Blossom-Like Leaflet Catheter with High-Density Electrode Array

Abstract

The device includes a catheter shaft assembly and an end effector. The catheter shaft assembly includes an outer sheath having a distal end. The end effector is associated with the distal end of the catheter shaft assembly. The end effector includes a plurality of leaflets. The leaflets are configured to transition between a first configuration and a second configuration. The leaflets are configured to fit within the outer sheath in the first configuration. The leaflets are configured to expand outwardly away from the longitudinal axis in the second configuration in response to being distally exposed to the distal end of the outer sheath. Each leaflet includes a flexible body and a plurality of electrodes. Each leaflet defines a plurality of openings. The electrodes are positioned on the flexible body.

Description

[Technical field]

[0001] (Priority) This application claims priority to U.S. Provisional Patent Application No. 62 / 875,152, entitled "Blooming Leaflet Catheter with High Density Electrode Array," filed July 17, 2019, the disclosure of which is incorporated herein by reference in its entirety. [Background technology]

[0002] Cardiac arrhythmias, such as atrial fibrillation, occur when an area of ​​cardiac tissue abnormally conducts electrical signals. Procedures for treating arrhythmias include surgically disrupting the conduction pathways of such signals. By selectively ablating cardiac tissue by applying energy (e.g., radiofrequency (RF) energy), it may be possible to stop or modify the propagation of undesired electrical signals from one part of the heart to another. The ablation process can provide a barrier to the undesired electrical pathways by forming electrically insulating lesions or scar tissue that effectively block the transmission of abnormal electrical signals across the tissue.

[0003] In some procedures, a catheter with one or more RF electrodes can be used to provide ablation within the cardiovascular system. The catheter can be inserted into a major vein or artery (e.g., the femoral artery) and then advanced to position the electrodes within the heart or within cardiovascular structures adjacent to the heart (e.g., the pulmonary veins). The electrodes can be placed in contact with cardiac tissue or other vascular tissue and then activated with RF energy, thereby ablating the contacted tissue. In some cases, the electrodes can be bipolar. In some other cases, a monopolar electrode can be used with a ground pad or other reference electrode in contact with the patient.

[0004] Examples of ablation catheters are described in U.S. Patent Application Publication No. 2013 / 0030426, published on January 31, 2013, entitled "Integrated Ablation System using Catheter with Multiple Irrigation Lumens," the disclosures of which are incorporated herein by reference in their entirety; U.S. Patent Application Publication No. 2017 / 0312022, published on November 2, 2017, entitled "Irrigated Balloon Catheter with Flexible Circuit Electrode Assembly," the disclosures of which are incorporated herein by reference in their entirety; U.S. Patent Application Publication No. 2018 / 0071017, published on March 15, 2018, entitled "Ablation Catheter with a Flexible Printed Circuit Board," the disclosures of which are incorporated herein by reference in their entirety; and U.S. Patent Application Publication No. 2018 / 0071017, published on March 1, 2018, entitled "Catheter with Bipole Electrode Spacer and Related No. 2018 / 0056038, entitled "Catheter with Soft Distal Tip for Mapping and Ablating Tubular Region," issued on November 20, 2018, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2018 / 0056038, entitled "Catheter with Soft Distal Tip for Mapping and Ablating Tubular Region," issued on November 20, 2018, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 8,956,353, entitled "Electrode Irrigation Using Micro-Jets," issued on February 17, 2015, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent No. 9,801,585, entitled "Electrocardiogram Noise Reduction," issued on October 31, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0005] Some catheter ablation procedures may be performed after the use of electrophysiology (EP) mapping to identify tissue regions to be targeted for ablation. Such EP mapping may include the use of sensing electrodes on a catheter (e.g., the same catheter used to perform the ablation or a dedicated mapping catheter). Such sensing electrodes can monitor electrical signals emanating from conductive endocardial tissue to identify abnormal conductive tissue sites responsible for arrhythmias. An example of an EP mapping system is described in U.S. Patent No. 5,738,096, entitled "Cardiac Electromechanics," issued April 14, 1998, the disclosure of which is incorporated herein by reference in its entirety. Examples of EP mapping catheters are described in U.S. Pat. No. 9,907,480, issued on March 6, 2018, entitled "Catheter Spine Assembly with Closely-Spaced Bipole Microelectrodes," the disclosure of which is incorporated by reference in its entirety herein, U.S. Pat. No. 10,130,422, issued on November 20, 2018, entitled "Catheter with Soft Distal Tip for Mapping and Ablating Tubular Region," the disclosure of which is incorporated by reference in its entirety herein, and U.S. Patent Application Publication No. 2018 / 0056038, published on March 1, 2018, entitled "Catheter with Bipole Electrode Spacer and Related Methods," the disclosure of which is incorporated by reference in its entirety herein.

[0006] In addition to using EP mapping, some catheter ablation procedures may be performed using an image guided surgery (IGS) system. An IGS system allows a physician to visually track the position of the catheter within the patient in real time in conjunction with an image of the patient's anatomy. Some systems may provide a combination of EP mapping and IGS capabilities, including the CARTO 3® system by Biosense Webster, Inc. (Irvine, California). Examples of catheters configured for use with IGS systems are disclosed in U.S. Patent No. 9,480,416, entitled "Signal Transmission Using Catheter Braid Wires," issued November 1, 2016, the disclosure of which is incorporated herein by reference in its entirety, and various other references cited herein.

[0007] While several catheter systems and methods have been made and used, it is believed that no one prior to the present inventors has made or used the invention as set forth in the appended claims. [Brief description of the drawings]

[0008] The drawings and detailed description which follow are intended to be merely illustrative and are not intended to limit the scope of the invention as contemplated by the inventors. [Figure 1] 1 shows a schematic diagram of a medical procedure in which a catheter of a catheter assembly is inserted into a patient. [Figure 2A] 2 shows a perspective view of the distal portion of the catheter of FIG. 1 with the catheter end effector in a proximal position relative to the outer sheath of the catheter. [Figure 2B] 2B shows a perspective view of the distal portion of FIG. 2A with the end effector in a distal position relative to the outer sheath and with the end effector splayed outward. [Figure 2C]2B shows a perspective view of the distal portion of FIG. 2A with the end effector in a distal position relative to the outer sheath and with the end effector in a spherical state. [Diagram 3] 2B shows an end view of the end effector of FIG. 2A, as viewed from the proximal end of the end effector, with the end effector in an expanded, flattened state. [Figure 4] FIG. 2B shows an enlarged plan view of a leaflet of the end effector of FIG. 2A. [Diagram 5] 1 illustrates an enlarged plan view of an exemplary alternative leaflet. [Figure 6] 13 illustrates an enlarged plan view of another exemplary alternative leaflet. [Figure 7A] 7 illustrates a side elevational view of an exemplary end effector incorporating the leaflets of FIG. 6, with the end effector in an outwardly splayed position. [Figure 7B] 7B illustrates a side elevational view of the end effector of FIG. 7A, with the end effector in a spherical state. [Figure 8A] 7 illustrates a side elevational view of another exemplary end effector incorporating the leaflets of FIG. 6, with the end effector in an outwardly splayed position. [Figure 8B] 8B shows a side elevational view of the end effector of FIG. 8A, with the end effector in a spherical state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The following description of specific examples of the present invention should not be used to limit the scope of the present invention. The drawings, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of the present invention. The detailed description illustrates the principles of the present invention by way of example and not by way of limitation. Other examples, features, aspects, embodiments, and advantages of the present invention will become apparent to those skilled in the art from the following description, which is by way of example and is one of the best modes contemplated for carrying out the invention. As will be appreciated, the present invention is capable of other different or equivalent aspects, all without departing from the present invention. The drawings and description should therefore be regarded as illustrative in nature and not restrictive.

[0010] Any one or more of the teachings, expressions, variations, examples, etc. described herein can be combined with any one or more of the other teachings, expressions, variations, examples, etc. described herein. Thus, the teachings, expressions, variations, examples, etc. described below should not be considered in isolation from one another. Various suitable ways in which the teachings herein can be combined will be readily apparent to those skilled in the art in light of the teachings herein. Such modifications and variations are intended to be included within the scope of the claims.

[0011] As used herein, the term "about" or "approximately" with respect to any numerical value or range is intended to indicate an appropriate tolerance that allows a portion or collection of components to function for the intended purpose described herein. More specifically, "about" or "approximately" may refer to a range of values ​​of ±10% of the stated value, e.g., "about 90%" may refer to a range of values ​​of 81% to 99%. Additionally, as used herein, the terms "patient," "host," "user," and "subject" refer to any human or animal subject, and while use of the invention in human patients represents a preferred embodiment, it is not intended to limit the system or method to human use.

[0012] I. Overview of Exemplary Catheter Systems FIGURE 1 illustrates an exemplary medical procedure and associated components of a cardiac ablation system. In particular, FIGURE 1 illustrates a physician (PH) holding the handle (110) of a catheter assembly (100) with an end effector (200) of a flexible catheter (120) of the catheter assembly (100) (shown in FIGS. 2A-3, but not shown in FIGURE 1) disposed within a patient (PA) for mapping or ablating tissue within or near the heart (H) of the patient (PA). As shown in FIGS. 2A-3, the catheter (120) includes an outer sheath (122), and the end effector (200) is disposed at or near a distal end (124) of the outer sheath (122). The catheter assembly (100) is coupled to a guiding drive system (10) via a cable (30). The catheter assembly (100) is also coupled to a fluid source (42) via a fluid conduit (40), although this is merely optional. A set of magnetic field generators (20) are positioned beneath the patient (PA) and are also coupled to the guiding drive system (10) via a cable (22).

[0013] The guidance drive system (10) of this example includes a console (12) and a display (18). The console (12) includes a first driver module (14) and a second driver module (16). The first driver module (14) is coupled to the catheter assembly (100) via a cable (30). In some variations, the first driver module (14) is operable to receive EP mapping signals acquired via an electrode (250) of the end effector (200), as described in more detail below. The console (12) includes a processor (not shown) to process such EP mapping signals, thereby providing EP mapping as known in the art. Additionally or alternatively, the first driver module (14) may be operable to provide RF power to an electrode (260) of the end effector (200), thereby ablating tissue. In some variations, the first driver module (14) is also operable to receive position-indicating signals from one or more position sensors (270) in the end effector (200), as described in more detail below. In such variations, the processor of the console (12) is also operable to process the position-indicating signals from the position sensors (270) to thereby determine the position of the end effector (200) of the catheter (120) within the patient (PA).

[0014] The second driver module (16) is coupled to the magnetic field generator (20) via a cable (22). The second driver module (16) is operable to activate the magnetic field generator (20) to generate an alternating magnetic field around the heart (H) of the patient (PA). For example, the magnetic field generator (20) may include a coil that generates an alternating magnetic field within a predetermined working volume that includes the heart (H).

[0015] The display (18) is coupled to the processor of the console (12) and is operable to render an image of the patient's anatomy. Such an image may be based on a set of images (e.g., CT or MRI scans, 3D maps, etc.) obtained pre-operatively or intra-operatively. The view of the patient's anatomy provided via the display (18) may also change dynamically based on signals from a position sensor of the end effector (200). For example, as the end effector (200) of the catheter (120) moves within the patient (PA), corresponding position data from the position sensor may enable the processor of the console (12) to update the view of the patient's anatomy in the display (18) in real time, depicting the area of ​​the patient's anatomy surrounding the end effector (200) as it moves within the patient (PA). Additionally, the processor of the console (12) may drive the display (18) to indicate the location of abnormal conductive tissue sites as detected by EP mapping by the end effector (200). By way of example only, the processor of the console 12 may drive the display 18 to superimpose the location of the abnormal conductive tissue site onto the image of the patient's anatomy, such as by superimposing an illuminated dot, crosshairs, or some other form of visual indication of the abnormal conductive tissue site.

[0016] The processor of the console 12 can also drive the display 18 to superimpose the current position of the end effector 200 onto the image of the patient's anatomy, such as by superimposing an illuminated dot, crosshairs, a graphic representation of the end effector 200, or some other form of visual indication. Such a superimposed visual indication can also move within the image of the patient's anatomy on the display 18 in real time as the physician moves the end effector 200 within the patient PA, thereby providing the operator with real-time visual feedback regarding the position of the end effector 200 within the patient PA as it moves within the patient PA. Thus, the image provided via the display 18 can effectively provide a video that tracks the position of the end effector 200 within the patient PA, without necessarily having any optics (i.e., a camera) observing the end effector 200. In the same figure, the display (18) can simultaneously visually indicate the location of the abnormal conductive tissue site detected by EP mapping, as described herein, such that the physician (PH) can view the display (18) and observe the real-time position of the end effector (200) with respect to the mapped abnormal conductive tissue site and with respect to images of adjacent anatomical structures within the patient (PA).

[0017] The fluid source (42) in this example includes a bag containing saline or some other suitable irrigation fluid. The conduit (40) includes a flexible tube that is further coupled to a pump (44) operable to selectively drive fluid from the fluid source (42) to the catheter assembly (100). In some variations, the conduit (40), fluid source (42), and pump (44) are omitted entirely. In variations in which these components are included, the end effector (200) may be configured to transfer irrigation fluid from the fluid source (42) to a target site within a patient. Such irrigation may be performed according to the teachings of any of the various patent references cited herein, or in any other suitable manner that would be apparent to one of ordinary skill in the art in view of the teachings herein.

[0018] II. Exemplary End Effectors 2A-3 show the end effector (200) in more detail. As shown, the end effector (200) includes a set of leaflets (210) that are compressible to fit within the outer sheath (122). The end effector (200) resides within the outer sheath (122) and is attached to an inner shaft (150) that is slidably disposed relative to the outer sheath (122). FIG. 2A shows the end effector (200) retracted proximally relative to the outer sheath (122) such that the end effector (200) is proximal to the distal end (124) of the outer sheath (122). In this state, the end effector (200) deformably fits within the cylindrical interior of the outer sheath (122). The catheter (120) and end effector (200) may be in the state shown in FIG. 2A when the catheter (120) is introduced into the patient's (PA) body and during transition from the insertion site to the target cardiovascular region within the patient (PA).

[0019] FIGURE 2B illustrates the end effector 200 having been advanced distally relative to the outer sheath 122 such that the end effector 200 is distal to the distal end 124 of the outer sheath 122. As shown in FIGURE 2B, the leaflets 210 are resiliently biased toward an outwardly flared configuration such that the distal ends 236 of the leaflets 210 diverge away from the longitudinal axis LA of the catheter 120. Thus, the end effector 200 exhibits an open, flower-like configuration in this state. In this state, the inner and outer surfaces 212 and 214 of the leaflets 210 are exposed.

[0020] In some variations, to transition between the state shown in FIG. 2A and the state shown in FIG. 2B, the inner shaft (150) remains stationary longitudinally relative to the handle (110), while the outer sheath (122) translates longitudinally relative to the handle (110) and relative to the inner shaft (150). In such variations, the proximal end of the handle (110) or the outer sheath (122) can include an actuator that can be operated by the physician (PH) to drive the outer sheath (122) longitudinally relative to the handle (110) and relative to the inner shaft (150). As another merely exemplary variation, to transition between the state shown in FIG. 2A and the state shown in FIG. 2B, the outer sheath (122) remains stationary longitudinally relative to the handle (110), while the inner shaft (150) translates longitudinally relative to the handle (110) and relative to the outer sheath (122). In such variations, the handle (110) may include an actuator that may be operated by the physician (PH) to drive the inner shaft (150) longitudinally relative to the handle (110) and relative to the outer sheath (122).

[0021] FIG. 2C illustrates a state in which the end effector (200) is in a distal position relative to the outer sheath (122), but the leaflets (210) are in a spherical configuration. In this state, the distal ends (236) are oriented convergently toward the longitudinal axis (LA) of the catheter (120), while the intermediate regions of the leaflets (210) are bent outwardly away from the longitudinal axis (LA) of the catheter (120). Thus, the end effector (200) exhibits a generally spherical configuration in this state. In this state, the inner surface (212) of the leaflets (210) is hidden, and the outer surface (214) of the leaflets (210) is exposed. Merely illustrative examples of how the end effector can transition between the state shown in FIG. 2B and the state shown in FIG. 2C are described in more detail below, although other methods will be apparent to those of skill in the art in view of the teachings herein.

[0022] 3 shows the end effector (200) in an expanded, flattened state, in which the leaflets (210) are substantially flush with one another and the distal ends (236) of the leaflets (210) diverge away from the longitudinal axis (LA) of the catheter (120). The end effector (200) can achieve this state when the physician (PH) starts with the end effector (200) in the state shown in FIG. 2B and then presses the end effector (200) distally against the anatomical structure (e.g., a heart wall, a pulmonary vein, etc.) so that the end effector (200) is flattened. In such a scenario, the inner surface (212) of the leaflets (210) can press directly against the tissue of the anatomical structure. In contrast, when the physician presses the end effector (200) against an anatomical structure when the end effector is in the position shown in FIG. 2C, the outer surface (214) presses directly against the tissue of the anatomical structure.

[0023] As best seen in FIG. 3, the end effector (200) of this example includes four leaflets (210) that are equidistantly angularly spaced from one another about the longitudinal axis (LA) of the catheter (120). Alternatively, any other suitable number of leaflets (210) may be used, including but not limited to two leaflets (210), three leaflets (210), or more than four leaflets (210). As used herein, the term "leaflet" generally refers to a shape that mimics an overall plant-like structure bounded by an outer line (211a) and another outer line (211b) (which may be a mirror image of the first outer line (211a)), where both lines (211a, 211b) are referenced to a center line (CA) and where multiple connectors (213a, 213b) extend from the center line (CA) to different locations on each boundary line (211a, 211b). The connectors (213a, 213b) may have the same length or different lengths (e.g., as shown in FIG. 3). A membrane (215) may be provided between adjacent connectors (213a, 213b), or alternatively, an empty space (215') may be utilized in place of the membrane (215). It should also be noted that the connectors (213a, 213b) are not required in some leaflet examples described herein (e.g., the examples shown in FIGS. 5-8).

[0024] As noted above, the catheter assembly (100) of the present example is coupled to a fluid source (42) via a fluid conduit (40). The fluid conduit (not shown) extends along the length of the catheter (120) and is operable to deliver irrigation fluid (e.g., saline) through the distal end (124) of the catheter. For example, the fluid conduit may terminate distally at the distal end (124). Alternatively, the end effector (200) may incorporate one or more irrigation ports in communication with the fluid conduit. In either case, the irrigation fluid may provide cooling, flushing, or other effects at the end effector (200) during operation of the end effector (200) within the patient (PH). Various suitable ways in which the catheter assembly (100) may provide irrigation will be apparent to those skilled in the art. Alternatively, some variations of the catheter assembly (100) may lack irrigation capabilities, such that the conduit (40), fluid source (42), and pump (44) may be omitted.

[0025] In addition to the above, other aspects of the end effector (200) and catheter assembly (100) may be configured and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2018 / 0056038, the disclosure of which is incorporated by reference in its entirety into this specification.

[0026] III. Exemplary End Effector Leaflets FIG. 4 shows a single leaflet (210) of the end effector (200) in more detail. The leaflet (210) of this example includes a body (220) having a plurality of electrodes (250, 260) and a sensor (270) secured thereto. The body (220) of this example is flexible and has a generally flat planar configuration. By way of example only, the body (220) may be formed from polyimide, polyetheretherketone, or any other suitable flex circuit board. The proximal end of the body (220) is rigidly secured to the inner shaft (150). In this example, the bodies (214) of all the leaflets (210) of the end effector (200) are secured to the same inner shaft (150). In some other variations, each leaflet (210) is secured to its own inner shaft (150). In variations in which each leaflet (210) is fixed to its own inner shaft (150), the inner shafts (150) may be fixed to each other (e.g., in a bundle) or may be movable independently of each other.

[0027] The body (220) of this example includes a central spine member (240), a pair of proximal outer members (230) that diverge outwardly from a proximal end of the central spine member (240) and the body (220), and a pair of distal outer members (232) that converge inwardly toward the distal end (236) of the leaflet (210). By way of example only, each proximal outer member (230) may define an angle (θ) of about 45° to about 60° with respect to a reference axis (RA) that is perpendicular to the central axis (CA) of the leaflet (210). Alternatively, any other suitable angle (θ) may be provided. Each proximal outer member (230) transitions into a corresponding distal outer member (232) at a rounded corner (234). The two distal outer members (232) meet each other at a distal end (236) that is also in the form of a rounded corner. A pair of inner members (242) extend outwardly from the central spine member (240) to the distal outer member (232) forming a structure similar to the veins of a leaf. The inner members (242), the outer members (230, 232), and the central spine member (240) collectively define an opening (222) through the body (220). The opening (222) can facilitate blood flow through the leaflets (210) during use of the end effector (200).

[0028] The leaflet (210) of this example further includes several mapping electrodes (250), which are arranged in pairs to provide bipolar sensing of electrical potentials. More specifically, each pair of mapping electrodes (250) is configured to provide bipolar sensing of electrocardiogram signals when the pair of electrodes (250) is placed in contact with cardiovascular tissue. Thus, a pair of electrodes (250) may be collectively considered to form a single "sensor." Each mapping electrode (250) may be coupled to a corresponding trace or other electrical conduit on the body (220), thereby allowing signals picked up by the mapping electrodes (250) to be transmitted via electrical conduits (not shown) in the catheter (120) back to the console (12), which may process the signals to perform EP mapping and thereby identify the location of abnormal electrical activity within the cardiac anatomy. This allows the physician (PH) to identify the most appropriate areas of cardiac tissue to ablate (e.g., with RF energy, cryoablation, etc.), thereby preventing or at least reducing the transmission of abnormal electrical activity across the cardiac tissue.

[0029] As mentioned above, the body (220) is flexible, such that the body (220) can conform to the contours and other surface shapes of the cardiac tissue when the end effector (200) is pressed against the cardiac tissue. Deformation of the body (220) can facilitate complete contact between two or more pairs of mapping electrodes (250) and the cardiac tissue. Such contact can be further facilitated by providing a significant number of mapping electrodes (250) on the body (220), as shown in FIG. 4. In particular, in this example, the mapping electrodes (250) are provided along the proximal outer member (230), along the distal outer member (232), and along the inner member (242). Having a significant number of mapping electrodes (250) can enable the end effector (200) to provide high density EP mapping throughout all four chambers of the heart (H), as several pairs of mapping electrodes (250) can provide sensing of electrocardiogram signals simultaneously in multiple regions of the cardiac tissue.

[0030] In some variations, mapping electrodes (250) are also provided along the central spine member (240). As also shown in FIG. 4, in this example, the mapping electrodes (250) are positioned on the outer surface (214) of the leaflet (210). Additionally, or alternatively, the mapping electrodes (250) may be positioned on the inner surface (212) of the leaflet (210). It should also be understood that the positioning of the mapping electrodes (250) in the particular locations shown in FIG. 4 is merely exemplary. The mapping electrodes (250) may be provided in any other suitable number and arrangement along the leaflet (210) as would be apparent to one of ordinary skill in the art in view of the teachings herein. As another merely illustrative example, one or more ring electrodes (not shown) may be positioned on the outer sheath (122) near the distal end (124) to provide a reference signal during EP mapping to allow factorization of far-field signals. Similarly, one or more ring electrodes (not shown) may be positioned on the inner shaft (150) to provide a reference signal. As yet another merely exemplary variation, the mapping electrode (250) may be omitted from the end effector (200). In some such variations, the ablation electrode (260) is still included on the end effector (200).

[0031] The leaflet (210) in this example further includes several ablation electrodes (260). In this example, the ablation electrodes (260) are slightly larger than the mapping electrodes (250). The ablation electrodes (260) can be used to apply RF energy to tissue in contact with the electrodes (260), thereby ablating the tissue. Each ablation electrode (260) may be coupled to a corresponding trace or other electrical conduit on the body (220), such that the console (12) can transmit RF energy via an electrical conduit (not shown) in the catheter (120) to the trace or other conduit on the body (220) to reach the ablation electrode (260). Although a significant number of ablation electrodes (260) are shown in FIG. 4, it should be understood that in some scenarios, only one, two, or some other relatively few ablation electrodes (260) are activated to apply RF energy to tissue at any given moment. As with the mapping electrodes (250), the number and positioning of the ablation electrodes (260) as shown in FIG. 4 are merely exemplary. Any other suitable number or positioning of the ablation electrodes (260) may be used. Although the ablation electrodes (260) are shown on the outer surface (214) in FIG. 4, the ablation electrodes (160) may be positioned on the inner surface (214) in addition to or instead of being positioned on the outer surface (214). As another variation, in a variation in which the body (220) is metal (e.g., Nitinol, etc.), at least a portion of the body (220) may function as an ablation electrode. For example, one or more regions of the body (220) may be exposed by an insulating material, and such exposed regions function as ablation electrodes. As yet another merely exemplary variation, the ablation electrodes (260) may be omitted from the end effector (200). In some such variations, the ablation electrodes (250) are still included on the end effector (200).

[0032] By way of example only, the electrodes (250, 260) may be formed from platinum, gold, or any other suitable material. The electrodes (250, 260) may include various coatings, as desired. For example, the mapping electrode (250) may include a coating selected to improve the signal-to-noise ratio of the signal from the mapping electrode (250). Such coatings may include, but are not limited to, an iridium oxide (IrOx) coating, a poly(3,4-ethylenedioxythiophene) (PEDOT) coating, an electrodeposited iridium oxide (EIROF) coating, a platinum iridium (PtIr) coating, or any other suitable coating. The ablation electrode (260) may include a coating selected to prevent blood from adhering to the ablation electrode (260). Various suitable types of coatings that may be used on the electrodes (250, 260) will be apparent to those of skill in the art in view of the teachings herein.

[0033] By way of further example only, the electrodes (250, 260) may be spaced apart in accordance with at least some of the teachings of U.S. Provisional Patent Application No. 62 / 819,738, entitled "Electrode Configurations for Diagnosis of Arryhtmias," filed March 18, 2019, the disclosure of which is incorporated herein by reference in its entirety. For example, the electrodes (250, 260) may be spaced apart in accordance with Figures 13A, 13B, 13C, and 13D of U.S. Provisional Patent Application No. 62 / 819,738.

[0034] The leaflet (210) of this example further includes a number of position sensors (270). Each position sensor (270) is operable to generate a signal indicative of the position and orientation of the end effector (200) within the patient (PA). By way of example only, each position sensor (270) may be in the form of a wire coil or multiple wire coils (e.g., three orthogonal coils) configured to generate an electrical signal in response to the presence of an alternating electromagnetic field generated by the magnetic field generator (20). Each position sensor (270) may be coupled to a corresponding trace or other electrical conduit on the body (220), thereby allowing a signal generated by the position sensor (270) to be transmitted via an electrical conduit (not shown) in the catheter (120) back to the console (12), which may process the signal to determine the location of the leaflet (210) within the patient (PA). Other components and techniques that may be used to generate real-time position data associated with the end effector (200) may include radio triangulation, acoustic tracking, optical tracking, inertial tracking, and the like.

[0035] As shown in FIG. 4, position sensors (270) are shown at the distal end (236) of the leaflet (210) and at each side rounded corner (234) of the leaflet (210). Such positioning allows the console (12) to determine the three-dimensional position of the leaflet (210) and the particular configuration of the leaflet (210) (e.g., whether the leaflet (210) is in one of the configurations shown in FIG. 2B, FIG. 2C, or FIG. 3). The number and positioning of the position sensors (270) is merely arbitrary. For example, in some variations, a single position sensor (270) may simply be provided at the distal end (236) without providing additional position sensors (270) on the leaflet (210). In addition to including one or more position sensors (270) on the leaflet (210), the position sensor (270) may be incorporated into the distal end of the inner shaft (150), the outer sheath (122), or the like. Some variations of the leaflet (210) may lack a position sensor (270) entirely, whether or not the position sensor (270) is incorporated into the distal end of the inner shaft (150) or the outer sheath (122).

[0036] In this example, the electrodes (250, 260), and possibly even the position sensor (270), may be provided on the body (220) as thin films via a physical vapor deposition (PVD) process. By way of example only, such a PVD process may be implemented in accordance with at least some of the teachings of WO 2015 / 117908, published on August 13, 2015, entitled "Medical Device for Ablating Tissue Cells and System Comprising a Device of This Type," the disclosure of which is incorporated herein by reference in its entirety, at least some of the teachings of German Patent Publication No. 102017130152, published on January 3, 2019, entitled "Method for Operating a Multi-Layer Structure," the disclosure of which is incorporated herein by reference in its entirety, or at least some of the teachings of German Patent Publication No. 102017130152, published on August 28, 2018, entitled "Method for Producing a Medical Device or a Device with Structural Elements, Method for Modifying the Surface of a Medical Device or of a Device with Structural Elements, Medical Device and Laminated Composite with a No. 10,061,198, entitled "Flexible Substrate," the disclosure of which is incorporated herein by reference in its entirety. Other methods may also be used to provide electrodes (250, 260), position sensors (270), conductive traces, or other circuit components on the body (220), including, but not limited to, sputter deposition, chemical vapor deposition (CVD), thermal evaporation, and the like. Regardless of the method used, each leaflet (210) may ultimately comprise a flex circuit.

[0037] As noted above, each leaflet (210) is sufficiently flexible to be compressed within the outer sheath as shown in FIG. 2A, but is resiliently biased toward the expanded configuration shown in FIG. 2B. In some variations, this resiliency is provided by the material-formed body (220). In some other variations, one or more resilient features (not shown) are added to the body (220) to provide a resilient bias. By way of example only, one or more Nitinol strips or other Nitinol structures may be applied onto the body (220), for example along any one or more of the inner member (242), outer members (230, 232), or central spine member (240). Such Nitinol strips may be applied using the deposition process or other manufacturing techniques described above. In variations in which electrodes (250, 260) are provided on the inner surface (212) and outer surface (214), nitinol strips or other resilient members may be inserted between layers of flexible material (e.g., polyimide, polyetheretherketone, etc.) molded body (220) or may be positioned along areas of body (220) where no electrodes (250, 260) are present.

[0038] In addition to providing an elastic bias toward the expanded configuration shown in FIG. 2B, an elastic member, such as a Nitinol structure, can also bias each leaflet (210) to have a flat configuration, a curved configuration, or any other suitable configuration. As yet another merely illustrative example, in variations in which Nitinol is incorporated into the leaflets (210), the Nitinol can be shape set to expand at human body temperature. As yet another merely illustrative example, the body (220) may be formed entirely of Nitinol, with the electrodes (250, 260) and position sensor (270) applied directly onto an insulating layer disposed on the Nitinol of the body (220). In such variations, the body (220) may lack polyimide, polyetheretherketone, or other flexible material that functions as a traditional flex circuit board.

[0039] By way of example only, the leaflets (210) may be approximately 20 mm long. By way of further example only, the leaflets may have a width ranging from approximately 11 mm to approximately 15 mm. Alternatively, the leaflets (210) may have any other suitable dimensions.

[0040] FIG. 5 illustrates another exemplary leaflet (300) that may be incorporated into the end effector (200) in place of the leaflet (210). Any suitable number and arrangement of leaflets (300) may be used to form an end effector. The leaflet (300) of this example includes a body (322) that is flexible and substantially flat or planar. The leaflet (300) is secured to a shaft (350) that may be slidably disposed relative to the outer sheath (122) as with the shaft (150) described above. The body (322) of this example includes a set of strips (310) that converge at the shaft (350) and the distal end (320) of the body (322), with gaps (330) defined between the strips (310). Each strip (310) includes an outwardly diverging proximal member (312) that is obliquely oriented away from the central axis (CA) of the body (322). Each strip (310) further includes a linear central member (312) extending distally from a corresponding proximal member (312) and parallel to a central axis (CA) of the body (322). Each strip (312) further includes an inwardly converging distal member (316) extending distally from the corresponding linear central member (312) toward the central axis (CA) of the body (322) and converging at a distal end (320).

[0041] Although not shown in FIG. 5 , the leaflet (300) may include any suitable number and arrangement of mapping electrodes, such as the mapping electrodes (250) on the leaflet (210). Additionally or alternatively, the leaflet (300) may include any suitable number and arrangement of ablation electrodes, such as the ablation electrodes (260) on the leaflet (210). Additionally or alternatively, the leaflet (300) may include any suitable number and arrangement of position sensors, such as the position sensor (270) on the leaflet (210). The leaflet (300) may also include an integral nitinol strip or other elastic feature to impart elasticity to the leaflet (300), thereby encouraging the leaflet (300) to assume a particular shape or orientation when the leaflet (300) is released from the confines of the outer sheath (122). Like the body (220) of leaflet (210), the body (322) of leaflet (300) may be formed from conventional flex circuit board materials (e.g., polyimide, polyetheretherketone, etc.), and the electrodes and other metal features of leaflet (300) may be vapor deposited onto body 322. Other suitable methods by which leaflet (300) may be formed will be apparent to those of ordinary skill in the art in view of the teachings herein.

[0042] FIG. 6 illustrates another exemplary leaflet (400) that may be incorporated into the end effector (200) in place of the leaflet (210). Any suitable number and arrangement of leaflets (400) may be used to form an end effector. The leaflet (400) of this example includes a body (22) that is flexible and substantially flat or planar. The leaflet (400) is secured to a shaft (450) that may be slidably disposed relative to the outer sheath (122) like the shaft (150) described above. The body (422) of this example includes a set of strips (410, 414) that converge at the shaft (450) and the distal end (420) of the body (422), with gaps (430) defined between the strips (410). Each outer strip (410) bends outwardly away from the central axis (CA) of the body (422). The central strip (414) extends along a linear path aligned with the central axis (CA) of the body (422).

[0043] Although not shown in FIG. 6 , the leaflet (400) may include any suitable number and arrangement of mapping electrodes, such as the mapping electrodes (250) of the leaflet (210). Additionally or alternatively, the leaflet (400) may include any suitable number and arrangement of ablation electrodes, such as the ablation electrodes (260) of the leaflet (210). Additionally or alternatively, the leaflet (400) may include any suitable number and arrangement of position sensors, such as the position sensors (270) of the leaflet (210). The leaflet (400) may also include an integral nitinol strip or other elastic feature to impart elasticity to the leaflet (400), thereby encouraging the leaflet (400) to assume a particular shape or orientation when the leaflet (400) is released from the confines of the outer sheath (122). Like the body (220) of leaflet (210), the body (422) of leaflet (400) may be formed from conventional flex circuit board materials (e.g., polyimide, polyetheretherketone, etc.), and the electrodes and other metal features of leaflet (400) may be vapor deposited onto the body (422). Other suitable methods by which leaflet (400) may be formed will be apparent to those of ordinary skill in the art in view of the teachings herein.

[0044] 2B-6 show some example configurations that the leaflets (210, 300, 400) may take, although other suitable configurations will be apparent to one of ordinary skill in the art in view of the teachings herein. By way of example only, the leaflets (210, 300, 400) may be diamond-shaped, shaped like a palm leaf, shaped like a ginkgo leaf, shaped like a poplar leaf, or other shapes.

[0045] IV. Exemplary End Effector Extended and Retracted Configurations As discussed above with reference to the transition from the state shown in Figure 2B to the state shown in Figure 2C, in some scenarios it may be desirable to transition an end effector, such as end effector (200), between states in which the leaflets (210, 300, 400) are in an outwardly flared configuration (e.g., like an open flower) and a spherical configuration (e.g., like a flower bud). By way of example only, it may be desirable to operate end effector (220) in an outwardly flared configuration when end effector (200) is being used to perform EP mapping and in a spherical configuration when end effector (200) is being used to perform tissue ablation.

[0046] Alternatively, the choice between the flared and spherical configurations may vary based on the particular anatomical structure that the physician (PH) wishes to engage with the end effector (200). The preferred configuration of the end effector (200) may vary based on the geometry of the targeted anatomical structure to ensure intimate contact with the tissue and as many of the electrodes (250) of the end effector (200) as possible. For example, the physician (PH) may prefer the spherical configuration of FIG. 2C when operating within a pulmonary vein, and the flared configuration of FIG. 2B when operating within a cavity of the heart (H) (e.g., pressing the end effector (200) against the wall of the atrium).

[0047] Other factors that may influence when a physician (PH) desires to operate the end effector (200) in a flared versus spherical configuration will be apparent to those of skill in the art in view of the teachings herein. Regardless of the purpose, it may be desirable to incorporate control features into the catheter assembly (100) to allow the physician (PH) to selectively control whether the end effector (200) is in a flared or spherical configuration. Merely illustrative examples of such control features are described in more detail below, although other examples will be apparent to those of skill in the art in view of the teachings herein.

[0048] 7A-7B show an exemplary end effector (500) including a leaflet (400) as described above. Although the leaflet (400) is incorporated into the end effector (500) in this example, it should be understood that the following teachings are readily applicable to other versions of the end effector (500) incorporating other types of leaflets, including but not limited to the leaflet (210) or the leaflet (300). The end effector (500) resides at the distal end of an outer sheath (520), which may be substantially similar to the sheath (122) described above. At the stage shown in FIG. 7A, the end effector (500) has been released from the confines of the outer sheath (520) in the same manner as the end effector (200) has been released from the confines of the outer sheath (122), as shown in FIG. 2A. At this stage, the leaflets (400) of the end effector (500) are in an outwardly spread configuration.

[0049] In the example shown in FIG. 7A, the control wires (510) are secured to connection points (512) inside the distal ends (420) of the leaflets (400) such that each leaflet (400) has an associated control wire (510). The control wires (510) are fed through the interior of the end effector (500) such that the control wires (510) are inserted between the leaflets (500) and the longitudinal axis (LA) of the sheath (520). The proximal ends of the control wires (510) may be coupled to a slider, a rotation knob, or any other suitable user input device in the handle (110) of the catheter assembly (100). When the physician (PH) wishes to transition from the outwardly splayed configuration of FIG. 7A to the spherical configuration of FIG. 7B, the physician (PH) retracts the control wires (510) proximally (e.g., by manipulating a corresponding user input device in the handle (110) of the catheter assembly (100).

[0050] As the control wire (510) retracts proximally, the distal ends (420) of the leaflets (400) move toward the longitudinal axis (LA) of the sheath (520), while the proximal ends of the leaflets (400) remain stationary. The distal ends (420) eventually reach the position shown in FIG. 7B, which causes the end effector (500) to assume a spherical configuration. In this example, when the distal ends (420) are drawn toward each other as shown in FIG. 7B, the elasticity of the leaflets (400) causes the end effector (500) to have a spherical configuration. In other words, the leaflets (400) can bend in response to an increase in tension in the control wire (510), thereby bending outward to collectively define the spherical shape shown in FIG. 7B. In some variations, the leaflets (400) are pre-curved such that each leaflet (400) is resiliently biased to form a three-dimensionally curved profile. In particular, each leaflet (400) may be pre-curved to have a concave curvature facing the longitudinal axis (LA) of the sheath (520) and a convex curvature facing away from the longitudinal axis (LA) of the sheath (520). Such a pre-curved configuration may further encourage the end effector (500) to define a spherical or globular shape in response to an increase in tension in the control wires (510), as shown in FIG. 7B.

[0051] In some instances, after reaching the state shown in FIG. 7B, the physician (PH) can continue to retract the control wire (510) proximally. In some such cases, the distal end (420) of the leaflet (400) can begin to retract proximally, which can cause the longitudinal mid-region of the leaflet (400) to bend further outward, thereby effectively spreading the end effector (500) while simultaneously shortening the overall length of the end effector (500). Regardless of whether the physician (PH) further spreads the end effector (500), if the end effector (500) has a spherical shape, the end effector (500) can be pressed against tissue (e.g., cardiac tissue). As the end effector (500) is pressed against tissue, the leaflet (400) or leaflets (400) in contact with the tissue can deform, thereby conforming to the contours of the adjacent tissue. Such deformation and conformability can facilitate contact between some of the electrodes (250, 260) of the leaflet (400) or leaflets (400) and adjacent tissue. In some cases, such contact effectively comprises a grid of electrodes (250, 260) in contact with the tissue. In the case of the electrode (250), contact with the tissue allows for EP mapping of the tissue. In the case of the electrode (260), contact with the tissue allows for ablation of the tissue.

[0052] If the physician (PH) wishes to return the end effector (500) from the state shown in Figure 7B to the state shown in Figure 7A, the physician (PH) can simply release the control wire (510). When the tension in the control wire (510) is relieved, the elasticity of the leaflets (400) can urge the end effector (500) back to the state shown in Figure 7A. After this stage is reached, the physician can return the end effector (500) inside the outer sheath (520) (e.g., by retracting the end effector (500) proximally relative to the outer sheath (520) or by advancing the outer sheath (520) distally relative to the end effector (500)) and then withdraw the catheter from the patient (PA).

[0053] In some other variations of the use of the end effector (500), the physician (PH) retracts the control wires (510) only to the point where the leaflets (400) collectively form a basket or tulip shape, rather than to the point where the leaflets (400) collectively form a spherical or ball shape. To facilitate selective retraction of the control wires (510), the handle (110) of the catheter assembly (100) may include one or more visual indicators, tactile detent features, or other user feedback features that may be associated with a user input device that drives the translation of the control wires (510). Such user feedback features allow the physician (PH) to more easily control and determine the degree to which the distal ends (420) approach each other, thereby allowing the physician (PH) to more easily control and determine the configuration of the end effector (500).

[0054] 8A-8B show another exemplary end effector (600) including leaflets (400) as described above. In this example, the leaflets (400) are bent back in response to retraction of the control wires (610), as described below. Although the leaflets (400) are incorporated into the end effector (600) in this example, it should be understood that the following teachings are readily applicable to other versions of the end effector (600) incorporating other types of leaflets, including but not limited to the leaflets (210) or leaflets (300). The end effector (600) is at the distal end of the shaft (450), which was mentioned above as being associated with the leaflets (400). At the stage shown in FIG. 8A, the end effector (600) has been released from confines of the outer sheath (620) in the same manner as the end effector (200) has been released from confines of the outer sheath (122), as shown in FIG. 2A. At this stage, the leaflets (400) of the end effector (600) are in an outwardly spread configuration.

[0055] In the example shown in Figure 8A, the control wires (610) are secured to connection points (612) outside the distal ends (420) of the leaflets (400) such that each leaflet (400) has an associated control wire (610). The control wires (610) extend inside the outer sheath (620) along the exterior of the shaft (450) such that the leaflets (400) and shaft (450) are interposed between the control wires (610) and the longitudinal axis (LA) of the sheath (620). The proximal ends of the control wires (610) may be coupled to a slider, rotation knob, or any other suitable user input device in the handle (110) of the catheter assembly (100). When the physician (PH) desires to transition from the outwardly splayed configuration of FIG. 8A to the spherical configuration of FIG. 8B, the physician (PH) retracts the control wire (610) proximally (e.g., by manipulating a corresponding user input device in the handle (110) of the catheter assembly (100)).

[0056] As the control wire (610) is retracted proximally, the distal end (420) of the leaflet (400) moves through a first proximal range of motion away from the longitudinal axis (LA) of the sheath (620) and then moves through a second proximal range of motion toward the longitudinal axis (LA) of the sheath (620). The proximal end of the leaflet (400) remains stationary as the distal end (420) moves through these ranges of motion. The distal end (420) eventually reaches the position shown in FIG. 8B, which causes the end effector (600) to assume a spherical configuration. In the example shown in Figures 8A-8B, the distal end (420) moves through a full range of motion (including a combination of a first proximal range of motion and a second proximal range of motion) that is greater than 90°, such that the distal end (420) is ultimately positioned longitudinally proximal to the proximal end of the leaflet (400). In contrast, in the example shown in Figures 7A-7B, the distal end moves through a full range of motion that is less than 90°, such that the distal end (420) is not positioned longitudinally proximal to the proximal end of the leaflet (400).

[0057] In the example of the end effector (600), the elasticity of the leaflets (400) causes the end effector (600) to have a spherical configuration when the leaflets (400) are bent backward as shown in FIG. 8B. In other words, the leaflets (400) can bend in response to an increase in tension in the control wires (610), thereby bending outward to collectively define the spherical shape shown in FIG. 8B. As mentioned above, some versions of the leaflets (400) are pre-curved such that each leaflet (400) is elastically biased to form a curved profile. In particular, each leaflet (400) may be pre-curved to have a concave curvature facing the longitudinal axis (LA) of the sheath (620) and a convex curvature facing away from the longitudinal axis (LA) of the sheath (620). Such a pre-curved configuration can further encourage the end effector (600) to define a spherical or globular shape in response to increasing tension in the control wires (610), as shown in Figure 8B. As the leaflets (400) move through their range of motion in transitioning from the state shown in Figure 8A to the state shown in Figure 8B, each leaflet (400) can bend by springing outward, such that the concave inner side of the leaflet (400) in Figure 8A becomes the convex outer side of the leaflet in Figure 8B, and the convex outer side of the leaflet (400) in Figure 8A becomes the concave inner side of the leaflet in Figure 8B.

[0058] In some instances, after reaching the state shown in FIG. 8B, the physician (PH) can continue to retract the control wire (610) proximally. In some such cases, the distal end (420) of the leaflet (400) can begin to retract further proximally, which can deflect the longitudinal mid-region of the leaflet (400) inwardly, thereby effectively narrowing the width of the end effector (600) while simultaneously increasing the overall length of the end effector (600). Whether or not the physician (PH) further narrows the end effector (600), if the end effector (600) has a spherical shape, the end effector (600) can be pressed against tissue (e.g., cardiac tissue). As the end effector (600) is pressed against tissue, the leaflet (400) or leaflets (400) in contact with the tissue can deform, thereby conforming to the contours of the adjacent tissue. Such deformation and conformability can facilitate contact between some of the electrodes (250, 260) of the leaflet (400) or leaflets (400) and adjacent tissue. In some cases, such contact effectively comprises a grid of electrodes (250, 260) in contact with the tissue. In the case of the electrode (250), contact with the tissue allows for EP mapping of the tissue. In the case of the electrode (260), contact with the tissue allows for ablation of the tissue.

[0059] If the physician (PH) wishes to return the end effector (600) from the state shown in Figure 7B to the state shown in Figure 7A, the physician (PH) can simply release the control wire (610). When tension in the control wire (610) is relieved, the elasticity of the leaflets (400) can urge the end effector (600) back to the state shown in Figure 8A. After this stage is reached, the physician can return the end effector (600) inside the outer sheath (620) (e.g., by retracting the end effector (600) proximally relative to the outer sheath (620) or by advancing the outer sheath (620) distally relative to the end effector (600)) and then withdraw the catheter from the patient (PA).

[0060] While the above examples describe contact between the electrodes (250, 260) and tissue when the end effectors (500, 600) are spherical in shape, as shown in Figures 7B and 8B, such contact can also be achieved when the end effectors (500, 600) are not spherical in shape, as shown in Figures 7A and 8A. Similar contact can be achieved when the end effector (200) is in the expanded and flattened state shown in Figure 3, where such contact is between the tissue and the electrodes (250, 260) on the inner surface (212) of the leaflet (210). For example, a stamping motion can be used to press the end effector (200) distally against the tissue. When the end effector (200, 500, 600) is in the state shown in Figures 2B, 7A and 8A, contact can also be achieved between tissue and electrodes (250, 260) on the inner surface (212) of the leaflet (210) or the outer surface (214) of the leaflet.

[0061] The method of contacting tissue, and the preferred configuration of the end effector (200, 500, 600) for providing such contact, may vary based on the particular cardiovascular region the tissue is located in. For example, as noted above, a blossomed or spread configuration may be preferred for relatively fast EP mapping over relatively flat anatomical structures (e.g., the walls of the atria of the heart (H) or some other chambers of the heart (H)), while a spherical configuration may be preferred for relatively precise EP mapping over smaller regions (e.g., within the pulmonary veins or smaller regions within the heart (H)).

[0062] By way of further example only, the end effectors (200, 500, 600) may engage tissue according to any of the various techniques shown and described in U.S. Patent No. 9,314,299, entitled "Flower Catheter for Mapping and Ablating Veinous and Other Tubular Locations," issued April 19, 2016, the disclosure of which is incorporated herein by reference in its entirety. Other suitable methods by which the electrodes (250, 260) of the leaflets (210, 300, 400) may be brought into contact with tissue will be apparent to those of skill in the art in view of the teachings herein.

[0063] While the foregoing examples involve the use of control wires (510, 610) to transition the end effectors (500, 600) from the state shown in Figures 7A and 8A to the state shown in Figures 7B and 8B, a variety of other suitable structures and techniques can be used to provide similar transitions. By way of example only, a Nitinol structure or other temperature sensitive structure may be configured to elastically transition the end effectors (500, 600) from the state shown in Figures 7A and 8A to the state shown in Figures 7B and 8B in response to being heated to human body temperature.

[0064] V. Exemplary Combinations The following examples relate to various non-exhaustive methods in which the teachings herein may be combined or applied. It should be understood that the following examples are not intended to limit the scope of any claims that may be presented at any time in this application or in a subsequent filing of this application. No disclaimer is intended. The following examples are provided for illustrative purposes only. It is contemplated that the various teachings herein may be arranged and applied in many other ways. It is also contemplated that certain features referred to in the following examples may be omitted in some variations. Thus, none of the aspects or features referred to below should be considered as critical unless later expressly indicated to be so by the inventors or their successors in title. If any claim presented in this application or in a subsequent filing related to this application includes additional features other than those referred to below, those additional features should not be considered added for any reason regarding patentability. EXAMPLES

[0065] 1. An apparatus comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly including an outer sheath defining a longitudinal axis and having a distal end; and (b) an end effector associated with the distal end of the catheter shaft assembly, the end effector including a plurality of leaflets configured to transition between a first configuration and a second configuration, the leaflets configured to fit within the outer sheath in the first configuration and configured to expand outwardly away from the longitudinal axis in response to being exposed distally to a distal end of the outer sheath in the second configuration, each leaflet including: (i) a flexible body defining a plurality of openings; and (ii) a plurality of electrodes positioned on the flexible body. EXAMPLES

[0066] The device of Example 1, wherein the outer sheath is operable to translate relative to the end effector between a first longitudinal position and a second longitudinal position, the outer sheath configured to accommodate the end effector at the first longitudinal position and the outer sheath configured to expose the end effector at the second longitudinal position. EXAMPLES

[0067] The device of Example 1, wherein the end effector is operable to translate relative to the outer sheath between a first longitudinal position and a second longitudinal position, the end effector being configured to be contained within the outer sheath at the first longitudinal position and the end effector being configured to be exposed from the outer sheath at the second longitudinal position. EXAMPLES

[0068] The device of any one or more of Examples 1-3, wherein the leaflets are elastically biased to expand outwardly, away from the longitudinal axis, in the second configuration in response to being exposed distally to the distal end of the outer sheath. EXAMPLES

[0069] The device of example 4, wherein each leaflet comprises at least one elastic feature integral to or secured to the flexible body. EXAMPLES

[0070] The device of example 5, wherein the at least one elastic feature comprises Nitinol. EXAMPLES

[0071] The device of any one or more of Examples 1-6, wherein each leaflet has a distal end, and the leaflets are configured to diverge away from the longitudinal axis in the second configuration. EXAMPLES

[0072] The apparatus of any one or more of Examples 1-7, wherein the body comprises an electrically insulating substrate material. EXAMPLES

[0073] The apparatus of example 8, wherein the electrically insulating substrate material is selected from the group consisting of polyimide and polyetheretherketone. EXAMPLES

[0074] The device of any one or more of Examples 1-8, wherein the body comprises a shape memory material. EXAMPLES

[0075] The device of example 10, wherein the shape memory material comprises a temperature sensitive material such that the shape memory material is configured to transition from a first shape to a second shape in response to a change in temperature. EXAMPLES

[0076] The device of any one or more of Examples 10-11, wherein the shape memory material comprises Nitinol. EXAMPLES

[0077] A device described in any one or more of Examples 1-12, wherein the electrodes include at least a pair of bipolar sensing electrodes configured to sense electrical potentials in tissue. EXAMPLES

[0078] 14. The device of example 13, wherein the sensing electrode comprises a coating configured to increase the signal-to-noise ratio of the electrical potential picked up by the sensing electrode. EXAMPLES

[0079] The device of any one or more of Examples 1-14, wherein the electrode comprises at least one ablation electrode. EXAMPLES

[0080] The device of any one or more of Examples 1-15, further comprising a position sensor operable to generate a signal indicative of a position of at least a portion of the catheter shaft assembly or at least a portion of the end effector in three dimensional space. EXAMPLES

[0081] The device of example 16, wherein the position sensor is located in a portion of the catheter shaft assembly. EXAMPLES

[0082] 17. The apparatus of example 16, wherein the position sensor is located within the end effector. EXAMPLES

[0083] 19. The device of example 18, wherein the position sensor is located in one of the leaflets. EXAMPLES

[0084] 20. The device of example 19, further comprising a plurality of position sensors, each leaflet having at least one of the position sensors integrated therein. EXAMPLES

[0085] The device of any one or more of Examples 1-20, wherein each flexible body includes: (A) a central spine member; and (B) a first plurality of members extending outwardly from the central spine member. EXAMPLES

[0086] 22. The device of example embodiment 21, wherein the members of the first plurality of members are linear. EXAMPLES

[0087] 23. The device of example embodiment 22, wherein the members of the first plurality of members extend obliquely relative to the central spine member. EXAMPLES

[0088] The device of any one or more of Examples 21-23, wherein each flexible body further includes a second plurality of members, each member of the first plurality of members having a first end positioned at the central spine member, and each member of the first plurality of members having a second end positioned at a member of the second plurality of members. EXAMPLES

[0089] 25. The device of example embodiment 24, wherein the members of the second plurality of members are linear. EXAMPLES

[0090] The device of any one or more of Examples 24-25, wherein the second plurality of members includes a pair of proximal members and a pair of distal members. EXAMPLES

[0091] The device of Example 26, wherein the central spine member defines a central axis and the proximal members of the second plurality of members extend obliquely relative to the central axis. EXAMPLES

[0092] The device of Example 27, wherein the proximal member of the second plurality of members is oriented at an oblique angle relative to an axis perpendicular to the central axis, the oblique angle being in the range of about 45° to about 60°. EXAMPLES

[0093] The device of any one or more of Examples 21-28, wherein the central spine member is straight. EXAMPLES

[0094] The device of any one or more of Examples 1-29, wherein each flexible body has a proximal end and a distal end, a central axis passes through the proximal and distal ends of the flexible body, and each flexible body further includes a plurality of members extending from the proximal and distal ends. EXAMPLES

[0095] The device of Example 30, wherein the multiple members include a proximal portion extending outward away from the central axis of the flexible body and branching from the proximal end of the flexible body. EXAMPLES

[0096] The device of any one or more of Examples 30-31, wherein the multiple members include a distal portion extending toward a central axis of the flexible body and converging at a distal end of the flexible body. EXAMPLES

[0097] The device of any one or more of Examples 30-32, wherein the plurality of members defines an opening between the members. EXAMPLES

[0098] 34. The apparatus of any one or more of Examples 30-33, wherein each of the members of the plurality of members includes at least one straight portion. EXAMPLES

[0099] The device of any one or more of Examples 30-34, wherein the members of the plurality of members are curved such that the members bend outward relative to a central axis of the flexible body. EXAMPLES

[0100] The device of any one or more of Examples 1-25, wherein at least a portion of each leaflet is resiliently biased to assume a flat, planar configuration. EXAMPLES

[0101] The device of any one or more of Examples 1-36, wherein at least a portion of each leaflet is resiliently biased to assume a three-dimensionally curved configuration. EXAMPLES

[0102] The device of any one or more of Examples 1-37, wherein the leaflets are angularly spaced apart from one another equidistantly about the longitudinal axis. EXAMPLES

[0103] The device of any one or more of Examples 1-38, wherein the leaflets are further configured to transition from the second configuration to a third configuration, wherein distal ends of the leaflets diverge away from the longitudinal axis in the second configuration and distal ends of the leaflets converge toward the longitudinal axis in the third configuration. EXAMPLES

[0104] The device of Example 39, further comprising at least one control wire operable to transition the leaflet from the second configuration to the third configuration. EXAMPLES

[0105] The device of Example 40, wherein the at least one control wire includes a plurality of control wires, each control wire being fixed to a distal portion of a corresponding leaflet of the plurality of leaflets. EXAMPLES

[0106] The device of Example 41, wherein each control wire is fixed to an interior region of a corresponding leaflet of the plurality of leaflets such that the control wire is operable to pull a distal end of the leaflet toward the longitudinal axis. EXAMPLES

[0107] The device of Example 42, wherein the control wire is further operable to pull the distal ends of the leaflets proximally, thereby bending the leaflets outward. EXAMPLES

[0108] The device of Example 41, wherein each control wire is fixed to an outer region of a corresponding leaflet of the plurality of leaflets, such that the control wire is operable to pull a distal end of the leaflet through a first range of motion and a second range of motion, wherein the distal end of the leaflet moves away from the longitudinal axis in the first range of motion and the distal end of the leaflet moves toward the longitudinal axis in the second range of motion. EXAMPLES

[0109] 1. An apparatus comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly defining a longitudinal axis and including an outer sheath having a distal end; and (b) an end effector associated with the distal end of the catheter shaft assembly, the end effector including a plurality of leaflets, each leaflet including (i) a flexible body having a distal end and (ii) a plurality of electrodes positioned on the flexible body, the end effector operable to transition between a first configuration, a second configuration and a third configuration, the leaflets configured to fit within the outer sheath in the first configuration, the leaflets configured to orient a distal end of the flexible body outwardly away from the longitudinal axis in response to the leaflets being distally exposed relative to the distal end of the outer sheath in the second configuration, and the leaflets configured to orient a distal end of the flexible body toward the longitudinal axis in the third configuration while distally exposed relative to the distal end of the outer sheath. EXAMPLES

[0110] 1. A device comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly defining a longitudinal axis and including an outer sheath having a distal end; and (b) an end effector associated with a distal end of the catheter shaft assembly, the end effector including a plurality of leaflets, each leaflet including (i) a flexible body having a distal end and (ii) a plurality of electrodes positioned on the flexible body, the end effector operable to transition between a first state, a second state and a third state, the leaflets configured to fit within the outer sheath in the first state, the leaflets configured to exhibit an outwardly flowered configuration in the second state while exposed distally to the distal end of the outer sheath, and the leaflets configured to exhibit a spherical configuration in the third state while exposed distally to the distal end of the outer sheath. EXAMPLES

[0111] 11. A method comprising: (a) actuating a catheter assembly to transition an end effector from a first state to a second state, the catheter assembly including an outer sheath, the end effector including a plurality of leaflets, the leaflets including a plurality of electrodes, the leaflets contained within the outer sheath in the first state, the leaflets exposed to the outer sheath in the second state, and distal ends of the leaflets diverging outwardly away from a longitudinal axis defined by the catheter assembly in the second state; and (b) actuating the end effector to transition from the second state to a third state, the distal ends of the leaflets converging toward the longitudinal axis in the third state. EXAMPLES

[0112] 48. The method of example 47, wherein the step of actuating the end effector includes retracting at least one control wire proximally to urge the distal end of the leaflet toward the longitudinal axis. EXAMPLES

[0113] The method of example 48, wherein retraction of the at least one control wire causes the distal end to move through a range of motion of at least 90°. EXAMPLES

[0114] 50. The method of example 49, wherein the distal end of the leaflet is positioned proximally relative to the proximal end of the leaflet in the third state. EXAMPLES

[0115] The method of any one or more of Examples 47-50, further comprising biasing at least one electrode against tissue. EXAMPLES

[0116] The method of Example 51, wherein the tissue comprises cardiac tissue. EXAMPLES

[0117] The method of any one or more of Examples 51-52, further comprising sensing the electrical potential in the tissue via at least one of the electrodes. EXAMPLES

[0118] The method of any one or more of Examples 51-53, further comprising ablating tissue via at least one of the electrodes. EXAMPLES

[0119] The method of any one or more of Examples 51 to 54, further comprising tracking the position of the end effector on the patient, the tracking being performed by a position sensor. EXAMPLES

[0120] 1. A catheter comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly defining a longitudinal axis and including an outer sheath having a distal end; and (b) an end effector associated with the distal end of the catheter shaft assembly, the end effector including a plurality of leaflets, each leaflet including: (i) a central spine extending along a central axis; (ii) a first outer member extending from a first location on the central spine to a second location on the central spine; (iii) a second outer member extending proximate to the first location on the central spine to a location proximate to the second location on the central spine; (iv) a plurality of connectors extending from the central spine and connected to one of the first outer member and the second outer member; and (v) a plurality of electrodes disposed on the connectors, the central spine, and at least one of the first outer member and the second outer member. EXAMPLES

[0121] The catheter of Example 56, wherein the plurality of leaflets includes four leaflets, the leaflets configured to transition between a first configuration and a second configuration, the leaflets configured to fit within the outer sheath in the first configuration, and the leaflets configured to expand outwardly away from the longitudinal axis in the second configuration in response to being exposed distally to a distal end of the outer sheath.

[0122] VI.Other Any of the instruments described herein can be cleaned and sterilized before and / or after treatment. In one sterilization technique, the device is placed in a sealed container, such as a plastic or TYVEK bag. The container and device may then be placed in a radiation field that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation may kill bacteria on the device and in the container. The sterilized device may then be stored in the sterile container for later use. The device may also be sterilized using any other technique known in the art, including, but not limited to, beta or gamma radiation, ethylene oxide, hydrogen peroxide, peracetic acid, and gas phase sterilization with or without plasma or water vapor.

[0123] By way of example only, when cleaning and sterilizing one of the instruments described herein before and / or after a procedure, such cleaning and reprocessing may be performed using solutions. By way of further example only, such solutions may include peracetic acid at 3300-3800 ppm, 2.65% glutaraldehyde, 3.4% glutaraldehyde with 26% isopropanol, 3.5% glutaraldehyde, 5.75% ortho-phthalaldehyde, 0.55% ortho-phthalaldehyde, hypochlorite and hypochlorous acid with 650-675 ppm active free chlorine, 1.12% glutaraldehyde with 1.93% phenol / phenate, 2.5% glutaraldehyde, 5.75% ortho-phthalaldehyde, 0.55% ortho-phthalaldehyde ... The composition may comprise a chemical selected from the group consisting of phthalaldehyde, 3.2% glutaraldehyde, 3% glutaraldehyde, 7.35% hydrogen peroxide with 0.23% peracetic acid, 1.0% hydrogen peroxide with 0.08% peracetic acid, 2.4% glutaraldehyde, 3.4% glutaraldehyde, 2.0% hydrogen peroxide, 0.60% ortho-phthalaldehyde, 400-450 ppm hypochlorous acid / hypochlorite with active free chlorine, and combinations thereof. As another merely illustrative example, such a solution may include chemicals selected from the group consisting of 3100-3400 ppm peracetic acid, 3.4% glutaraldehyde with 20.1% isopropanol, 2.0% hydrogen peroxide, at least 1820 mg / L peracetic acid, 0.575% ortho-phthalaldehyde, 0.60% ortho-phthalaldehyde, hypochlorite and hypochlorous acid with 650-675 ppm active free chlorine, 0.55% ortho-phthalaldehyde, 7.5% hydrogen peroxide, 2.6% glutaraldehyde, hypochlorite and hypochlorous acid with 400-450 ppm active free chlorine, 0.55% ortho-phthalaldehyde, and combinations thereof.

[0124] By way of example only, when cleaning and sterilizing one of the instruments described herein before and / or after a procedure, such cleaning and reprocessing may be performed using the techniques described in U.S. Pat. No. 6,939,519, issued Sep. 6, 2005, entitled "Power System for Sterilization Systems Employing Low Frequency Plasma," the disclosure of which is incorporated herein by reference in its entirety via the appendix; U.S. Pat. No. 6,852,279, issued Feb. 8, 2005, entitled "Sterilization with Temperature-Controlled Diffusion Path," the disclosure of which is incorporated herein by reference in its entirety; U.S. Pat. No. 6,852,277, issued Feb. 8, 2005, entitled "Sterilization System Employing a Switching Module Adapter to Pulsate the Low Frequency Power Applied to a Plasma," the disclosure of which is incorporated herein by reference in its entirety; U.S. Pat. No. 6,852,278, issued Sep. 10, 2002, entitled "Power System for Sterilization Systems Employing Low Frequency Plasma," the disclosure of which is incorporated herein by reference in its entirety; No. 6,447,719, entitled "Method of Sterilizing Medical Devices, Analyzing Biological Indicators, and Linking Medical Device Sterilization Equipment," published on September 7, 2017, the disclosure of which is incorporated herein by reference in its entirety. Some sterilization systems can sterilize medical devices using vaporized chemical sterilants or chemical gases such as hydrogen peroxide, peracetic acid, ozone, chlorine dioxide, nitrogen dioxide, etc.Examples of such systems are described in U.S. Pat. No. 6,365,102, issued April 2, 2002, entitled "Method of Enhanced Sterilization with Improved Material Compatibility," the disclosure of which is incorporated herein by reference in its entirety, and U.S. Pat. No. 6,325,972, issued December 4, 2001, entitled "Apparatus and Process for Concentrating a Liquid Sterilant and Sterilizing Articles Therewith," the disclosure of which is incorporated herein by reference in its entirety.

[0125] It should be understood that any of the embodiments described herein may include various other features in addition to or in place of those described above. By way of example only, any of the embodiments described herein may include one or more of the various features disclosed in any of the various references incorporated herein by reference.

[0126] It should be understood that any one or more of the teachings, expressions, embodiments, examples, etc. described herein can be combined with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. Thus, the above teachings, expressions, embodiments, examples, etc. should not be considered in isolation with respect to each other. Various suitable ways in which the teachings herein can be combined will be readily apparent to those skilled in the art in light of the teachings herein. Such modifications and variations are intended to be included within the scope of the claims.

[0127] It is understood that all or part of any patent, publication, or other disclosure referred to herein as being incorporated by reference is incorporated herein only to the extent that the incorporated content does not conflict with existing definitions, opinions, or other disclosures set forth in this disclosure. Thus, to the extent necessary, the disclosures expressly set forth herein shall prevail over any conflicting content incorporated herein by reference. Any content or part thereof that is referred to herein as being incorporated by reference but that conflicts with existing definitions, opinions, or other disclosures set forth herein is incorporated only to the extent that no conflict occurs between the incorporated content and the existing disclosures.

[0128] Although various variations of the present invention have been shown and described, further adaptations of the methods and systems described herein can be achieved by appropriate modifications by those skilled in the art without departing from the scope of the present invention. Some of such possible modifications have been mentioned, and others will be apparent to those skilled in the art. For example, the above-mentioned embodiments, variations, geometries, materials, dimensions, ratios, steps, etc. are exemplary and not required. Thus, it is understood that the scope of the present invention should be considered in terms of the following claims and is not limited to the details of structure and operation shown and described in this specification and drawings.

[0129] [Embodiment] (1) An apparatus comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly including an outer sheath defining a longitudinal axis and having a distal end; (b) an end effector associated with the distal end of the catheter shaft assembly, the end effector including a plurality of leaflets configured to transition between a first configuration and a second configuration, the leaflets configured to fit within the outer sheath in the first configuration and configured to expand outwardly away from the longitudinal axis in response to being distally exposed to the distal end of the outer sheath in the second configuration, each leaflet comprising: (i) a flexible body defining a plurality of openings; (ii) a plurality of electrodes positioned on the flexible body. (2) The device of embodiment 1, wherein the leaflets are elastically biased to expand outwardly away from the longitudinal axis in the second configuration in response to being exposed distally to the distal end of the outer sheath. (3) The device of embodiment 1, wherein each leaflet has a distal end, and the leaflets are configured to diverge away from the longitudinal axis in the second configuration. (4) The device of embodiment 1, wherein the electrodes include at least a pair of bipolar sensing electrodes configured to sense electrical potentials in tissue. (5) The device of embodiment 1, wherein the electrodes include at least one ablation electrode.

[0130] (6) each flexible body having: (A) a central spine member; (B) a first plurality of members extending outwardly from the central spine member. (7) The apparatus of embodiment 6, wherein the members of the first plurality of members are linear. (8) The device of claim 7, wherein the members of the first plurality of members extend obliquely relative to the central spine member. (9) The device of embodiment 6, wherein each flexible body further includes a second plurality of members, each member of the first plurality of members having a first end positioned at the central spine member, and each member of the first plurality of members having a second end positioned at a member of the second plurality of members. (10) The device of embodiment 6, wherein the central spine member is straight.

[0131] (11) The device of embodiment 1, wherein each flexible body has a proximal end and a distal end, a central axis passes through the proximal and distal ends of the flexible body, and each flexible body further includes a plurality of members extending from the proximal and distal ends. (12) The device of embodiment 11, wherein the plurality of members includes a proximal portion extending outwardly away from the central axis of the flexible body and branching from the proximal end of the flexible body. (13) The device of claim 11, wherein the plurality of members includes a distal portion extending toward the central axis of the flexible body and converging at the distal end of the flexible body. (14) The device of embodiment 1, wherein at least a portion of each leaflet is resiliently biased to assume a flat, planar configuration. (15) The device of embodiment 1, wherein at least a portion of each leaflet is elastically biased to assume a three-dimensionally curved configuration.

[0132] (16) The device of embodiment 1, wherein the leaflets are angularly spaced apart from one another equidistantly about the longitudinal axis. (17) The device of embodiment 1, wherein the leaflets are further configured to transition from the second configuration to a third configuration, wherein distal ends of the leaflets diverge away from the longitudinal axis in the second configuration and distal ends of the leaflets converge toward the longitudinal axis in the third configuration. (18) The device of embodiment 17, further comprising at least one control wire operable to transition the leaflets from the second configuration to the third configuration. (19) An apparatus comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly including an outer sheath defining a longitudinal axis and having a distal end; (b) an end effector associated with the distal end of the catheter shaft assembly, the end effector including a plurality of leaflets, each leaflet comprising: (i) a flexible body having a distal end; (ii) a plurality of electrodes positioned on the flexible body; the end effector is operable to transition between a first configuration, a second configuration, and a third configuration; the leaflets are configured to fit within the outer sheath in the first configuration; the leaflets are configured to orient the distal end of the flexible body outwardly, away from the longitudinal axis, in the second configuration in response to being distally exposed relative to the distal end of the outer sheath; The device, wherein the leaflets are configured to orient the distal end of the flexible body toward the longitudinal axis in the third configuration while being distally exposed relative to the distal end of the outer sheath. (20) A catheter comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly including an outer sheath defining a longitudinal axis and having a distal end; (b) an end effector associated with the distal end of the catheter shaft assembly, the end effector including a plurality of leaflets, each leaflet comprising: (i) a central spine extending along a central axis; (ii) a first outer member extending from a first location on the central spine to a second location on the central spine; (iii) a second outer member extending from the first location on the central spine to a location adjacent to the second location on the central spine; and (iv) a plurality of connectors extending from the central spine and connected to one of the first outer member and the second outer member; (v) a plurality of electrodes disposed on the connector, the central spine, and at least one of the first outer member and the second outer member.

Claims

1. 1. An apparatus comprising: (a) a catheter shaft assembly having a proximal end and a distal end, the catheter shaft assembly including an outer sheath defining a longitudinal axis and having a distal end; (b) an end effector associated with the distal end of the catheter shaft assembly, the end effector including a plurality of leaflets configured to transition between a first configuration and a second configuration, the plurality of leaflets configured to fit within the outer sheath in the first configuration, the plurality of leaflets configured to expand outwardly away from the longitudinal axis in the second configuration in response to being distally exposed to the distal end of the outer sheath, and the plurality of leaflets further configured to form a spherical shape in a third configuration, each leaflet of the plurality of leaflets being: (i) a flexible body including a planar flex circuit board defining a plurality of openings; (ii) a plurality of electrodes positioned on the planar flex circuit board.

2. 2. The device of claim 1, wherein the plurality of leaflets are resiliently biased to expand outwardly, away from the longitudinal axis, in the second configuration in response to being distally exposed to the distal end of the outer sheath.

3. The device of claim 1 , wherein each leaflet of the plurality of leaflets has a distal end, the plurality of leaflets being configured to diverge away from the longitudinal axis in the second configuration.

4. The device of claim 1 , wherein the electrodes include at least a pair of bipolar sensing electrodes configured to sense electrical potentials in tissue.

5. The device of claim 1 , wherein the electrodes include at least one ablation electrode.

6. Each of the flexible bodies comprises: (A) a central spine member; (B) a first plurality of members extending outwardly from the central spine member.

7. The apparatus of claim 6 , wherein the members of the first plurality of members are linear.

8. The apparatus of claim 7 , wherein the members of the first plurality of members extend obliquely relative to the central spine member.

9. 7. The device of claim 6, wherein each of the flexible bodies further comprises a second plurality of members, each of the first plurality of members having a first end positioned at the central spine member and each of the first plurality of members having a second end positioned at a member of the second plurality of members.

10. The device of claim 6 , wherein the central spine member is straight.

11. 2. The device of claim 1, wherein each of the flexible bodies has a proximal end and a distal end, a central axis extends through the proximal and distal ends of the flexible body, and each of the flexible bodies further includes a plurality of members extending from the proximal and distal ends.

12. The device of claim 11 , wherein the plurality of members includes a proximal portion that extends outwardly away from the central axis of the flexible body and diverges from the proximal end of the flexible body.

13. The device of claim 11 , wherein the plurality of members includes a distal portion that extends toward the central axis of the flexible body and converges at the distal end of the flexible body.

14. The device of claim 1 , wherein at least a portion of each leaflet of the plurality of leaflets is resiliently biased to assume a flat planar configuration.

15. The device of claim 1 , wherein at least a portion of each leaflet of the plurality of leaflets is resiliently biased to assume a three-dimensionally curved configuration.

16. The device of claim 1 , wherein the plurality of leaflets are angularly spaced equidistant from one another about the longitudinal axis.

17. 2. The device of claim 1, wherein the plurality of leaflets are further configured to transition from the second configuration to the third configuration, wherein distal ends of the plurality of leaflets diverge away from the longitudinal axis in the second configuration and the distal ends of the plurality of leaflets converge toward the longitudinal axis in the third configuration.

18. 20. The device of claim 17, further comprising at least one control wire operable to transition the plurality of leaflets from the second configuration to the third configuration.

19. Each of the flexible bodies comprises: (A) a central spine member; (B) a first plurality of members extending outwardly from the central spine member; The device of claim 1 , further comprising at least one control wire operable to transition the plurality of leaflets from the second configuration to the third configuration.

20. Each leaflet of the plurality of leaflets has an inner surface and an outer surface; The device of claim 1 , wherein when in said third configuration, said inner surface is concealed inside said spherical shape and said outer surface is exposed outside said spherical shape.

21. The device of claim 20 , wherein the opening extends from the inner surface to the outer surface.

22. the plurality of leaflets are further configured to have a fourth configuration in an expanded and flattened state; 22. The device of claim 21, wherein when in the fourth configuration, the inner surface faces a distal direction and the outer surface faces a proximal direction.

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