetic probe reference 122. Magnetic field probes 101, 102, 103, 104 determine that the implanted marker 200 falls within one or more first lateral marker detection areas 192 and determine the marker's distance value 132 as "22" and display it on the distance value display 132. One or more depth values ​​133 of the implanted marker 200 relative to the second magnetic probe reference 122 are determined, and the marker's depth value 133 is determined as "10" and displayed on the depth value display 133. The implanted marker 200 is determined to be in one or more depth directions 135 relative to the second magnetic probe reference 122 and displayed on the depth orientation display 135 by modifying visual aspects (e.g., indicating a "-" sign because the depth is closer (or less distant)). Magnetic probes 101, 102, 103, 104 determine that the implanted marker 200 has a low degree of overlap with the probe longitudinal axes or planes 151, 152, 153. Therefore, detection away from the probe longitudinal axes or planes 151, 152, 153 is indicated in the center alignment display 134 by modifying visual aspects in the corresponding display area (e.g., a circle without concentric circles and without crosshairs). The implanted marker 200 is in a specific orientation relative to the first magnetic probe reference 121. The implanted marker 200 is determined to be in one or more angular arrangements (or orientations) relative to the first magnetic probe reference 121 and displayed on the orientation display 136 by modifying visual aspects (e.g., the orientation of a pointer).

[0149] In the example depicted in FIG8B, the implanted marker 200 is located at a second specific distance from the first magnetic probe reference 121. In the example depicted in FIG8B, the implanted marker 200 is located closer to (or not closer to) the second magnetic probe reference 122.The magnetic field probes 101, 102, 103, and 104 determine that the implanted marker 200 falls within one or more first lateral marker detection areas 192, and determine the distance value 132 of the marker as "55" and display it on the distance value display 132. One or more depth values ​​133 of the implanted marker 200 relative to the second magnetic probe reference 122 are determined, and the depth value 133 of the marker is determined as "35" and displayed on the depth value display 133. One or more depth directions 135 of the implanted marker 200 relative to the second magnetic probe reference 122 are determined and displayed on the depth direction display 135 by modifying the visual aspect (e.g., indicating "-" because the depth is closer (or less distant)). Magnetic field probe instruction manual 25 / 32 pages 30 CN 122341310 A 101, 102, 103, 104 determine that the overlap between the implanted marker 200 and the longitudinal axis or plane 151, 152, 153 of the probe is low. Therefore, detection away from the longitudinal axis or plane 151, 152, 153 is indicated in the center alignment display 134 by modifying visual aspects (e.g., two concentric circles without a third concentric circle and no crosshairs) in the corresponding display area. The implanted marker 200 is in a specific orientation relative to the first magnetic probe reference 121. The angular arrangement (or orientation) of the implanted marker 200 relative to the first magnetic probe reference 121 is determined and displayed on the orientation display 136 by modifying visual aspects (e.g., the orientation of the pointer).

[0150] Figure 4 depicts an example of a magnetic field probe that can provide the user with more intuitive visual feedback on how to locate the implanted marker 200. Figure 4 depicts a schematic end view and a schematic cross-section through one or more marker detection areas of a magnetic field probe with a display according to this disclosure. All embodiments of the magnetic field probe disclosed herein can be configured to define one or more marker detection areas as depicted in Figure 4. Different shapes, different extents, and / or different symmetries can be defined for the marker detection areas 192, 194 depicted in Figure 4 if desired.

[0151] In the example depicted in Figure 4, magnetic field probes 101, 102, 103, 104 are provided with a probe display 130, wherein the probe display 130 includes an optional distance value display 132, an optional center alignment display 134, an optional depth direction display 135, an optional depth value display 133, and an optional direction display 136. The probe display 130 is disposed on a proximal "end surface" 165 of the magnetic field probes 101, 102, 103, 104, which is located on a plane including an X-axis 600 and a Z-axis 800.In the plane (X-Z plane 600-800). Magnetic field probes 101, 102, 103, 104 extend from the distal transverse (or radial) axis or plane 181 of the probe to the proximal transverse (or radial) axis or plane 182 of the probe. Optionally, to provide improved visibility for the user, the probe display 130 may be configured at an angle to the proximal "end surface" 165, for example, in an "angled-up" configuration.

[0152] In the example depicted in FIG4, magnetic field probes 101, 102, 103, 104 are configured to define one or more first flank marker detection areas 192 and / or define one or more second flank marker detection areas 194. One or more flank marker detection areas 192, 194 extend from the first probe transverse axis or plane 181 to the second probe transverse axis or plane 182, thereby extending more laterally and / or more radially away from the probe longitudinal axis or plane 151, 152, 153. Although the cross sections depicted in FIG4 for one or more first flank marker detection areas 192 and for one or more second flank marker detection areas 194 are substantially the same in shape and similar in extent, this is not necessary.

[0153] Alternatively or additionally, the magnetic field probes 101, 102, 103, 104 may be configured to define one or more distal marker detection areas (not depicted) that extend further distally along the probe longitudinal axis or plane 151, 152, 153 away from the distal transverse axis or plane 181 of the magnetic field probes 101, 102, 103, 104. Alternatively, magnetic field probes 101, 102, 103, 104 may be configured to define one or more proximal marker detection areas (not depicted) that extend further proximally away from the proximal transverse axis or plane 182 of the magnetic field probes 101, 102, 103, 104 along the probe longitudinal axis or plane 151, 152, 153.

[0154] In the example depicted in FIG4, magnetic field probes 101, 102, 103, 104 are configured to determine and display one or more distance values ​​132 of the implanted marker 200 with respect to a first magnetic probe reference (not depicted), which includes one or more virtual locations located at the intersection of the probe longitudinal axis or plane 151, 152, 153 and the probe distal transverse axis or plane 181. Magnetic field probes 101, 102, 103, and 104 are further configured to determine and display one or more angular arrangements (or orientations) of the implanted marker 200 relative to a first magnetic probe reference (not depicted). Magnetic field probes 101, 102, 103, and 104 are further configured to determine and display one or more angular arrangements (or orientations) of the implanted marker 200 with respect to a second magnetic probe reference (not depicted).The second magnetic probe reference includes one or more virtual locations along the distal transverse axis or plane 181 of the probe at a depth direction of 135. Magnetic probes 101, 102, 103, and 104 are further configured to determine and display one or more depth values ​​135 of the implanted marker 200 relative to the second magnetic probe reference (not depicted).

[0155] In the example depicted in FIG4, magnetic probes 101, 102, 103, and 104 are configured to detect in a lateral (or more lateral) direction (side view), are configured to determine and display 136 the direction in which the implanted marker 200 is detected, are configured to determine and display 135 the depth direction in which the implanted marker 200 is detected, are configured to determine and display a distance value 132 of the implanted marker 200, and are configured to determine and display a depth value 133 of the implanted marker 200. Magnetic field probes 101, 102, 103, and 104 may also be optionally configured not to perform detection in the forward (or more distal) direction (forward view). If one or more proximal marker detection areas 196 are defined, magnetic field probes 101, 102, 103, and 104 may also be optionally configured to perform detection in the backward (or more proximal) direction (rear view).

[0156] In the example depicted in FIG. 4, magnetic field probes 101, 102, 103, and 104 are configured to be held by a user's (not depicted) hand. Therefore, marker detection areas 192, 194 and display 130 are configured to provide the user with visual feedback on how to locate the implanted marker 200.

[0157] In the example depicted in FIG. 4, the implanted marker 200 is located at a first specific distance from a first magnetic probe reference (not depicted). The implanted marker 200 is located more proximal (or less distal) than a second magnetic probe reference (not depicted). Magnetic field probes 101, 102, 103, and 104 determine that the implanted marker 200 falls within one or more first lateral marker detection areas 192, and determine the marker's distance value 132 as "22" and display it on the distance value display 132. One or more depth values ​​133 of the implanted marker 200 relative to a second magnetic probe reference (not depicted) are determined, and the depth value 133 is determined as "10" and displayed on the depth value display 133. One or more depth directions 135 of the implanted marker 200 relative to the second magnetic probe reference (not depicted) are determined and displayed on the depth direction display 135 by modifying visual aspects (e.g., indicating "-"—because the depth is closer (or less distant)). Magnetic field probes 101, 102, 103, and 104 determine that the implanted marker 200 has a low degree of overlap with the probe's longitudinal axis or planes 151, 152, and 153. Therefore, at the center...The detection of objects remote from the longitudinal axis of the probe or planes 151, 152, 153 is indicated in the alignment display 134 by modifying visual aspects (e.g., a circle without concentric circles and without crosshairs) in the corresponding display area. The implanted marker 200 is oriented in a specific direction relative to the first magnetic probe reference 121. One or more angular arrangements (or orientations) of the implanted marker 200 relative to the first magnetic probe reference 121 are determined and displayed on the orientation display 136 by modifying visual aspects (e.g., the orientation of the pointer).

[0158] Although this disclosure has been described in conjunction with specific exemplary embodiments, it should be understood that various changes, substitutions, and modifications that will be apparent to those skilled in the art may be made to the disclosed embodiments without departing from the spirit and scope of this disclosure as set forth in the appended claims.

[0159] For example, any of the magnetic field probes disclosed herein may be configured to provide two or more distal marker detection areas, as described in PCT application WO 2021124300A1, published June 24, 2021, which is incorporated herein by reference. Specifically, one or more of the distal marker detection regions disclosed in the specification explaining the following figures in PCT application WO 2021124300A1: Figures 8A and 8B, including the disclosure on page 33, line 13 to page 37, line 7, is incorporated herein by reference.

[0160] Optionally, the magnetic field probe described herein may include one or more additional sensors to provide one or more measurements of one or more orientations of the magnetic field probe. For example, the pitch angle, roll angle, and / or yaw angle of the magnetic field probe. For example, measurements from one or more IMU (Inertial Measurement Unit) sensors and / or one or more background magnetic field sensors. This one or more orientations may also be considered when determining the arrangement of the implanted marker 200 and / or when determining the configurability aspects of the detection region. Any other input providing one or more location information may be used similarly. For example, one or more optical sensors (similar to sensors used in optical mice) may be included in a magnetic probe as described herein (pages 27 / 32, CN 122341310 A) and configured, for example, to determine one or more contact points on the outer surface of the skin.

[0161] It may be advantageous to modify the marker search parameters in an intuitive manner for the user by modifying one or more parameters or aspects associated with one or more detection areas (e.g., range, shape, orientation, arrangement, scaling, resolution, corner boundaries, longitudinal range, lateral range, and any combination thereof).

[0162] One or more configurable aspects of the detection area may be automatically determined by the first magnetic probe based on one or more measurements from one or more sensors and / or based on one or more suitable parameters. Alternatively or additionally, the user may...One or more parameters may be provided to influence the determination.

[0163] Alternatively or additionally, the determination may be user-selectable. Using different detection zones is particularly intuitive, so the user can modify their use of the first magnetic probe—for example, a “farther” detection zone on the more distal side may induce greater and faster movement, while a “closer” detection zone on the more proximal side may induce smaller and slower movement.

[0164] Alternatively or additionally, the user selection may determine treatment or therapy. Alternatively or additionally, the user selection may determine invasive or non-invasive use. Alternatively or additionally, the user selection may determine use as a handheld stick.

[0165] Alternatively or additionally, the user may select a configuration particularly suited to, for example, the intended location, intended proximity, intended magnetic field strength, and intended marker orientation of the implanted marker in a human or animal body. Depending on the (user’s) intended proximity and / or orientation with respect to the implanted marker, one or more marker detection zones may also be set to adopt a specific configuration. This may also be automated to some extent, depending on the proximity and / or orientation measured (by the first magnetic probe). Any combination of different degrees of automation is also possible.

[0166] Alternatively or additionally, the user may also select a configuration that they personally find particularly efficient for marker localization.

[0167] Since one or more marker detection zones of interest can be set in several dimensions, one or more of these shapes and cross-sectional shapes can be combined. Simple shapes and / or complex shapes can be used. Another advantage of providing software-configurable detection zones is that the user can select, set, and / or configure two or more marker detection zones. This can provide, for example, coarse / fine marker detection zone configurations—marker detection zones with smaller angles can further improve accuracy and sensitivity as the distal end of the first magnetic probe gets closer to the magnetic marker.

[0168] Optionally, the magnetic field probe as described herein may further include an acoustic transducer configured to provide audio feedback, and wherein the audio characteristics of the audio feedback can be configured by the processor to vary depending on whether one or more arrangements coincide with one or more flanking marker detection zones 192, 194. Alternatively, the audio characteristics of the audio feedback can be configured by the processor to vary depending on whether one or more arrangements overlap with the one or more distal marker detection areas 190. Alternatively, the audio characteristics of the audio feedback can be configured by the processor to vary depending on whether one or more arrangements overlap with the one or more proximal marker detection areas 196. For example, the audio characteristics that may vary include pitch, volume, loudness, amplitude, spatial location, duration, pause duration, tone, beeps, pause duration between beeps, frequency, spectrum, or any combination thereof.If the magnetic field probe described herein is configured to define two or more detection zones, the display indication and / or audio feedback may vary depending on whether one or more arrangements substantially coincide with one or more distal marker detection zones 190, one or more flank marker detection zones 192, 194, one or more proximal marker detection zones 196, or any combination thereof. If the magnetic field probe described herein is configured to define two or more detection zones, the display indication and / or audio feedback may vary depending on whether one or more arrangements substantially do not coincide with one or more distal marker detection zones 190, one or more flank marker detection zones 192, 194, one or more proximal marker detection zones 196, or any combination thereof.

[0169] For example, audio feedback may be provided in a manner similar to that of a car parking sensor indicating distance to an object with different tones. For example, a distance-dependent and / or angle-dependent audio pitch may be provided by configuring the processor to multiply the estimated marker position by the shape of one or more marker detection zones. Alternatively, one or more uncertainty regions may be multiplied by the shape of one or more marker detection regions. An integral indicating the degree of trust in one or more arrangements may be output as, for example, the volume of one or more tones, while the pitch of one or more tones may indicate the lateral and / or longitudinal arrangement (distance). For example, an inverse relationship may be used between the pause durations between beeps, in which shorter pauses indicate a higher degree of proximity (or tightness).

[0170] Additionally or alternatively, an acoustic transducer may be included in a detector unit or detector device. One or more acoustic transducers may be configured to indicate one or more aspects of the audio feedback to a user. It may be advantageous for one or more acoustic transducers to indicate one or more identical aspects (mirrors) and / or indicate one or more different aspects of the audio feedback.

[0171] Optionally, a display may be included in one or more of the magnetic probes described herein. Additionally or alternatively, a display may be included in a detector unit or detector device. One or more displays may be configured to indicate one or more determined results to a user. It may be advantageous for one or more displays to indicate one or more identical results (mirrors) and / or indicate one or more different results. Preferably, one or more corner arrangements of the implantable marker 200 are displayed graphically. Alternatively or additionally, one or more detection zones are indicated to provide visual feedback. Alternatively or additionally, numbers may be displayed. Optionally, one or more distances (arrangements) may be displayed as relative and / or absolute values, for example, using values ​​and / or symbols. The distances (arrangements) of the implantable marker 200 can be arranged in any convenient manner.The parameters (e.g., micrometers, millimeters, or centimeters) are used to define and / or express the extent of the display element (e.g., length, width, and / or thickness). The extent of the display element (e.g., length, width, and / or thickness) can vary depending on the distance of the magnetic marker 200 measured relative to the probe reference point.

[0172] The user may be particularly interested in an indication of the angular arrangement between the longitudinal axis or plane 151 of the first magnetic probe at the distal end 160 and the implanted marker 200. It is particularly advantageous when the first magnetic probe 101 is configured to be held and extended along the longitudinal axis or plane 151, thereby providing an intuitive configuration for determining the orientation of the implanted marker 200 relative to the distal end 160 or tip.

[0173] The angular arrangement 170 of the implanted marker 200 can be defined and / or expressed in any convenient parameter (e.g., degrees or radians).

[0174] It may also be advantageous to configure the magnetic probe as described herein to determine the angular arrangement 170 in one or more flank marker detection areas 192, 194. For example, by providing magnetic field probes 101, 102, 103, 104 for determining one or more arrangements 170 of the implantable marker 200, the implantable marker 200 is configured to generate a magnetic field during use. The magnetic field probes 101, 102, 103, 104 include: a distal end 160 adapted to be positioned near an animal or human; a first magnetic sensor 111 positioned near the distal end 160 and arranged along a first probe transverse axis or plane 181; and a second magnetic sensor 112 arranged along a second probe transverse axis or plane 182 and positioned between the first magnetic sensor 111 and the proximal end 165; wherein the first magnetic sensor... Sensor 111 and the second magnetic sensor 112 are configured to determine one or more magnetic field vectors of the implanted marker 200 during use; and a processor is configured to collect measurements from the first magnetic sensor 111 and the second magnetic sensor 112, and further configured to determine one or more magnetic field vectors of the implanted marker 200 during use; the processor is configured to perform the following operations: defining one or more lateral marker detection areas 192, 194, the one or more lateral marker detection areas extending from the transverse axis or plane 181 of the first probe to the transverse axis or plane 182 of the second probe and along the longitudinal axis or plane 151, 152 of the probe. 153 extends further laterally and / or more radially, wherein the longitudinal axis or plane of the probe 151, 152, 153 is perpendicular to the transverse axis or plane of the first probe 181 and perpendicular to the transverse axis or plane of the second probe 182; one or more magnetic field vectors are used to determine one or more angular arrangements 170 and / or one or more distances of the implantable marker 200;If one or more angular arrangements 170 and / or one or more distances coincide with one or more flank marker detection areas 192, 194, determine that the angular arrangement and / or distance falls within the one or more flank marker detection areas 192, 194; and if one or more angular arrangements 170 and / or one or more distances of the implanted marker 200 do not coincide with the one or more flank marker detection areas 192, 194, modify, attenuate, and / or suppress the processing for determining one or more magnetic field vectors.

[0175] Optionally, the processor of such a flank magnetic field probe may be configured to determine one or more angular arrangements 170 and / or one or more distances of the implanted marker 200 relative to magnetic probe references 121, 122, the magnetic probe references including one or more virtual positions along the longitudinal axis or plane 151, 152, 153 of the probe, one or more physical and / or virtual positions along the axis or plane passing through the distal end 160, one or more physical and / or virtual positions along the axis or plane passing through the proximal end 165, one or more physical and / or virtual positions along the axis or plane passing through the flanks 162, 167, one or more virtual positions along the transverse axis or plane 181, 182 of the probe, or any combination thereof.

[0176] Optionally, such a flank magnetic probe may be configured to define one or more proximal marker detection regions 196, which extend further proximally along the longitudinal axis or plane 151, 152, 153 away from the proximal end 165 of the magnetic field probes 101, 102, 103, 104.

[0177] It may also be advantageous to configure the magnetic probe as described herein to define one or more arrangements 170 of the one or more proximal marker detection regions 196. For example, by providing magnetic field probes 101, 102, 103, 104 for determining one or more angular arrangements 170 and / or one or more distances of the implantable marker 200, the implantable marker 200 is configured to generate a magnetic field in use. The magnetic field probes include: a distal end 160 adapted to be positioned near an animal or human; a first magnetic sensor 111 positioned near the distal end 160 and arranged along a first probe transverse axis or plane 181; a second magnetic sensor 112 positioned along a second probe transverse axis or plane 182 and positioned between the first magnetic sensor 111 and the proximal end 165; wherein the first magnetic sensor 111 and the second magnetic sensor 112 are configured to determine one or more magnetic field vectors of the implantable marker 200 in use; and a processor configured to collect measurements from the first magnetic sensor and the second magnetic sensor, and configured to determine one or more magnetic field vectors of the implantable marker in use; the processor is configured to perform the following operations: defining one or moreOne or more distal marker detection areas 190 extend further distally from the distal ends 160 of the magnetic field probes 101, 102, 103, 104; one or more proximal marker detection areas 196 extend further proximally along the longitudinal axes or planes 151, 152, 153 of the probes from the proximal ends 165 of the magnetic field probes 101, 102, 103, 104, wherein the longitudinal axes or planes 151, 152, 153 of the probes are perpendicular to the transverse axes or planes 181 of the first probe and perpendicular to the transverse axes or planes 182 of the second probe; one or more magnetic field vectors are used to determine one or more angular arrangements 170 and / or one or more distances of the implanted marker 200; in the one or more angular arrangements 170 If one or more distances coincide with one or more proximal marker detection areas 196, determine that the angular arrangement and / or distance falls within the one or more proximal marker detection areas 196; and if one or more angular arrangements 170 of the implanted marker 200 and / or one or more distances do not coincide with the one or more proximal marker detection areas 196, modify, attenuate, and / or suppress the processing for determining one or more magnetic field vectors.

[0178] Optionally, the processor of such a proximal magnetic field probe may be configured to determine one or more angular arrangements 170 and / or one or more distances of the implanted marker 200 relative to magnetic probe references 121, 122, and / or determine one or more distances of the implanted marker 200 relative to the magnetic probe reference, which includes one or more virtual positions along the longitudinal axis or plane of the probe 151, 152, 153, one or more physical and / or virtual positions along the axis or plane passing through the distal end 160, one or more physical and / or virtual positions along the axis or plane passing through the proximal end 165, one or more physical and / or virtual positions along the axis or plane passing through the flanks 162, 167, one or more virtual positions along the transverse axis or plane of the probe 181, 182, or any combination thereof.

[0179] Optionally, such a proximal magnetic probe can be configured to define one or more distal marker detection areas 190, which extend further distally along the longitudinal axis or plane 151, 152, 153 away from the distal end 160 of the magnetic field probes 101, 102, 103, 104.

[0180] The magnetic probes described herein can be advantageously used in magnetic localization systems designed to assist medical professionals in better locating areas of interest in soft tissue prior to invasive or non-invasive treatments. For example, for better locating soft tissue tumors, such as breast cancer, lymph nodes, melanoma, and sarcoma, prior to invasive or non-invasive treatments.Tumor. For example, for better localization of areas of interest in soft tissue before and / or during surgery.

[0181] One or more of the magnetic probes described herein may be included in a detector unit or detector device (not shown). For example, a detector unit may be configured as an intraoperative detector unit. It will be apparent to those skilled in the art that functions for determining one or more arrangements may be implemented in the hardware and software of the magnetic probe, or these functions may be implemented in the hardware and software of the remainder of the detector. Alternatively or additionally, functions may be divided between one or more magnetic probes and the remainder of the detector unit in any convenient manner.

[0182] A detector unit or detector device for one or more of the magnetic probes described may include one or more of the following: optional electrical and / or mechanical connections configured to be attached to the proximal end of the magnetic probe. It may be advantageous to make the attachment releasable. The connection may also be: wireless, configured to at least allow data transmission between the magnetic probe and the remainder of the detector; a power supply for providing energy to one or more magnetic probes; a processor configured to collect magnetic sensor measurements and use appropriate software to determine one or more arrangements and / or distances.

[0183] Reference numerals used in the drawings: 101 First embodiment of magnetic field probe; 102 Second embodiment of magnetic field probe; 103 Third embodiment of magnetic field probe; 104 Fourth embodiment of magnetic field probe; 111 First sensor; 112 Second sensor; 113 Third sensor; 114 Fourth sensor; 121 First magnetic probe reference; 122 Second magnetic probe reference; 130 Probe display; 132 Distance value display; 133 Depth value display; 134 Center alignment display; 135 Depth direction display. Specification page 31 / 32. 36 CN 122341310 A 136 Orientation Display 137 Detection Area Display 140 Probe Housing 151 First Probe Longitudinal Axis or Plane 152 Second Probe Longitudinal Axis or Plane 153 Third Probe Longitudinal Axis or Plane 160 Proximal End of Probe 162 First Side Wing of Probe 165 Proximal End of Probe 167 Second Side Wing of Probe 170 Angular Arrangement or Angular Component 181 First Probe Lateral (or Radial) Axis or Plane 182 Second Probe Lateral (or Radial) Axis or Plane 190 Distal Marker Detection Area or Plane 1190 First Range of Distal Marker Detection Area in the X-Y Plane 2190 Second Range of Distal Marker Detection Area in the X-Y Plane 3190 Third Range of Distal Marker Detection Area in the X-Y Plane 192 First Side Wing Marker Detection Area 1192 First Range of First Side Wing Marker Detection Area in the X-Y Plane 194 Second Side Wing Marker Detection Area 1194 First Range of Second Side Wing Marker Detection Area in the X-Y Plane196 Proximal marker detection area 1196 First range of proximal marker detection area in the X-Y plane 2196 Second range of proximal marker detection area in the X-Y plane 3196 Third range of proximal marker detection area in the X-Y plane 200 Implantable (inductive) magnetic marker 300 Skin outer surface 600 X-axis 700 Y-axis 800 Z-axis Instruction Manual Page 32 / 32 37 CN 122341310 A Figure 1 Instruction Manual Figure 1 / 11 Page 38 CN 122341310 A Figure 2A Figure 2B Instruction Manual Figure 2 / 11 Page 39 CN 122341310 A Figure 2C Figure 2D Instruction Manual Figure 3 / 11 Page 40 CN 122341310 A Figure 3 Instruction Manual Figure 4 / 11 Page 41 CN 122341310 A Figure 4 Instruction Manual Figure 5 / 11 Page 42 CN 122341310 A Figure 5A Figure 5B Instruction Manual Figure 6 / 11 Page 43 CN 122341310 A Figure 6A Figure 6B Instruction Manual Figure 7 / 11 Page 44 CN 122341310 A Figure 7A Figure 7B Instruction Manual Figure 8 / 11 Page 45 CN 122341310 A Figure 7C Figure 7D Instruction manual figures 9 / 11, page 46, CN 122341310 A, Figure 7E, Figure 8A; Instruction manual figures 10 / 11, page 47, CN 122341310 A, Figure 8B; Instruction manual figures 11 / 11, page 48, CN 122341310 A

Claims

1. A magnetic field probe (101, 102, 103, 104) for determining one or more arrangements (170) of an implantable marker (200), the implantable marker (200) being configured to generate a magnetic field in use, the magnetic field probe (101, 102, 103, 104) comprising: The distal end (160) is adapted to be positioned for a nearby animal or human body; A first magnetic sensor (111) is configured to be located near the distal end (160) and arranged along the transverse axis or plane (181) of the first probe; A second magnetic sensor (112) is arranged along the transverse axis or plane (182) of the second probe and is positioned between the first magnetic sensor (111) and the proximal end (165); The first magnetic sensor (111) and the second magnetic sensor (112) are configured to determine one or more magnetic field vectors of the implanted marker (200) during use; and The processor is configured to collect measurements from the first magnetic sensor (111) and the second magnetic sensor (112), and is further configured to determine one or more magnetic field vectors of the implanted marker (200) in use; The processor is configured to perform the following operations: One or more distal marker detection areas (190) are defined, which extend further distally from the distal end (160) of the magnetic field probe (101, 102, 103, 104) along the longitudinal axis or plane (151, 152, 153) of the probe, wherein the longitudinal axis or plane (151, 152, 153) of the probe is perpendicular to the transverse axis or plane (181) of the first probe and perpendicular to the transverse axis or plane (182) of the second probe. Define one or more flank marker detection areas (192, 194) that extend from the first probe transverse axis or plane (181) to the second probe transverse axis or plane (182) and extend more laterally and / or more radially away from the probe longitudinal axis or plane (151, 152, 153); The one or more magnetic field vectors are used to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200); If the one or more angular arrangements (170) and / or one or more distances substantially coincide with one or more flanking marker detection areas (192, 194), then it is determined that the angular arrangement and / or distance falls within the one or more flanking marker detection areas (192, 194); and If one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the detection areas (192, 194) of the one or more flank markers, the processing for determining one or more magnetic field vectors is altered, attenuated, and / or suppressed.

2. The magnetic field probe according to claim 1, wherein, The one or more flanking marker detection areas (192, 194) extend from an axis or plane that includes one or more physical and / or virtual locations and passes through the distal end (160).

3. The magnetic field probe according to any of the preceding claims, wherein, The second magnetic sensor (112) is positioned near the proximal end (165) of the magnetic field probe (101, 102, 103, 104).

4. The magnetic field probe according to any of the preceding claims, wherein, The detection area (192, 194) of one or more flank markers extends to an axis or plane that passes through the proximal end (165) and includes one or more physical and / or virtual locations.

5. The magnetic field probe according to any of the preceding claims, wherein, The detection area (192, 194) of one or more flank markers extends to the axis or plane of the flank (162, 167) of the magnetic field probe (101, 102, 103, 104), which includes one or more physical and / or virtual locations.

6. The magnetic field probe according to any of the preceding claims, wherein, The detection areas (192, 194) of one or more flank markers are substantially symmetrical about the longitudinal axis or plane (151, 152, 153) of the probe.

7. The magnetic field probe according to any of the preceding claims, wherein, Two or more marker detection areas (190, 192, 194) share one or more boundaries.

8. The magnetic field probe according to any of the preceding claims, wherein, The processor is configured to define one or more proximal marker detection areas (196) that extend further proximally away from the proximal end (165) of the magnetic field probe (101, 102, 103, 104) along the longitudinal axis or plane (151, 152, 153) of the probe.

9. The magnetic field probe according to any of the preceding claims, wherein, The processor is configured to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) relative to a magnetic probe reference (121, 122), the magnetic probe reference including: one or more virtual locations along the longitudinal axis or plane of the probe (151, 152, 153), one or more physical and / or virtual locations along an axis or plane passing through the distal end (160), one or more physical and / or virtual locations along an axis or plane passing through the proximal end (165), one or more physical and / or virtual locations along an axis or plane passing through the flanks (162, 167), one or more virtual locations along the transverse axis or plane of the probe (181, 182), or any combination thereof.

10. The magnetic field probe according to any of the preceding claims, wherein the magnetic field probe (101, 102, 103, 104) comprises at least one additional magnetic sensor (113, 114), and wherein, The first magnetic sensor (111), the second magnetic sensor (112), and the at least one additional magnetic sensor (113, 114) are included in one or more 1D, 2D, or 3D arrays.

11. The magnetic field probe according to any of the preceding claims, wherein, The distal end (160) of the magnetic field probe (101, 102, 103, 104) is configured to: be arranged adjacent to the outer surface of the skin (300); be in contact with the outer surface of the skin (300); be inserted through the outer surface of the skin (300); be inserted into a body cavity; or any combination thereof.

12. The magnetic field probe according to any of the preceding claims, wherein, The magnetic field probe (101, 102, 103, 104) includes an acoustic transducer configured to provide audio feedback, wherein the audio characteristics of the audio feedback are configured by the processor to vary depending on whether the one or more corner arrangements (170) and / or one or more distances coincide with the one or more flank marker detection areas (192, 194); or whether the one or more corner arrangements (170) and / or one or more distances coincide with the one or more distal marker detection areas (190).

13. The magnetic field probe according to any of the preceding claims, wherein, The processor is configured to determine one or more configurable aspects of one or more marker detection zones (190, 192, 194, 196) based on: one or more measurements from one or more sensors; one or more suitable parameters; one or more parameters provided by the user; selections made by the user; or any combination thereof.

14. A magnetic field probe (101, 102, 103, 104) for determining one or more arrangements (170) of an implantable marker (200), the implantable marker (200) being configured to generate a magnetic field upon use, the magnetic field probe comprising: The distal end (160) is adapted to be positioned for a nearby animal or human body; A first magnetic sensor (111) is configured to be located near the distal end (160) and arranged along the transverse axis or plane (181) of the first probe; A second magnetic sensor (112) is arranged along the transverse axis or plane (182) of the second probe and is positioned between the first magnetic sensor (111) and the proximal end (165); The first magnetic sensor (111) and the second magnetic sensor (112) are configured to determine one or more magnetic field vectors of the implanted marker (200) during use; and The processor is configured to collect measurements from the first magnetic sensor and the second magnetic sensor, and is configured to determine one or more magnetic field vectors of the implanted marker when in use; The processor is configured to perform the following operations: One or more flank marker detection areas (192, 194) are defined, which extend from the first probe transverse axis or plane (181) to the second probe transverse axis or plane (182) and extend more laterally and / or more radially away from the probe longitudinal axis or plane (151, 152, 153), wherein the probe longitudinal axis or plane (151, 152, 153) is perpendicular to the first probe transverse axis or plane (181) and perpendicular to the second probe transverse axis or plane (182). Define one or more proximal marker detection areas (196) that extend further proximally away from the proximal end (165) of the magnetic field probe (101, 102, 103, 104) along the longitudinal axis or plane (151, 152, 153) of the probe. The one or more magnetic field vectors are used to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200); If the one or more corner arrangements (170) and / or one or more distances coincide with one or more flanking marker detection areas (192, 194), it is determined that the corner arrangement and / or distance falls within the one or more flanking marker detection areas (192, 194); and If one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the detection areas (192, 194) of the one or more flank markers, the processing for determining one or more magnetic field vectors is altered, attenuated, and / or suppressed.

15. The magnetic field probe according to claim 14, wherein, The processor is configured to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) relative to a magnetic probe reference (121, 122), the magnetic probe reference including: one or more virtual locations along the longitudinal axis or plane of the probe (151, 152, 153), one or more physical and / or virtual locations along an axis or plane passing through the distal end (160), one or more physical and / or virtual locations along an axis or plane passing through the proximal end (165), one or more physical and / or virtual locations along an axis or plane passing through the flanks (162, 167), one or more virtual locations along the transverse axis or plane of the probe (181, 182), or any combination thereof.

16. The magnetic field probe according to claim 14 or 15, wherein, The processor is configured to modify, attenuate, and / or suppress the processing of determining one or more magnetic field vectors if one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the one or more lateral marker detection areas (192, 194) and do not coincide with one or more proximal marker detection areas (196).

17. The magnetic field probe according to any of the preceding claims, wherein, The processor is configured to determine one or more distances of the implanted marker (200) relative to a magnetic probe reference (122), the magnetic probe reference including: one or more physical and / or virtual locations along an axis or plane passing through the distal end (160), one or more physical and / or virtual locations along an axis or plane passing through the proximal end (165), one or more virtual locations along a probe transverse axis or plane (181, 182), or any combination thereof.

18. A detector unit for detecting one or more arrangements and / or distances of an implanted marker (200), the detector unit comprising a display and including one or more magnetic field probes (101, 102, 103, 104) according to any preceding claim, wherein, The processor is configured to indicate to the user the determination results of one or more arrangements and / or distances on the display.

19. The detector unit according to claim 18, wherein, The processor is configured to indicate one or more marker detection zones (190, 192, 194, 196) on the display.

20. A method for determining one or more arrangements (170) of an implantable marker (200), the implantable marker (200) being configured to generate a magnetic field upon use, the method comprising: A magnetic field probe (101, 102, 103, 104) including a processor and a distal end (160) is provided. The magnetic field probe (101, 102, 103, 104) includes: a first magnetic sensor (111) arranged near the distal end (160) and along a transverse axis or plane (181) of the first probe; and a second magnetic sensor (112) arranged along a transverse axis or plane (182) of the second probe and disposed between the first magnetic sensor (111) and the proximal end (165). The processor is configured to collect measurements from the first magnetic sensor (111) and the second magnetic sensor (112); The processor is configured to determine one or more magnetic field vectors of the implanted marker (200) when in use; The processor is configured to define one or more distal marker detection areas (190) that extend further away from the distal end (160) of the magnetic field probe (101, 102, 103, 104) along the longitudinal axis or plane (151, 152, 153) of the probe, wherein the longitudinal axis or plane (151, 152, 153) of the probe is perpendicular to the transverse axis or plane (181) of the first probe and perpendicular to the transverse axis or plane (182) of the second probe. The processor is configured to define one or more flank marker detection areas (192, 194) that extend from the first probe transverse axis or plane (181) to the second probe transverse axis or plane (182) and extend more laterally and / or more radially away from the probe longitudinal axis or plane (151, 152, 153); The one or more magnetic field vectors are used to determine one or more angular arrangements (170) and / or one or more distances of the implanted marker (200); If the one or more corner arrangements (170) and / or one or more distances coincide with one or more flanking marker detection areas (192, 194), it is determined that the corner arrangement and / or distance falls within the one or more flanking marker detection areas (192, 194); and If the one or more angular arrangements (170) and / or one or more distances of the implanted marker (200) do not coincide with the detection areas (192, 194) of the one or more flank markers, the processing for determining one or more magnetic field vectors is altered, attenuated and / or suppressed.

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