Method and apparatus for magnetically controlling motion direction of mechanically pushed catheter
View Patent ↗The movement of a catheter through a medium, which may be living tissue such as a human brain, is controlled by mechanically pushing a flexible catheter having a magnetic tip through the medium and applying a magnetic field having a magnitude and a direction that guides the mechanically-pushed catheter tip stepwise along a desired path. The magnetic field is controlled in a Magnetic Stereotaxis System by a processor using an adaptation of a PID (proportional, integral, and derivative) feedback method. The magnetic fields are applied by superconducting coils, and the currents applied through the coils are selected to minimize a current metric.
1. A method for controlling movement of a catheter through a body, the method comprising the steps of:
(a) mechanically pushing a flexible catheter having a magnetic tip through the body to advance the medical device; and
(b) while the medical device is being advanced, applying with at least one electromagnet outside the body a magnetic field having a magnitude and an orientation effective to orient the magnetic tip of the mechanically-pushed catheter in a predetermined direction.
2. The method of claim 1 and further comprising the steps of sensing catheter tip positions, and adjusting the applied magnetic field so that the catheter tip advances stepwise at least approximately along a predetermined path.
3. The method of claim 1 and-further comprising the steps of:
sensing catheter tip position;
generating a signal indicative of the position of the catheter tip;
determining a correction vector between the position of the catheter tip and the predetermined path at least partially in response to said generated signal; and
adjusting the applied magnetic field at least partially in response to the determined correction vector so that the catheter tip advances at least approximately along a predetermined path.
4. The method of claim 3 further comprising the step of storing correction vectors in a memory, and wherein the determining step comprises determining the adjustment at least partially in response to a presently-determined correction vector and at least one of the previously stored correction vectors.
5. The method of claim 1 wherein the step of applying a magnetic field comprises the step of applying currents to a plurality of superconducting coils.
6. The method of claim 5 wherein the currents are selected to minimize a predetermined current metric.
7. The method of claim 5 wherein the currents are selected to minimize a current-limiting constraint set.
8. The method of claim 1 wherein the step of mechanically pushing the catheter comprises the step of pushing the catheter through living tissue.
9. The method of claim 8 wherein the living tissue is human brain tissue.
10. The method of claim 8 further comprising the steps of sensing catheter tip positions, and adjusting the applied magnetic field so that the catheter tip advances stepwise at least approximately along a predetermined path.
11. The method of claim 10 further comprising the steps of:
generating a signal indicative of the position of the catheter tip;
determining a correction vector between the position of the catheter tip and the predetermined path at least partially in response to said signal;
and wherein the adjustment step comprises determining the adjustment to the applied magnetic field at least partially in response to the determined correction vector.
12. The method of claim 11 further comprising the step of storing correction vectors in a memory, and wherein the determining step comprises determining the adjustment at least partially in response to a presently-determined correction vector and at least one previously stored correction vector.
13. The method of claim 11 further comprising the step of storing correction vectors in a memory, and wherein the determining step comprises determining the adjustment at least partially in response to a rate of change of correction vectors in a previous step.
14. The method of claim 11 further comprising the step of storing correction vectors in a memory, and wherein the determining step comprises determining the adjustment at least partially in response to an anticipated future error with respect to a planned path.
15. The method of claim 8 wherein the step of applying a magnetic field comprises the step of applying currents to a plurality of superconducting coils.
16. The method of claim 15 wherein the currents are selected to minimize a predetermined current metric.
17. The method of claim 15 wherein the currents are selected to minimize a current-limiting constraint set.