3-AXIS MAGNETIC POSITION SYSTEM FOR MINIMALLY INVASIVE SURGICAL INSTRUMENT, SYSTEMS AND METHODS THEREOF
A minimally invasive surgical instrument using 3-axis magnetic positioning, system and methods thereof. This invention describes two key ideas that enable the development of a magnetic position system based on integrated anisotropic magnetoresistive (AMR) magnetic field sensors. This achieves the resolution, power and area targets necessary to integrate 3 axes anisotropic magnetoresistance (AMR) sensors along with the Analog Front End integrated circuit (IC) in a 4 mm by 350 um integrated solution for catheter applications. The stringent area and power dissipation requirements are met by development through both system level solutions for higher field strengths and a minimally necessary Analog Front End (AFE) to meet the 1 mm rms resolution requirement in the power dissipation and area budget.
1 . A multi-axis magnetic apparatus used in a positioning of a medical device comprising:
a first die configured to measure at least one of first axis orientation and first position;
a second die configured to measure at least one of second axis orientation and second position; and,
a third die comprising an analog front end.
2 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 1 , wherein one of the first, second, and third dice is configured to measure at least one of third axis orientation and third position.
3 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 1 further comprising a full bridge.
4 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 3 , wherein the full bridge comprises magnetoresistive elements.
5 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 1 further comprising a half bridge comprising magnetoresistive elements.
6 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 5 further comprising a half bridge comprising poly-resistive elements.
7 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 6 , wherein the poly-resistive elements are disposed on the analog front end.
8 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 1 further comprising a voltage divider.
9 . The multi-axis magnetic apparatus used in the positioning of a medical device of claim 8 , wherein voltage divider is configured to measure a common mode voltage between Vdd and GND to increase gain of differential signals and decrease gain of interference signals associated with a power supply.
10 . A method for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient, the method comprising:
disposing at a distance a first magnetic field generator distally from the patient;
calculating the maximum magnetic field exposure in a patient based on the distance, at least in part;
determining a current to be imparted on the first magnetic field generator based on the calculation thereby increasing the magnetic field, at least in part; and,
applying the current.
11 . The method for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 10 further comprising determining a position of the multi-axis medical catheter.
12 . The method for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 10 further comprising determining an orientation of the multi-axis medical catheter.
13 . The method for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 10 , wherein the magnetic field comprises flux.
14 . The method for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 10 , wherein the magnetic field comprises density.
15 . The method for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 10 further comprising providing a second magnetic field generator.
16 . The method for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 15 further comprising mapping a multi-dimensional layout of the multi-axis medical catheter.
17 . A system for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient, the system comprising:
means for disposing at a distance a first magnetic field generator distally from the patient;
means for calculating the maximum magnetic field exposure in a patient based on the distance, at least in part;
means for determining a current to be imparted on the first magnetic field generator based on the calculation thereby increasing the magnetic field, at least in part; and,
means for applying the current.
18 . The system for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 17 further comprising determining an orientation of the multi-axis medical catheter.
19 . The system for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 17 further comprising determining a position of the multi-axis medical catheter.
20 . The system for increasing a resolution in a multi-axis medical catheter while maintaining maximum magnetic field exposure in a patient of claim 19 further comprising mapping a multi-dimensional layout of the multi-axis medical catheter.