21 results about "Magnetic tracking" patented technology

The invention discloses a sequence image relative pose estimation method, device and equipment and a medium, and relates to the technical field of image processing, the method accurately estimates inter-frame poses through deep learning, so that ultrasonic three-dimensional reconstruction can be realized under the condition of not using external tracking equipment such as electromagnetic tracking and the like; therefore, various possible complex medical environments can be adapted more flexibly, and medical workers can be helped to perform examination and diagnosis better. And meanwhile, the method eliminates the dependence of ultrasonic three-dimensional reconstruction on external equipment such as optical / magnetic tracking equipment, so that the system architecture is simpler and more compact, the hardware cost and complexity are remarkably reduced, and the method is favorable for adapting to various different clinical application scenes. Besides, through rotation isovariant convolution and multi-scale cross attention, the method can better adapt to factors such as angle change and tissue deformation in the acquisition process, and the robustness of the method is improved.

The application discloses a coil layout optimization and pose estimation simulation model, relates to the technical fields of electromagnetic tracking, simulation modeling and electromagnetic layout optimization, and aims to realize optimal design of a transmitting coil spatial layout and high-precision pose calculation through high-fidelity numerical simulation data driving. Under the driving of specific excitation signals, a simulation engine utilizes ANSYS finite element analysis to pre-construct a global magnetic field fingerprint characteristic map of the transmitting coil, so as to replace a traditional magnetic dipole mathematical approximation model. In order to improve the scientificity of the coil layout, virtual magnetic field data generated by ANSYS is mapped into sensor sensing voltage prediction values, and residual errors are constructed with pose estimation values output by a calculation module; subsequently, the pose errors are used as feedback evaluation indexes to iteratively correct coil geometric arrangement parameters in the ANSYS model, and finally, a global optimal layout is obtained.

A medical imaging device is disclosed. The medical imaging device includes an ultrasonic transducer having an acoustic stack including an active surface opposite to the backing surface, a magnetic tracking sensor assembly, and a multilayer circuit assembly electrically and mechanically coupled to the ultrasonic transducer and the magnetic tracking sensor assembly. The magnetic tracking sensor assembly includes a coupling surface. The backing surface is aligned with the coupling surface.

An electromagnetic tracking (EMT) system is configured for determining a frequency for generating at least a portion of a magnetic field signal using a transmitter coil of a plurality of transmitter coils. The EMT system configures a time-division multiplexed (TDM) control signal configured to cause the transmitter coil to transmit bursts of the magnetic field signal at the frequency. The EMT system configures a filter for filtering the TDM control signal, the filter configured to shape each burst to reduce or eliminate a harmonic artifact of the bursts. The EMT system causes the transmitter coil to generate the shaped bursts of the magnetic field signal. The EMT system receives, from a sensor, a sensor signal that corresponds to the magnetic field signal, the sensor including the output response indicative of the location of the sensor relative to the transmitter.

The disclosed electronic unit includes reusable electronic components for magnetic tracking, which are non-sterile, but can be encapsulated in a sterile, disposable enclosure. The housing may be a medical device or a standalone entity that may be mechanically connected to the medical device. The electronic unit has a housing having an elongated shape in a longitudinal direction.

Magnetic field sensor assembly, comprising: a hollow core comprising a ferromagnetic material, wherein the hollow core has a proximal end and a distal end; conductive material arranged around the hollow core and forming at least one turn of a coil, the coil comprising at least one start terminal and at least one end terminal; and wherein at least first and second lead wires are provided, wherein the first lead wire is connected to the start terminal to form a first termination, and wherein the second lead wire is connected to the end terminal to form a second termination, and wherein the first and second lead wires can transmit electrical signals from the coil to a magnetic position measuring system for determining a sensor position, characterized by the fact that The first and second supply wires run inside the hollow core, thus reducing the fragility of the sensor assembly.

A method for automatic position determination review during position tracking of an object inserted in a hollow organ of a patient by an electromagnetic tracking (EMT) system in the presence of an X-ray device with a movable acquisition system includes providing a registration of the EMT system to the acquisition system. A reference image of the hollow organ of the patient is provided, a registration of the reference image is provided to the acquisition system, a position of the object is determined by the EMT system, and an associated position on the reference image is determined. A plausibility criterion and / or a boundary condition is applied for reviewing a plausibility of the position determined by the EMT system based on the reference image. If the plausibility criterion and / or the boundary condition is violated, a position correction of the position determined by the EMT system and / or an alternative position determination is performed.

A medical imaging apparatus is disclosed. The medical imaging apparatus includes an ultrasonic transducer having an acoustic stack including an active surface opposite a back surface; a magnetic tracking sensor assembly; and a layered circuit assembly electrically and mechanically coupled to the ultrasonic transducer and the magnetic tracking sensor assembly. The magnetic tracking sensor assembly includes a coupling surface. The back surface is aligned with the coupling surface.

An apparatus and method for determining position and orientation (PnO) of an object within an environment using an electromagnetic tracking system. An adaptive filter is used to strike a tradeoff between low jitter and low latency. When the object is slow moving or stationary, the adaptive filter is set to filter out jitter from the electromagnetic tracking system. When the object is in motion, the adaptive filter is set to reduce latency of the electromagnetic tracking system. An amount of motion of the object is monitored using a non-magnetic tracking device, whereby the setting of the adaptive filter is controlled based on the monitored motion using signals from the non-magnetic tracking device.

The present invention provides a method and system for magnetic tracking of a flexible device, the method comprising: receiving, by a host server, a plurality of sensed values of a local magnetic field, the plurality of sensed values sensed by a corresponding plurality of sensors, wherein the host server is optionally comprised in a controller of the plurality of sensors, the plurality of sensors positioned along a flexible tube of a device, wherein the plurality of sensed values are at least partially due to at least one alternating magnetic field generated by at least one magnetic field generator, a source amplitude and a frequency of each alternating magnetic field provided to the host server; and calculating, by the host server, a position of the flexible tube based on the plurality of sensed values and the source amplitude and the frequency of each alternating magnetic field provided.

A method for magnetic tracking of a flexible catheter device or a flexible elongate device, the method comprising: receiving, by a host server, a plurality of sensed values of a local magnetic field, the plurality of sensed values sensed by a corresponding plurality of sensors, wherein the host server is optionally comprised in a controller of the plurality of sensors, the plurality of sensors positioned along a flexible tube of a device, wherein the plurality of sensed values are at least partially due to at least one alternating magnetic field generated by at least one magnetic field generator, a source amplitude and a frequency of each alternating magnetic field provided to the host server; and calculating, by the host server, a position of the flexible tube based on the plurality of sensed values and the source amplitude and the frequency of each alternating magnetic field provided.

An electromagnetic tracking system includes an adjustable source of electricity, a magneto-resistive (MR) sensor coupled to the adjustable source of electricity and configured to couple to a device for tracking a position of the device, and a controller coupled to the adjustable source of electricity and the MR sensor to adjust an amount of electricity provided to the MR sensor by the adjustable source of electricity. The electromagnetic tracking system is configured to track MR sensors and coil-based sensors simultaneously using one or more input channels on the controller.

A magnetic-based tracking system for tracking an ultrasound probe. The tracking system can create a three-dimensional visualization. The tracking system can include a reference device including a reference magnet and an ultrasound probe including an ultrasound acoustic transducer or acoustic array that acquires ultrasound images. The reference device can include a magnetometer that detects a magnetic field generated by the reference magnet. The ultrasound probe can couple a first ultrasound image with a first magnetic field strength, wherein both of the first ultrasound image is received and the first magnetic field strength is detected at a first time. The system can include a console including a processor and non-transitory computer-readable medium having stored thereon a plurality of processor executed logic modules that perform operations including receiving and recording a plurality of coupling of ultrasound images and detected magnetic field strengths to generate a 3D visualization from the ultrasound images.

A magnetic tracking system is configured to determine an object pose of a tracked object in an environment of the magnetic tracking system. The tracking system includes a transmitter assembly that includes a transmitting coil configured to generate a magnetic signal indicative of an object pose of a tracked object with respect to the transmitter assembly and a marker that visually identifies a pose of the transmitter assembly with respect to a camera device. The camera device captures at least one image of the transmitter assembly. A computing device determines, based on the image, a pose for the transmitter assemblies in the image. Based on the magnetic signal and the pose associated with the transmitter assembly, the computing device determines the object pose of the tracked object in the environment.

The present disclosure relates to a surgical robot for orthopedic surgery, comprising a robotic arm device, a positioning and navigation device, and a control device, wherein the robotic arm device comprises at least two robotic arms, and an end effector is arranged at the end of each robotic arm close to an operating zone. The positioning and navigation device comprises an electromagnetic navigation device. The electromagnetic navigation device comprises: a tracking apparatus for electromagnetic tracking, comprising a magnetic field generator used for covering the at least two end effectors and at least two first electromagnetic tracking elements used for respectively tracking the orientations of the at least two end effectors during the surgery; and a reference frame, wherein a second electromagnetic tracking element and a developing body capable of displaying a coordinate position are arranged on the reference frame. The positioning and navigation device further comprises an imaging device used for positioning and navigating the at least two end effectors. The imaging device comprises an infrared coherent imaging navigation device used for positioning the operating zone and the at least two end effectors.

Disclosed are various embodiments for a guidance and tracking system that facilitate templated and targeted biopsy and / or treatment. A guidance and tracking system may include a catheter having a six-degree-of-freedom magnetic tracking sensor, where the catheter can be positioned and anchored in an organ or a natural passage of an organ such as the urethral passage in the prostate of a patient. Using tracking sensors, a computing device may be employed to track a location and orientation of an organ and medical instruments during a treatment or diagnostic procedure. The computing device may determine a position and orientation of the medical instrument relative to the organ of interest. A graphical user interface including real, three-dimensional objects to overlay and adjust biopsy templates onto a real three-dimensional organ or lesion that is manually reconstructed prior to the biopsy procedure. A simulator or simulator mode can be provided for training.

A magnetic tracking system includes a field generator assembly for generating a plurality of magnetic fields, wherein each magnetic field is generated by a respective magnetic field generator of the field generator assembly, at least one of the magnetic field generators having a first angular orientation and at least another of the magnetic field generator having a second angular orientation, different from the first angular orientation. The magnetic tracking system includes a magnetic sensor to measure the plurality of magnetic fields, and a computing device configured to compute a position and orientation of the magnetic sensor within the magnetic fields being measured by the sensor. The first angular orientation is between one and fifteen degrees and the second angular orientation is between one and fifteen degrees.

A magnetic tracking system includes a field generator assembly for generating a plurality of magnetic fields, wherein each magnetic field is generated by a respective magnetic field generator of the field generator assembly, at least one of the magnetic field generators having a first angular orientation and at least another of the magnetic field generator having a second angular orientation, different from the first angular orientation. The magnetic tracking system includes a magnetic sensor to measure the plurality of magnetic fields, and a computing device configured to compute a position and orientation of the magnetic sensor within the magnetic fields being measured by the sensor. The first angular orientation is between one and fifteen degrees and the second angular orientation is between one and fifteen degrees.

A medical system module configured to provide instructions to a user includes an input module configured to receive input pertaining to medical procedures to be performed on a patient by a user utilizing the medical system and an output module configured to provide to the user instructions for performing the medical procedures. Logic operations of the system include defining a set of the instructional steps to be followed during a performance of a selected medical procedure. A medical system can include magnetic tracking of a medical device and determining a shape of the medical device optical fiber shape sensing. Logic operations can include Artificial intelligence techniques. Providing user instructions can include pictorial illustrations as well as textual instructions. Pictorial illustrations can include historical image or other visual representations previously recorded and stored in memory. Logic determines completion of instructional steps by comparing a live visual representation with historical visual representations.