1. A system for localization of a coil for magnetic resonance (MR)-guided intervention, the system comprising:
the coil;
a medical device operable to be positioned within a patient, the coil connected with the medical device;
an MR receiver connected with the coil; and
a processor connected with the MR receiver, the processor configured to:
(a) calculate X, Y, and Z data from information from the coil received in response to MR pulses, the X, Y, and Z data representing intensity as a function of spatial location along X, Y, and Z axes, respectively;
(b) decompose the X, Y, and Z data into multiple scales; and
(c) detect a position of the coil as a function of the decomposition and at least two transitions in the intensity in each of the X, Y, and Z axes.
2. The system of claim 1 wherein the medical device comprises a catheter and wherein the coil is positioned on a tip of the catheter.
3. The system of claim 1 wherein the medical device comprises a needle.
4. The system of claim 1 wherein the coil comprises a conductive coil.
5. The system of claim 4 wherein the conductive coil comprises a copper coil less than 4 mm in any direction.
6. The system of claim 1 wherein the processor is configured to decompose with a wavelet transform.
7. The system of claim 6 wherein the processor is configured to decompose with a dyadic wavelet transform.
8. The system of claim 1 wherein the processor is configured to calculate at least one modulus maximum for each of the multiple scales of each of the decomposed X, Y, and Z data.
9. The system of claim 8 wherein the processor is configured to detect, at each of the scales, pairs of the transitions from a symmetry of positive and negative magnitude of the corresponding modular maxima, a distance proportional to the scale, and a decay of the magnitude.
10. The system of claim 1 wherein the processor is configured to detect, at each of the scales, from an estimation of a parameter likelihood, the parameter likelihood for multiple pairs of the transitions at a same scale being divided as a function of a number of the pairs at the same scale, an amplitude of modulus maxima for the pairs, and a symmetry of the transitions of each pair.
11. The system of claim 1 wherein the processor is configured to detect the position from a sum of likelihoods from the multiple scales.
12. The system of claim 1 wherein the processor is further configured to calculate an indication of confidence of the position.
13. The system of claim 1 wherein the processor is configured to detect the position where the position of the coil corresponds to a different location than indicated by a maximum of the X, Y, and Z data.
14. A system for localization of a coil for magnetic resonance (MR)-guided intervention, the system comprising:
the coil;
a medical device operable to be positioned within a patient, the coil connected with the medical device;
an MR receiver connected with the coil; and
a processor connected with the MR receiver, the processor configured to:
(a) calculate X, Y, and Z data from information from the coil received in response to an MR pulse, the X, Y, and Z data representing intensity as a function of spatial location along X, Y, and Z axes, respectively;
(b) correlate the X, Y, and Z data with X, Y, and Z spectra models, respectively; and
(c) detect a position of the coil as a function of the correlations.
15. The system of claim 14 wherein the medical device comprises a catheter and wherein the coil is positioned on a tip of the catheter.
16. The system of claim 14 wherein the medical device comprises a needle.
17. The system of claim 14 wherein the coil comprises a conductive coil.
18. The system of claim 17 wherein the conductive coil comprises a copper coil less than 4 mm in any direction.
19. The system of claim 14 wherein the processor is configured to correlate by cross-correlation.
20. The system of claim 14 wherein the X, Y, and Z spectra models comprise expected one-dimensional projection signals.
21. The system of claim 14 wherein the coil comprises a solenoid coil.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A solar reflector apparatus, comprising:
a reflector;
a pair of bail-arms connected to the reflector so that the reflector can be independently pivoted about a pair of axes of the reflector by moving the bail-arms;
a pair of drive motor assemblies for independently moving the bail-arms;
a magnet supported for movement relative to the reflector; and
a sensor supported adjacent the magnet for movement with the reflector and capable of outputting signals indicative of movement of the reflector about an X axis and a Y axis.
2. The apparatus of claim 1 wherein the drive motor assemblies each include a magnetic drive that magnetically propels a corresponding one of the bail-arms.
3. The apparatus of claim 2 wherein each of the magnetic drives has a channel through which the corresponding bail-arm is driven.
4. The apparatus of claim 1 wherein the reflector is supported for pivoting motion by a ball-and-socket joint and the magnet is mounted in the ball.
5. The apparatus of claim 1 wherein the sensor is a Hall effect sensor.
6. The apparatus of claim 1 wherein the sensor is a three-axis magnetic field sensor.
7. The apparatus of claim 1 wherein the magnet is a composite magnet having a spherical outer part and a cylindrical inner part.
8. The apparatus of claim 7, wherein the outer part is a ring magnet and the inner part is axially magnetized.
9. The apparatus of claim 1 wherein each of the drive motor assemblies includes an electric gear-head motor.
10. The apparatus of claim 1 wherein the sensors provide signals indicative of movement of the reflector about an X and a Y axis in proportion to an amount of movement.
11. A solar reflector apparatus, comprising:
a reflector;
a pair of bail-arms connected to the reflector so that the reflector can be independently pivoted about a pair of axes of the reflector by moving the bail-arms; and
a pair of drive motor assemblies for independently moving the bail-arms;
wherein the sensor is supported on a circuit board in close proximity to the magnet.
12. A solar reflector apparatus, comprising:
a reflector;
a pair of bail-arms connected to the reflector so that the reflector can be independently pivoted about a pair of axes of the reflector by moving the bail-arms; and
a pair of drive motor assemblies for independently moving the bail-arms;
wherein each of the bail arms has one or more ends and one or both of the one or more ends of each bail arm is coupled to the reflector to pivot the reflector.
13. A solar reflector apparatus, comprising:
a reflector;
a ball-and-socket joint supporting the reflector for independent pivoting motion about an X axis and a Y axis;
a magnet supported in the ball of the ball-and-socket joint;
a sensor supported by the reflector adjacent the magnet for outputting signals indicative of movement of the reflector about the X axis and the Y axis; and
a pair of drive motor assemblies independently coupled to the reflector for pivoting the reflector about the X axis and the Y axis.
14. The apparatus of claim 13 wherein the sensor is a Hall effect sensor.
15. The apparatus of claim 13 wherein the sensor is a three-axis magnetic field sensor.
16. The apparatus of claim 13 wherein the magnet has a spherical outer part and a cylindrical inner part.
17. The apparatus of claim 13 wherein the sensor is supported on a circuit board in close proximity to the magnet.
18. The apparatus of claim 13 wherein each drive motor assembly includes an electric gear-head motor.
19. A solar reflector apparatus, comprising:
a reflector;
a ball-and-socket joint supporting the reflector for independent pivoting motion about an X axis and a Y axis;
a ball interface and column assembly supporting a ball in the ball-and-socket joint in a stationary position relative to the reflector; a housing supporting the ball interface and column assembly;
a magnet supported in the ball of the ball-and-socket joint;
a sensor supported by the reflector adjacent the magnet for outputting signals indicative of movement of the reflector about the X axis and the Y axis;
a pair of bail-arms hingedly connected to the reflector and passing through the housing so that the reflector can be independently pivoted about the X and Y axes by moving the bail-arms; and
a pair of drive motor assemblies mounted in the housing, each of the drive motor assemblies including a magnetic drive that magnetically propels a corresponding one of the bail-arms so that the reflector can be independently pivoted about the X axis and the Y axis.
20. A solar reflector apparatus, comprising:
a reflector;
a ball-and-socket joint supporting the reflector for independent pivoting motion about an X axis and a Y axis;
a magnet supported in the ball of the ball-and-socket joint;
a sensor supported by the reflector adjacent the magnet for outputting signals indicative of movement of the reflector about the X axis and the Y axis;
a pair of drive motor assemblies independently coupled to the reflector for pivoting the reflector about the X axis and the Y axis; and
a pair of bail-arms hingedly connected to the reflector and coupled to corresponding ones of the drive motor assemblies so that the reflector can be independently pivoted about the X and Y axes by moving the bail-arms.
21. The apparatus of claim 20 wherein the drive motor assemblies each include a magnetic drive that magnetically propels a corresponding one of the bail-arms.
22. The apparatus of claim 21 wherein each of the magnetic drives has a channel through which the corresponding one of the bail arms is driven.