CATHETER HAVING MULTIPLE SENSING ELECTRODES USED AS ABLATION ELECTRODES - Patent application

Abstract

To provide medical probes.SOLUTION: A system includes a switching assembly and a processor. The switching assembly is connected to multiple electrodes that are disposed on an expandable distal end of a catheter, and is configured to switch the electrodes between a position tracking system, an electrophysiological (EP) sensing module and a generator of ablative power. The processor is configured to control the switching assembly to switch the electrodes.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates generally to medical probes, and more particularly to cardiac multi-electrode electrophysiological (EP) sensing and ablation catheters. [Background technology]

[0002] Multi-electrode catheters for tissue sensing and ablation have been previously proposed in the patent literature. For example, US Patent Application Publication No. 2010 / 0168548 describes cardiac catheters, including lasso catheters for use in systems for electrical mapping of the heart, having an array of raised perforated electrodes in fluid communication with an irrigation lumen. There are position sensors in the distal loop and proximal base portions of the catheter. The electrodes are sensing electrodes and can be modified for pacing or ablation. The raised electrodes make secure contact with the cardiac tissue, forming a low resistance electrical connection.

[0003] As another example, U.S. Patent No. 5,562,720 describes an endometrial ablation device and methods for its manufacture and use. An electrically conductive expandable member, such as a balloon, is used as a medium for passing RF current through the endometrial tissue to heat the tissue. Power delivered from a power source to the balloon is selectively applied to multiple electrode area segments on the balloon, with each segment having an associated thermistor such that the temperature is monitored and controlled by a feedback arrangement from the thermistor. Power is selectively applied based on a switching arrangement that provides either monopolar or bipolar energy to the electrodes. Summary of the Invention [Means for solving the problem]

[0004] One embodiment of the present invention provides a system including a switching assembly and a processor. The switching assembly is connected to a plurality of electrodes disposed on an expandable distal end of a catheter and configured to switch the electrodes between a position tracking system, an electrophysiological (EP) sensing module, and a generator of ablation power. The processor is configured to control the switching assembly to switch the electrodes.

[0005] In some embodiments, the ablation power comprises at least one of radiofrequency (RF) power output by an RF generator and irreversible electroporation (IRE) pulses output by an IRE pulse generator.

[0006] In some embodiments, the electrodes each include a plurality of electrode segments.

[0007] In one embodiment, the switching assembly and processor are configured to individually connect each of the multiple electrode segments of a given electrode when connecting the given electrode to a position tracking system or EP sensing module, and the switching assembly and processor are configured to connect all of the multiple electrode segments of a given electrode together when connecting the given electrode to a generator of ablation power.

[0008] In another embodiment, the processor is configured to control whether the electrode is used as a position sensor, an EP sensor, or an ablation electrode by evaluating pre-set impedance criteria.

[0009] In some embodiments, the processor is configured to evaluate the impedance criterion by determining whether the frequency dependence of the impedance indicates that the electrode is in contact with blood or tissue.

[0010] According to one embodiment of the present invention, there is further provided a method including using a switching assembly to interchangeably switch a plurality of electrodes disposed on the expandable distal end of the catheter between a position tracking system, an electrophysiological (EP) sensing module, and a generator of ablation power, the switching assembly being controlled using a processor to switch between the electrodes.

[0011] The invention will be more fully understood from consideration of the following detailed description taken in conjunction with the drawings, in which: [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic, pictorial illustration of a balloon catheter-based position tracking, electrophysiological (EP) sensing and ablation system, in accordance with an embodiment of the present invention. [Diagram 2] 2 is a schematic side-view depiction of the distal end of the balloon catheter of FIG. 1 deployed in the region of a pulmonary vein (PV) and its orifice, in accordance with an embodiment of the present invention; FIG. [Diagram 3] 2 is a block diagram that generally illustrates the functionality of the processor controlled switching box of FIG. 1, in accordance with one embodiment of the present invention. [Figure 4] 3 is a flow chart that generally illustrates a method of interchangeably using the segmented electrodes of the balloon catheter of FIG. 2 for position sensing, electrophysiological (EP) sensing, and ablation, in accordance with an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Overview For efficient sensing and ablation with medical probes such as intracardiac radio frequency (RF) and / or irreversible electroporation (IRE) catheters with multiple electrodes disposed at their distal tips, it is important that (a) the distal tip can be precisely navigated to the tissue location most suitable for electrophysiological (EP) sensing and ablation, and (b) the distally disposed electrodes can effectively acquire EP signals from and / or ablate tissue. For example, when a balloon catheter with multiple electrodes is used to treat cardiac arrhythmias, the balloon must be navigated to a cardiac location such as the opening of a pulmonary ventricle (PV), EP signals must be acquired to confirm the arrhythmia, and the arrhythmogenic tissue must be ablated using these electrodes.

[0014] Similarly, other multi-electrode catheters, such as the Lasso catheter (manufactured by Biosense Webster, Irvine, Calif.) or basket catheters, must also be equipped with electrodes capable of performing such sensing and ablation.

[0015] The embodiments of the invention described below provide a technique for interchangeably using electrodes disposed at the distal tip for sensing and ablation. In some embodiments, the electrodes are first used as sensors to track the position of the distal tip and navigate the distal tip to a cardiac tissue location within the heart. The electrodes are then used for EP sensing. Finally, RF and / or IRE ablation is applied using the electrodes. Typically, the electrodes are used in a spatially selective manner, where any subset of the electrodes can be switched to be used for any of the above applications at any given time. For example, electrodes with poor tissue contact can be used for position tracking, while other electrodes can be used for EP sensing and subsequent ablation.

[0016] In the context of this patent application, the term "applying ablation" encompasses both applying RF power and applying IRE pulses. Typically, ablation power includes either radio frequency (RF) power output by an RF generator or an irreversible electroporation (IRE) pulse output by an IRE pulse generator. However, a single generator may be configured to output RF power and IRE pulses interchangeably.

[0017] In some embodiments, an expandable multi-electrode catheter (e.g., an inflatable balloon catheter used as an example below) is provided that includes electrodes divided into segments (i.e., electrode segments). In some embodiments, a balloon catheter is provided with ten electrodes disposed on the membrane of the balloon. Each of the ten electrodes is divided into four segments with one or more temperature sensors, such as thermocouples, located on each electrode segment.

[0018] Additionally, a processor-controlled switching box (also referred to as a switching assembly) is provided. The system of the present disclosure uses the electrode segments as position sensors of an electrical impedance-based position tracking subsystem, as described below, while navigating the distal end of a catheter (e.g., a balloon catheter) to a target location for ablation. Once the balloon is determined to be at the target location (using the position tracking subsystem), the processor controlling the switching box switches the EP sensing module or ablation power to at least some of the electrode segments.

[0019] In one embodiment, once the catheter is positioned at a target location, the processor analyzes characteristics of the measured impedance, such as, for example, the different frequency dependences of blood and tissue impedance, and uses the results of the analysis to provide an independent determination for each electrode segment as to whether the electrode segment is in direct electrical contact (i.e., touching) with the cardiac tissue or not (e.g., the electrode segment is mostly immersed in blood).

[0020] The impedance of the electrodes can be measured in any of the modes in which the electrodes are used (i.e., position tracking, EP sensing, and ablation). Each electrode with a frequency-dependent impedance indicative of tissue is then switched by the processor to either the EP sensing module or the ablation power supply using a switching box. Electrode segments with a frequency-dependent impedance indicative of blood are maintained by the processor as position sensing electrodes.

[0021] In some embodiments, the balloon orientation in space is measured using magnetic sensors on the catheter around the balloon, as described below, to further assist in best positioning the balloon relative to the opening, e.g., to achieve sufficient electrode contact around the entire circumference of the balloon.

[0022] Typically, the processor is programmed with software that contains specific algorithms that enable the processor to perform each of the processor-related steps and functions outlined above.

[0023] The segmented electrode sensing and ablation techniques of the present disclosure can provide safer and more effective diagnosis and therapy by providing switchable electrode segments according to navigation, EP sensing, and ablation tasks, which can improve clinical outcomes of cardiac balloon ablation therapies, such as PV isolation for the treatment of arrhythmias.

[0024] System Description 1 is a schematic, pictorial diagram of a balloon catheter-based position tracking, electrophysiological (EP) sensing and ablation system 20, in accordance with one embodiment of the present invention. System 20 comprises a catheter 21 having attached to its distal end 22a a shaft 22 an expandable RF ablation balloon 40 including a segmented electrode 50 (shown in inset 25). In the embodiment described herein, segmented electrode 50 is used to ablate tissue at the ostia 51 of a PV in heart 26.

[0025] The proximal end of catheter 21 is connected to a control console 24 that includes an ablation power supply 45 capable of delivering IRE and / or RF power. Console 24 includes a processor 41 that controls a switching box 46 (also called a switching assembly) to switch any segment of segmented electrode 50 between functioning as a position sensing electrode and functioning as an ablation electrode. An ablation protocol, including ablation parameters including impedance criteria, is stored in memory 48 of console 24.

[0026] A physician 30 inserts the distal end 22a of the shaft 22 through the sheath 23 and into the heart 26 of a patient 28 lying on a table 29. The physician 30 advances the distal end of the shaft 22 to a target location within the heart 26 by manipulating the shaft 22 using a manipulator 32 near the proximal end of the catheter and / or a deflection from the sheath 23. During insertion of the distal end 22a, the balloon 40 is maintained in a collapsed configuration by the sheath 23. By containing the balloon 40 in a collapsed configuration, the sheath 23 also serves to minimize vascular trauma along the path to the target location.

[0027] Once the distal end 22a of the shaft 22 reaches the heart 26, the physician 30 retracts the sheath 23, partially inflates the balloon 40, and further manipulates the shaft 22 to navigate the balloon 40 to the opening 51 of the pulmonary vein.

[0028] In one embodiment, the physician 30 navigates the distal end of the shaft 22 to the target location by tracking the position of the balloon 40 using the impedance measured between the segmented electrodes 50 and the surface electrodes 38.

[0029] To perform its functions, the processor 41 includes an electrode impedance sensing module 47. In the illustrated system, the impedance sensing module 47 receives electrical impedance signals measured between a segmented electrode 50 and a surface electrode 38, which are shown as being attached by wires that extend through the cable 37 to the chest of the patient 28. The electrodes 50 are connected by wires that extend through the shaft 22 to the processor 41, which controls a switching box 46 of an interface circuit 44 in the console 24.

[0030] The method of tracking the location of an electrode, such as electrode 50, using the measured impedance described above has been implemented in various medical applications, such as, for example, the CARTO™ system manufactured by Biosense-Webster (Irvine, California), and is described in detail in US Patent Nos. 7,756,576, 7,869,865, 7,848,787, and 8,456,182, all of which are incorporated herein by reference, copies of which are provided in the appendix. This method is sometimes referred to as Advanced Catheter Location (ACL). In one embodiment, console 24 drives a display 27 that shows the tracked location of balloon 40 within heart 26.

[0031] At the target location (e.g., at the opening 51), the physician 30 fully inflates the balloon 40 and brings the segmented electrode 50 disposed on the outer periphery of the balloon 40 into contact with the tissue at the opening 51. The physician 30 then measures the impedance of each of the segmented electrode segments as described above, for example using the impedance sensing module 47. The processor 41 compares the measured impedance of each segment with a preset threshold impedance. If the impedance of the segment is equal to or less than the preset impedance threshold, i.e., if the electrode segment is in contact with blood rather than in good contact with tissue, the processor 41 controls the switching box 46 to continue operating the segment as a position sensing electrode. On the other hand, if the impedance of the segment is above the preset threshold, i.e., if the electrode segment is in good contact with tissue, the processor controls the switching box 46 to operate the segment as an ablation electrode.

[0032] As further shown in inset 25, distal end 22a includes a magnetic position sensor 39 contained within distal end 22a just proximal to expandable balloon 40. During navigation of distal end 22a within heart 26, console 24 receives signals from magnetic sensor 39 in response to a magnetic field from external magnetic field generator 36, for purposes of, e.g., measuring the orientation of ablation balloon 40 within the heart and, optionally, presenting on display 27 the tracked orientation, e.g., relative to the orientation of an approximate axis of symmetry of opening 51. Magnetic field generator 36 is positioned at a known position outside patient 28, e.g., beneath patient table 29. Console 24 also includes a driver circuit 34 configured to drive magnetic field generator 36.

[0033] This method of direction sensing using an external magnetic field has been implemented in a variety of medical applications, such as, for example, in the CARTO™ system manufactured by Biosense-Webster, and is described in detail in U.S. Pat. Nos. 5,391,199, 6,690,963, 6,484,118, 6,239,724, 6,618,612, and 6,332,089, International Publication No. WO 96 / 05768, and U.S. Patent Application Publication Nos. 2002 / 0065455(A1), 2003 / 0120150(A1), and 2004 / 0068178(A1), the disclosures of all of which are incorporated herein by reference, copies of which are provided in the Appendix, as if fully set forth herein.

[0034] In one embodiment, the signal from the sensor 39 is TM It is further used for location sensing using the system.

[0035] Processor 41 is typically a general-purpose computer with suitable front-end and interface circuitry 44 for receiving signals from catheter 21 and delivering RF energy treatment via catheter 21 in the left atrium of heart 26, as well as controlling other components of system 20. Processor 41 typically includes software in memory 48 of system 20 that is programmed to perform the functions described herein. The software may be downloaded in electronic form to the computer, for example over a network, or alternatively or additionally may be provided and / or stored on a non-transitory tangible medium, such as magnetic, optical or electronic memory. In particular, processor 41 executes the dedicated algorithms disclosed herein and included in FIG. 4 that enable processor 41 to perform the steps of the present disclosure as further described below.

[0036] Although FIG. 1 illustrates a multi-electrode balloon catheter, the principles of the present technology apply to any catheter having multiple electrodes attached to its distal end, such as the Lasso and basket catheters described above.

[0037] Catheter having multiple sensing electrodes as ablation electrodes 2 is a schematic side-view depiction of the balloon catheter of FIG. 1 deployed in the region of a pulmonary vein (PV) and its opening 51, according to an embodiment of the present invention. The balloon catheter is used to sense EP signals from tissue at the opening 51, confirm the arrhythmia, and ablate the tissue at the opening 51 to isolate the arrhythmia source. The balloon 40 has ten segmented electrodes 50 disposed on the balloon membrane 71. IRE and / or RF power can be delivered independently from the ablation power supply 45 to each of the four electrode segments 55 of each of the ten electrodes, depending, for example, on the level of physical contact of each segment 55 with the tissue being ablated.

[0038] 2, electrode segment 55a is not in good contact with the tissue. Processor 41 determines poor physical contact of electrode segment 55a based on an impedance reading from electrode 55a being below a preset impedance value. In response, processor 41 controls switching box 46 to maintain electrode segment 55a as a position sensing electrode.

[0039] Meanwhile, electrode segment 55b is in good contact with the tissue. Processor 41 determines sufficient physical contact of electrode segment 55a based on an impedance reading from electrode segment 55b being above a preset threshold impedance value. In response, processor 41 controls switching box 46 to switch electrode segment 55b for use as either an EP sensing electrode or an ablation electrode.

[0040] In some embodiments, to determine the sufficiency of contact with the tissue, the impedance of each electrode segment is monitored by a processor that receives impedance readings sensed by the electrode segment. The processor uses a preset impedance criterion, such as the relationship of the impedance reading to a preset threshold impedance, to determine whether the physical contact between any of the electrodes and the tissue meets a predefined quality of contact with the tissue. For example, if the impedance of the electrode segment does not exceed the threshold impedance, the processor determines that the level of contact between the electrode segment and the tissue is insufficient (i.e., the EP sensing is a sensed blood signal or the ablation energy will primarily heat the blood). In this case, the processor controls the switching box to maintain the electrode segment as a position sensing electrode. On the other hand, if the impedance reading from the electrode segment exceeds the preset threshold impedance (e.g., exceeds a threshold determined by previous experimentation), the processor determines that the contact between the electrode segment and the tissue is good, i.e., meets the predefined quality of contact criteria, and tissue can be EP sensed or ablated with the electrode segment. In this case, the switching box switches the electrode segment to connect it to either the EP sensing module or the ablation power source.

[0041] Techniques for detecting electrode-tissue physical contact using analysis of tissue frequency response are described in U.S. Patent Application Serial No. 15 / 991,291, entitled "Touch Detection by Different Frequency Response of Tissue," filed May 29, 2018, which is assigned to the assignee of this patent application and the disclosure of which is incorporated herein by reference to a copy provided in the Appendix as if fully set forth herein. In one embodiment, the processor may use this method to analyze the acquired intracardiac signal. However, other techniques for assessing the level of contact with tissue utilizing electrical measurements provided by segmented electrodes may be used.

[0042] The side view depicted in Figure 2 is chosen as an example, as other embodiments are possible. For example, in another embodiment, cooling fluid is sprayed through irrigation holes (not shown) in the electrode 50 to cool the ablated tissue. As another example, tissue temperature is measured using a temperature sensor (not shown) attached to the electrode 50.

[0043] Figure 3 is a block diagram that generally illustrates the functionality of the processor-controlled switching box 46 of Figure 1, in accordance with one embodiment of the present invention. As shown, in response to commands from the processor 41, the switching box 46 connects the electrode segments to the previously described ACL position sensing subsystem of the system 20 to provide position signals for use in the ACL position tracking method, connects the electrode segments to an EP sensing module, or connects the electrode segments to an RF power source for use as an ablation electrode.

[0044] In another embodiment, the switching assembly and processor are configured to individually connect each of the electrode segments of a given electrode when connecting the given electrode to a position tracking system or EP sensing module, while the switching assembly and processor are configured to connect all of the electrode segments of a given electrode together when connecting the given electrode to a generator of ablation power.

[0045] The block diagram of Figure 3 is highly simplified to maintain clarity of presentation, and therefore omits information from other system elements, such as the temperature sensor on the balloon 40, that does not directly contribute to the clarity of presentation.

[0046] Figure 4 is a flow chart that illustrates, in accordance with one embodiment of the present invention, a method for interchangeably using the segmented electrodes of the balloon catheter of Figure 2 for location sensing, electrophysiological (EP) sensing and ablation. In the embodiment presented, the algorithm executes a process that begins in balloon catheter navigation step 80 when physician 30 navigates the balloon catheter to a target location within a patient's lumen, such as orifice 51, using electrode segment 55 as an ACL sensing electrode.

[0047] Next, in a balloon catheter positioning step 82, physician 30 positions the balloon catheter at opening 51. Next, in a balloon inflation step 84, physician 30 fully inflates balloon 40 to contact the lumen wall with electrode segments 55 around the entire circumference of the lumen.

[0048] The impedance of each of the electrode segments 55 relative to typically one of the surface electrodes 38 is then measured using impedance readings by module 47, and based on the impedance criteria, processor 41 switches some or all of the electrode segments 55 for use as EP sensing electrodes.

[0049] After confirming the arrhythmia using the electrodes as EP sensors, the processor controls the switching box 46 to operate the segments as ablation electrodes (e.g., connect the electrodes to the ablation power supply 45) in a switching step 88. In a switching step 90, the physician 30 again switches some or all of the electrode segments 55 for use as EP sensing electrodes to see if the arrhythmia has been resolved.

[0050] The exemplary flow chart shown in Figure 4 is chosen solely for the purposes of conceptual clarity, in alternative embodiments further steps may be performed such as processor 41 monitoring the measured contact force of the segments and acting according to the measured contact force.

[0051] Although FIG. 4 illustrates a multi-electrode balloon catheter, the principles of the present technology apply to any catheter having multiple electrodes attached to its distal end, such as the Lasso and basket catheters described above.

[0052] Although the embodiments described herein primarily address pulmonary vein isolation, the methods and systems described herein may also be used in other applications requiring determination of obstruction, such as, for example, renal denervation, and generally in ablating other organs.

[0053] Therefore, it will be understood that the above described embodiments are cited by way of example, and that the present invention is not limited to what has been specifically shown and described above. Rather, the scope of the present invention includes both combinations and subcombinations of the various features described above, as well as variations and modifications thereof not disclosed in the prior art that would occur to one skilled in the art upon reading the above description. Documents incorporated by reference into this patent application shall be considered as part of this application, except that if any term is defined in such incorporated documents in a manner that is inconsistent with the definition expressly or impliedly given herein, then only the definition in this specification shall be considered.

[0054] [Embodiment] (1) A system comprising: a switching assembly connected to a plurality of electrodes disposed on the expandable distal end of the catheter, the switching assembly being configured to electrically connect the plurality of electrodes to one of a position tracking system, an electrophysiological (EP) sensing module, and a generator of ablation power; a processor configured to control the switching assembly to switch between the plurality of electrodes; A system comprising: (2) The system of embodiment 1, wherein the ablation power includes at least one of a radio frequency (RF) power output by an RF generator and an irreversible electroporation (IRE) pulse output by an IRE pulse generator. (3) The system of embodiment 1, wherein each of the plurality of electrodes includes a plurality of electrode segments. (4) the switching assembly and the processor are configured to individually connect each of the plurality of electrode segments of a given electrode when connecting the given electrode to the position tracking system or the EP sensing module; the switching assembly and the processor are configured to connect together all of the plurality of electrode segments of the given electrode upon connecting the given electrode to the generator of the ablation power. A system as described in embodiment 3. (5) The system of embodiment 1, wherein the processor is configured to control whether the electrode is used as a position sensor, an EP sensor, or an ablation electrode by evaluating preset impedance criteria.

[0055] (6) The system of embodiment 5, wherein the processor is configured to evaluate the impedance criterion by determining whether the frequency dependence of the impedance indicates that the electrode is in contact with blood or tissue. (7) A method comprising the steps of: interchangeably switching a plurality of electrodes disposed on the expandable distal end of the catheter between a position tracking system, an electrophysiological (EP) sensing module, and a generator of ablation power using a switching assembly; controlling the switching assembly using a processor to switch the plurality of electrodes; A method comprising: (8) The method of embodiment 7, wherein applying the ablation power comprises applying at least one of radio frequency (RF) ablation power and applying an irreversible electroporation (IRE) pulse. (9) The method of claim 7, wherein each of the plurality of electrodes comprises a plurality of electrode segments. (10) connecting a given electrode to the position tracking system or the EP sensing module includes individually connecting each of the plurality of electrode segments of the given electrode; connecting the given electrode to the generator of ablation power includes connecting together all of the plurality of electrode segments of the given electrode. The method according to embodiment 9.

[0056] (11) The method of embodiment 7, wherein controlling the switching assembly includes controlling whether the electrode is used as a position sensor, an EP sensor, or an ablation electrode by evaluating a preset impedance criterion. (12) The method of embodiment 11, wherein evaluating the preset impedance includes determining whether a frequency dependence of the impedance indicates that the electrode is in contact with either blood or tissue.

Claims

1. 1. A system comprising: a switching assembly connected to a plurality of electrodes disposed on the expandable distal end of the catheter, the switching assembly being configured to electrically connect the plurality of electrodes to one of a position tracking system, an electrophysiological (EP) sensing module, and a generator of ablation power; a processor configured to control the switching assembly to switch electrical connections of the plurality of electrodes between the position tracking system, the EP sensing module, and the generator of ablation power; Equipped with When the detected impedance indicates that at least one electrode of the plurality of electrodes is in contact with tissue, the processor is configured to switch the electrical connection of the at least one electrode from the position tracking system to the EP sensing module or to the generator of ablation power; When the detected impedance indicates that the plurality of electrodes are in contact with surrounding blood, the processor is configured to maintain the electrical connection of the plurality of electrodes to the position tracking system.

2. The system of claim 1 , wherein the ablation power comprises at least one of a radio frequency (RF) power output by an RF generator and an irreversible electroporation (IRE) pulse output by an IRE pulse generator.

3. The system of claim 1 , wherein each of the plurality of electrodes is comprised of a plurality of electrode segments.

4. the switching assembly and the processor are configured to individually connect each of the plurality of electrode segments of a given electrode when connecting the given electrode to the position tracking system or the EP sensing module; the switching assembly and the processor are configured to connect together all of the plurality of electrode segments that make up the given electrode when the given electrode is connected to the generator of ablation power; The system of claim 3.

5. 2. The system of claim 1, wherein the processor is configured to determine whether a frequency dependence of the detected impedance indicates that the plurality of electrodes is in contact with blood or tissue.

6. 4. The system of claim 3, wherein the processor is further configured to switch the electrical connection of each electrode segment of the plurality of electrode segments to the generator of ablation power in response to determining that the detected impedance at each electrode segment of the plurality of electrode segments indicates that the each electrode segment of the plurality of electrode segments is in contact with tissue.

7. The system of claim 3 , wherein the processor is further configured to measure impedance of the electrode segment when the electrode segment is connected to the position tracking system.

8. The system of claim 3 , wherein each electrode segment of the plurality of electrode segments further comprises a temperature sensor disposed thereon.

9. The system of claim 1 , wherein at least one electrode of the plurality of electrodes comprises a temperature sensor disposed on the at least one electrode.

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