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1. 发明授权

US6128174A Method and apparatus for rapidly changing a magnetic field produced by electromagnets 失效
标题翻译：用于快速改变由电磁铁产生的磁场的方法和装置
公开(公告)号：US6128174A
公开(公告)日：2000-10-03
申请号：US921298
申请日：1997-08-29
申请人： Rogers C. Ritter , Peter R. Werp , Michael A. Lawson
发明人： Rogers C. Ritter , Peter R. Werp , Michael A. Lawson
IPC分类号： A61B19/00 , A61F2/02 , A61N2/02 , H01F7/18 , H02N15/00
CPC分类号： H02N15/00 , A61B34/70 , A61B34/73 , A61N2/02 , A61F2250/0001 , H01F7/1883
摘要： A method and apparatus for ramping current in an electromagnet in which a coil is used to generate the magnetic field provides rapid changes in the generated magnetic field. The method allows a change in current in the coil to be accomplished more rapidly than by applying a step change in voltage, when superconducting coils subject to quenching are used or when nonsuperconducting coils subject to other physical limitations are used. The method requires that both the current I(t) through the coil and the first derivative of the current vary with respect to time t during the ramping period, so that magnitude of the derivative of the current is higher when the magnitude of applied current is lower, lower when the magnitude of the applied current is higher. One variation of this method supplies (or removes) a constant amount of power from the magnetic field of the magnet, while another variation compensates for both self-generated eddy current losses and self-generated high field effects. The method can be used to guide a magnetic seed and in other applications. The apparatus includes, in its most general form, an electromagnetic coil, a generator for applying an initial current to the coil, and a processor controlling the generator that causes the current to ramp from an initial to a final value in accordance with the methods described above.
摘要翻译：用于使线圈用于产生磁场的电磁铁中的电流斜坡增加的方法和装置提供所产生的磁场的快速变化。当使用经受淬火的超导线圈或者当使用受其他物理限制的非超导线圈时，该方法允许线圈中的电流变化比通过施加电压的阶跃变化更快地实现。该方法要求通过线圈的电流I（t）和电流的一阶导数在斜坡期间相对于时间t变化，使得当施加的电流的大小为当施加的电流的大小较高时，较低，较低。该方法的一个变型提供（或去除）来自磁体的磁场的恒定量的功率，而另一个变化补偿了自生成的涡流损耗和自生成的高场效应。该方法可用于引导磁性种子和其他应用。该装置以其最通用的形式包括电磁线圈，用于向线圈施加初始电流的发生器，以及控制发电机的处理器，其根据所描述的方法使电流从初始值向最终值斜坡以上。

2. 发明授权

US07757694B2 Method for safely and efficiently navigating magnetic devices in the body 有权
标题翻译：安全有效地导航身体中磁性装置的方法
公开(公告)号：US07757694B2
公开(公告)日：2010-07-20
申请号：US11849906
申请日：2007-09-04
申请人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Roger N. Hastings
发明人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Roger N. Hastings
IPC分类号： A61B19/00 , A61B17/00
CPC分类号： A61B1/00158 , A61B1/01 , A61B17/12022 , A61B17/12113 , A61B17/12131 , A61B34/70 , A61B34/73 , A61B2017/00876 , A61B2017/1205 , A61B2034/733 , A61M25/0105 , A61M25/0127
摘要： A method of turning a medical device, having a magnetically responsive element associated with its distal end, at an operating point within an operating region inside a patient's body from an initial direction to a desired final direction, through the movement of at least one external source magnet. The at least one external source magnet is moved in such a way as to change the direction of the distal end of the magnetic medical device from the initial direction to the desired final direction without substantial deviation from the plane containing the initial direction and the desired final direction.
摘要翻译：一种通过至少一个外部源的移动来将具有与其远端相关联的具有磁响应元件的医疗装置转动到患者身体内部的操作区域内的操作区域的方法，所述操作区域从初始方向到期望的最终方向磁铁。至少一个外部源磁体以使得磁性医疗装置的远端的方向从初始方向改变到期望的最终方向的方式移动，而不会从包含初始方向的平面和期望的最终方向显着偏离方向。

3. 发明申请

US20100174234A1 METHOD AND APPARATUS FOR MAGNETICALLY CONTROLLING MOTION DIRECTION OF MECHANICALLY PUSHED CATHETER 有权
标题翻译：用于磁力控制机械方向的方法和装置
公开(公告)号：US20100174234A1
公开(公告)日：2010-07-08
申请号：US12628711
申请日：2009-12-01
申请人： Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Rogers C. Ritter
发明人： Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Rogers C. Ritter
IPC分类号： A61M25/08
CPC分类号： A61M25/0127 , A61B6/12 , A61B34/73 , A61B90/10 , A61B2034/732 , A61B2090/374 , A61M25/01
摘要： 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.
摘要翻译：通过机械地将具有磁性尖端的柔性导管机械地推动通过介质并且施加具有引导机械的大小和方向的磁场来控制导管通过可能是诸如人脑的活体组织的介质的移动沿着所需的路径逐步引导导管末端。通过使用PID（比例，积分和微分）反馈方法的调整的处理器在磁立体定位系统中控制磁场。磁场由超导线圈施加，并且通过线圈施加的电流被选择以使电流量度最小化。

4. 发明授权

US06241671B1 Open field system for magnetic surgery 有权
标题翻译：开放磁场手术系统
公开(公告)号：US06241671B1
公开(公告)日：2001-06-05
申请号：US09211723
申请日：1998-12-14
申请人： Rogers C. Ritter , Jeffrey M. Garibaldi , Charles Wolfersberger , Francis M. Creighton , Peter R. Werp , Bevil J. Hogg , Walter M. Blume
发明人： Rogers C. Ritter , Jeffrey M. Garibaldi , Charles Wolfersberger , Francis M. Creighton , Peter R. Werp , Bevil J. Hogg , Walter M. Blume
IPC分类号： A61B600
CPC分类号： A61B34/73 , A61B6/0457 , A61B6/4441 , A61B34/70 , A61B2034/733
摘要： A system of navigating a magnetic medical device within that part of a patient located within an operating region of the system, the system comprising magnets, and preferably electromagnets, arranged to provide a magnetic field sufficient to navigate the magnetic medical device within the operating region. There are preferably three magnetic coils arranged in mutually perpendicular planes such that their axes intersect in the operating region. The magnetic coils are sized and arranged so that a patient can easily access the operating region to allow virtually any portion of the patient to be positioned within the operating region. The openness of the magnetic system allows access to the operating region by a bi-planer imaging system.
摘要翻译：一种在位于系统的操作区域内的患者的该部分内导航磁性医疗装置的系统，所述系统包括磁体，优选地电磁体，其被设置为提供足以导航所述操作区域内的所述磁性医疗装置的磁场。优选地，在相互垂直的平面中布置有三个磁性线圈，使得它们的轴线在操作区域相交。磁性线圈的尺寸和布置使得患者可以容易地进入操作区域，以允许患者的几乎任何部分位于操作区域内。磁性系统的开放性允许通过双平面成像系统进入操作区域。

5. 发明申请

US20120330089A1 OPEN FIELD SYSTEM FOR MAGNETIC SURGERY 审中-公开
标题翻译：开放式磁场手术系统
公开(公告)号：US20120330089A1
公开(公告)日：2012-12-27
申请号：US13441366
申请日：2012-04-06
申请人： Rogers C. Ritter , Jeffrey M. Garibaldi , Charles Wolfersberger , Francis M. Creighton , Peter R. Werp , Bevil J. Hogg , Walter M. Blume
发明人： Rogers C. Ritter , Jeffrey M. Garibaldi , Charles Wolfersberger , Francis M. Creighton , Peter R. Werp , Bevil J. Hogg , Walter M. Blume
IPC分类号： A61N2/02 , A61N2/10
CPC分类号： A61B34/73 , A61B6/0457 , A61B6/4441 , A61B34/70 , A61B2034/733
摘要： A system of navigating a magnetic medical device within that part of a patient located within an operating region of the system, the system comprising magnets, and preferably electromagnets, arranged to provide a magnetic field sufficient to navigate the magnetic medical device within the operating region. There are preferably three magnetic coils arranged in mutually perpendicular planes such that their axes intersect in the operating region. The magnetic coils are sized and arranged so that a patient can easily access the operating region to allow virtually any portion of the patient to be positioned within the operating region. The openness of the magnetic system allows access to the operating region by a bi-planer imaging system.
摘要翻译：一种在位于系统的操作区域内的患者的该部分内导航磁性医疗装置的系统，所述系统包括磁体，优选地电磁体，其被设置成提供足以在操作区域内导航磁性医疗装置的磁场。优选地，在相互垂直的平面中布置有三个磁性线圈，使得它们的轴线在操作区域相交。磁性线圈的尺寸和布置使得患者可以容易地进入操作区域，以允许患者的几乎任何部分位于操作区域内。磁性系统的开放性允许通过双平面成像系统进入操作区域。

6. 发明授权

US08088129B2 Method and apparatus for magnetically controlling motion direction of mechanically pushed catheter 有权
标题翻译：用于磁力控制机械推动导管运动方向的方法和装置
公开(公告)号：US08088129B2
公开(公告)日：2012-01-03
申请号：US12628711
申请日：2009-12-01
申请人： Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Rogers C. Ritter
发明人： Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Rogers C. Ritter
IPC分类号： A61B19/00
CPC分类号： A61M25/0127 , A61B6/12 , A61B34/73 , A61B90/10 , A61B2034/732 , A61B2090/374 , A61M25/01
摘要： 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.
摘要翻译：通过机械地将具有磁性尖端的柔性导管机械地推动通过介质并且施加具有引导机械的大小和方向的磁场来控制导管通过可能是诸如人脑的活体组织的介质的移动沿着所需的路径逐步引导导管末端。通过使用PID（比例，积分和微分）反馈方法的调整的处理器在磁立体定位系统中控制磁场。磁场由超导线圈施加，并且通过线圈施加的电流被选择以使电流量度最小化。

7. 发明授权

US06505062B1 Method for locating magnetic implant by source field 失效
标题翻译：通过源场定位磁性植入物的方法
公开(公告)号：US06505062B1
公开(公告)日：2003-01-07
申请号：US09020942
申请日：1998-02-09
申请人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Francis M. Creighton, IV
发明人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Francis M. Creighton, IV
IPC分类号： A61B500
CPC分类号： A61B5/066 , A61B5/06 , A61B5/743
摘要： An apparatus and method for locating a magnetic implant in a surgical application using the field of a source magnet for the implant guiding field. The source magnet is an electromagnet having a separate calibrated magnetic field component in addition to the guiding field, so that both the magnitude and orientation of the magnetic field as a function of position around the magnet are known. A magnetic implant is provided with a sensor, such as a three-axis Hall effect sensor, to provide an indication of the magnitude and orientation of an applied magnetic field when the implant is surgically implanted in a patient. After implantation, the source magnet is energized with a current having a modulated component. The modulated component is received and filtered from the signal received from the Hall effect sensor in the implant, and provided to a processor that computes the location of the implant relative to the electromagnet based upon the detected magnitude and orientation of the modulated component of the magnetic field, and the location and orientation of the electromagnet. Localizers may be used to supply the relative locations of the patient and the electromagnet to the processor. A display may be provided to display a representation of the location of the implant in the patient, which may also be superimposed over a preoperative image of the patient.
摘要翻译：一种用于在外科应用中使用用于植入物引导区的源磁体的场来定位磁性植入物的装置和方法。源极磁体除了引导场之外还具有单独的校准磁场分量的电磁体，使得作为磁体周围位置的函数的磁场的大小和取向都是已知的。磁性植入物设置有诸如三轴霍尔效应传感器的传感器，以在植入物被手术植入患者体内时提供所施加的磁场的大小和取向的指示。在植入之后，源磁体用具有调制分量的电流通电。调制分量从在植入物中从霍尔效应传感器接收的信号接收和滤波，并提供给处理器，该处理器基于检测到的磁性调制分量的大小和取向来计算植入物相对于电磁体的位置场，以及电磁铁的位置和方向。定位器可用于将患者和电磁体的相对位置提供给处理器。可以提供显示器来显示植入物在患者中的位置的表示，其也可以叠加在患者的术前图像上。

8. 发明授权

US07625382B2 Method and apparatus for magnetically controlling motion direction of a mechanically pushed catheter 失效
公开(公告)号：US07625382B2
公开(公告)日：2009-12-01
申请号：US10288231
申请日：2002-11-05
申请人： Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Rogers C. Ritter
发明人： Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Rogers C. Ritter
IPC分类号： A61F11/00
CPC分类号： A61M25/0127 , A61B6/12 , A61B34/73 , A61B90/10 , A61B2034/732 , A61B2090/374 , A61M25/01
摘要： 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.

9. 发明授权

US07137976B2 Method for safely and efficiently navigating magnetic devices in the body 有权
公开(公告)号：US07137976B2
公开(公告)日：2006-11-21
申请号：US10881825
申请日：2004-06-28
申请人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Roger N. Hastings
发明人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Roger N. Hastings
IPC分类号： A61B17/00
CPC分类号： A61B1/00158 , A61B1/01 , A61B17/12022 , A61B17/12113 , A61B17/12131 , A61B34/70 , A61B34/73 , A61B2017/00876 , A61B2017/1205 , A61B2034/733 , A61M25/0105 , A61M25/0127
摘要： A method of turning a medical device, having a magnetically responsive element associated with its distal end, at an operating point within an operating region inside a patient's body from an initial direction to a desired final direction, through the movement of at least one external source magnet. The at least one external source magnet is moved in such a way as to change the direction of the distal end of the magnetic medical device from the initial direction to the desired final direction without substantial deviation from the plane containing the initial direction and the desired final direction.

10. 发明授权

US06755816B2 Method for safely and efficiently navigating magnetic devices in the body 有权
标题翻译：安全有效地导航身体中磁性装置的方法
公开(公告)号：US06755816B2
公开(公告)日：2004-06-29
申请号：US10460710
申请日：2003-06-12
申请人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Roger N. Hastings
发明人： Rogers C. Ritter , Bevil J. Hogg , Peter R. Werp , Walter M. Blume , Francis M. Creighton, IV , Roger N. Hastings
IPC分类号： A61B1700
CPC分类号： A61B1/00158 , A61B1/01 , A61B17/12022 , A61B17/12113 , A61B17/12131 , A61B34/70 , A61B34/73 , A61B2017/00876 , A61B2017/1205 , A61B2034/733 , A61M25/0105 , A61M25/0127
摘要： A method of turning a medical device, having a magnetically responsive element associated with its distal end, at an operating point within an operating region inside a patient's body from an initial direction to a desired final direction, through the movement of at least one external source magnet. The at least one external source magnet is moved in such a way as to change the direction of the distal end of the magnetic medical device from the initial direction to the desired final direction without substantial deviation from the plane containing the initial direction and the desired final direction.
摘要翻译：一种通过至少一个外部源的移动来将具有与其远端相关联的具有磁响应元件的医疗装置转动到患者身体内部的操作区域内的操作区域的方法，所述操作区域从初始方向到期望的最终方向磁铁。至少一个外部源磁体以使得磁性医疗装置的远端的方向从初始方向改变到期望的最终方向的方式移动，而不会从包含初始方向的平面和期望的最终方向显着偏离方向。

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