Location system with virtual touch screen

摘要

Control of an invasive medical instrument during a medical procedure is achieved using a system that includes magnetic field-based location facilities. Magnetic field sensors are placed in a medical instrument, e.g., a probe, and in an interface device to enable respective positions of the probe and the interface device to be ascertained by a location processor when the sensors are exposed to a magnetic field. The interface device is disposed such that an operator can control the medical instrument and the interface device concurrently. A display device, which can comprise a virtual reality display, is responsive to movements of the interface device as determined by the location processor to control the medical instrument, invoke various functions of the system, e.g., image manipulation, and otherwise facilitate the medical procedure via a graphical user interface.

主权项

1. Apparatus for invasive medical operations involving real time image processing in the body of a living subject, comprising:
one or more field generating elements disposed at known locations for generating magnetic fields at respective frequencies; a medical instrument adapted for insertion into said body, the medical instrument comprising (i) a first magnetic position sensor coupled thereto that emits first signals responsively to said magnetic fields and (ii) and ultrasonic imaging sensor for imaging a target structure in the subject and emitting ultrasound signals, (iii) a handle on said medical instrument, (iv) an interface device comprising a joystick on the medical instrument, the joystick having a second magnetic position sensor coupled thereto that emits second signals responsively to said magnetic fields and (v) positioning controls for said medical instrument on the handle of said medical instrument, and wherein said joystick is attached to said handle; a position processor operative to receive said first signals and said second signals and to determine respective position information of said joystick and said medical instrument relative to said known locations, responsively to said first signals and said second signals; an image processor having an edge detection algorithm, the image processor using the respective position information of said joystick and said medical instrument and ultrasound signals of the ultrasonic imaging sensor and producing an image of the target structure in the subject; a display device operative to display the image of the target structure responsively to said position of said medical instrument; and a cursor moveable thereon under control of said position processor, movements of said cursor being controlled by said second magnetic position sensor responsively to changes in said position of said joystick, and wherein moving of the joystick continuously controls an edge threshold of the image of the target structure on the display using the edge detection algorithm.