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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.

6. 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.

7. 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。

8. 发明授权

US06304768B1 Method and apparatus using shaped field of repositionable magnet to guide implant 失效
公开(公告)号：US06304768B1
公开(公告)日：2001-10-16
申请号：US09716521
申请日：2000-11-20
申请人： Walter M. Blume , Rogers C. Ritter , Peter R. Werp , Bevil J. Hogg
发明人： Walter M. Blume , Rogers C. Ritter , Peter R. Werp , Bevil J. Hogg
IPC分类号： A61B505
CPC分类号： A61B34/73 , A61B34/20 , A61B34/70 , A61B2034/107 , A61B2034/2055 , A61B2034/733
摘要： Methods and apparatuses for displaying and using a shaped field of a repositionable magnet to move, guide, and/or steer a magnetic seed or catheter in living tissue for medicinal purposes. A moveable magnet assembly and a portion of a patient's body undergoing magnetically-aided surgery are both provided with fiducial markers. The portion of the patient's body is fixed in a location in which the fiducial markers are sensed and located by a set of localizers. The positions of the fiducial markers are determined by a processor, which operates on a stored representation of the magnetic field of a magnet in the magnet assembly to provide a display of the present magnetic field of the magnet. This display may be superimposed over an MRI, X-ray or CAT image during surgery. The repositionable magnet can be an electromagnet. In some embodiments, a computer calculates orientations and currents for an external electromagnet to move the implanted magnetic object in the patient's body through a desired path. The display can provide real-time imaging of the implanted magnetic object in comparison to the desired path as the object is moved.

9. 发明授权

US06212419B1 Method and apparatus using shaped field of repositionable magnet to guide implant 失效
标题翻译：使用可再定位磁体的成形磁场引导植入物的方法和装置
公开(公告)号：US06212419B1
公开(公告)日：2001-04-03
申请号：US09189646
申请日：1998-11-10
申请人： Walter M. Blume , Rogers C. Ritter , Peter R. Werp , Bevil J. Hogg
发明人： Walter M. Blume , Rogers C. Ritter , Peter R. Werp , Bevil J. Hogg
IPC分类号： A61B1900
CPC分类号： A61B34/73 , A61B34/20 , A61B34/70 , A61B2034/107 , A61B2034/2055 , A61B2034/733
摘要： Methods and apparatuses for displaying and using a shaped field of a repositionable magnet to move, guide, and/or steer a magnetic seed or catheter in living tissue for medicinal purposes. A moveable magnet assembly and a portion of a patient's body undergoing magnetically-aided surgery are both provided with fiducial markers. The portion of the patient's body is fixed in a location in which the fiducial markers are sensed and located by a set of localizers. The positions of the fiducial markers are determined by a processor, which operates on a stored representation of the magnetic field of a magnet in the magnet assembly to provide a display of the present magnetic field of the magnet. This display may be superimposed over an MRI, X-ray or CAT image during surgery. The repositionable magnet can be an electromagnet. In some embodiments, a computer calculates orientations and currents for an external electromagnet to move the implanted magnetic object in the patient's body through a desired path. The display can provide real-time imaging of the implanted magnetic object in comparison to the desired path as the object is moved.
摘要翻译：用于显示和使用可重定位磁体的成形磁场的方法和装置用于移动，引导和/或引导用于药物目的的活组织中的磁性种子或导管。可移动磁体组件和经受磁辅助手术的患者身体的一部分均具有基准标记。患者身体的部分被固定在基准标记被感应并由一组定位器定位的位置。基准标记的位置由处理器确定，处理器对磁体组件中的磁体的磁场的存储表示进行操作，以提供磁体的当前磁场的显示。这种显示可以在手术期间叠加在MRI，X射线或CAT图像上。可重定位磁体可以是电磁体。在一些实施例中，计算机计算外部电磁体的取向和电流，以通过期望的路径移动患者身体中的植入的磁性物体。当物体移动时，显示器可以提供与所期望的路径相比较的植入的磁性物体的实时成像。

10. 发明授权

US6157853A Method and apparatus using shaped field of repositionable magnet to guide implant 失效
公开(公告)号：US6157853A
公开(公告)日：2000-12-05
申请号：US20934
申请日：1998-02-09
申请人： Walter M. Blume , Rogers C. Ritter , Peter R. Werp , Bevil J. Hogg , Matthew A. Howard, III
发明人： Walter M. Blume , Rogers C. Ritter , Peter R. Werp , Bevil J. Hogg , Matthew A. Howard, III
IPC分类号： A61B19/00 , A61B5/055
CPC分类号： A61B34/73 , A61B34/70 , A61B2034/107 , A61B2034/2055 , A61B2034/732 , A61B34/20
摘要： Methods and apparatuses for displaying and using a shaped field of a repositionable magnet to move, guide, and/or steer a magnetic seed or catheter in living tissue for medicinal purposes. A moveable magnet assembly and a portion of a patient's body undergoing magnetically-aided surgery are both provided with fiducial markers. The portion of the patient's body is fixed in a location in which the fiducial markers are sensed and located by a set of localizers. The positions of the fiducial markers are determined by a processor, which operates on a stored representation of the magnetic field of a magnet in the magnet assembly to provide a display of the present magnetic field of the magnet. This display may be superimposed over an MRI, X-ray or CAT image during surgery. The repositionable magnet can be an electromagnet. In some embodiments, a computer calculates orientations and currents for an external electromagnet to move the implanted magnetic object in the patient's body through a desired path. The display can provide real-time imaging of the implanted magnetic object in comparison to the desired path as the object is moved.

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