Electrode device for diagnosing arrhythmias

Abstract

To provide an electrode apparatus.SOLUTION: An apparatus 10 includes an end effector 100 having loop members 1, 2, 3 with electrodes 37 thereon and is usable with catheter-based systems to measure or provide electrical signals. The end effector can include three loop members that are non-coplanar when expanded unconstrained and that become contiguous to a planar surface when deflected against the surface, a mechanical linkage 50 that joins the three loop members at a distal vertex of the end effector, electrodes having surface treatment to enhance surface roughness of the electrodes, twisted pair electrode wires, a bonded spine cover, and / or any combination thereof.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of priority under the Paris Convention and §§ 119 and 120 to earlier-filed U.S. Provisional Patent Application No. 63 / 031,955 (Attorney Docket No. 253757.000039), entitled "ELECTRODE APPARATUS FOR DIAGNOSIS OF ARRHYTHMIAS," filed May 29, 2020, and U.S. Provisional Patent Application No. 63 / 052,553 (Attorney Docket No. 253757.000040), entitled "INTRALUMINAL REFERENCE ELECTRODE FOR CARDIOVASCULAR TREATMENT APPARATUS," filed July 16, 2020, each of which is incorporated herein by reference as if fully set forth herein. [Background technology]

[0002] Cardiac arrhythmias, such as atrial fibrillation, occur when electrical signals are abnormally conducted from certain regions of cardiac tissue to adjacent tissue, disrupting the normal cardiac cycle and causing an asynchronous rhythm. Sources of unwanted signals may be located in the atrial or ventricular tissue. The unwanted signals may travel through the cardiac tissue to other locations and cause or perpetuate the arrhythmia.

[0003] Treatments for arrhythmias include surgically destroying the source of the signals that cause the arrhythmia and disrupting the conduction pathways of such signals. More recently, it has been discovered that by mapping the electrical properties and volume of the endocardium and selectively ablating cardiac tissue through the application of energy, it is possible to interrupt or modify the propagation of unwanted electrical signals from one part of the heart to another. Ablation techniques destroy unwanted electrical pathways by creating non-conducting lesions.

[0004] In this two-step mapping-then-ablation procedure, electrical activity at points within the heart is detected and measured, typically by advancing a catheter equipped with one or more electrical sensors into the heart and acquiring data at multiple points, which are then used to select a target area where ablation will be performed. Summary of the Invention [Problem to be solved by the invention]

[0005] To increase mapping resolution, it is desirable for a mapping catheter to provide a high-density signal map by using multiple electrodes that sense the electrical activity of tissue within an area on the order of one square centimeter. For mapping within the atria or ventricles (e.g., the apex of the ventricles), it is desirable for the catheter to collect more data signals in a shorter period of time. It is also desirable for such a catheter to be able to conform to various tissue surfaces, e.g., flat, curved, uneven, or non-planar surface tissue, and to be scalable for non-invasive advancement and retraction through a patient's vascular system. [Means for solving the problem]

[0006] The exemplary devices disclosed herein can be generally used in catheter-based systems to measure or provide electrical signals in the heart and surrounding vascular system. The exemplary devices generally include an end effector having loop members carrying electrodes. The end effector may include features that provide improved and / or alternative diagnostic or treatment options compared to existing end effectors. Such features may include three loop members that are not coplanar when expanded and unconstrained, but contact a planar surface when the spine is deflected against the surface; a mechanical link that fastens the three loop members of the end effector; electrodes with surface treatments that increase the electrode's surface roughness; twisted pairs of electrode wires; a bonded spine cover; and / or any combination thereof.

[0007] The exemplary device includes an elongate shaft and an end effector. The elongate shaft has a proximal portion and a distal portion and is configured to be manipulated at the proximal portion to position the distal portion within a patient's heart. The elongate shaft defines a longitudinal axis of the device. The end effector is disposed proximate the distal portion of the elongate shaft. The end effector includes three loop members that overlap at a common distal apex along the longitudinal axis. Each of the three loop members includes a corresponding pair of ends attached to the distal portion of the elongate shaft.

[0008] The end effector may be configured to expand to an unconstrained configuration when unconstrained, defining three distinct planes for each of the three loop members. Deflecting the distal portion of the elongate shaft at an angle relative to the longitudinal axis causes a majority of the length of each of the loop members to contact a planar surface, moving the end effector to a flat configuration, thereby allowing the three loop members to be moved to the flat configuration when positioned against the planar surface.

[0009] When the end effector is in the unconstrained configuration, a majority of the length of each of the loop members may not be coplanar with a majority of the length of at least one of the other loop members.

[0010] Each of the loop members may include a respective support frame extending through the corresponding loop member. Each support frame may be attached to a distal portion of the elongate shaft where each end of a corresponding pair of end portions of the corresponding loop member is attached to the distal portion of the elongate shaft. When the end effector is in the unconstrained configuration, each of the support frames may define a corresponding looped path of the corresponding loop member. Each of the support frames may include a corresponding cross-sectional shape orthogonal to the corresponding looped path, the corresponding cross-sectional shape varying along the corresponding looped path.

[0011] Each of the support frames may include a serrated edge engaged with a distal portion of the elongate shaft.

[0012] Each of the support frames may include a corresponding pair of parallel segments. When the end effector is in the flat configuration, a majority of the length of each segment of the parallel segment pair may be coplanar with one another. When the end effector is in the unconstrained configuration, a majority of the length of at least one segment of the parallel segment pair may not be coplanar with a majority of the corresponding length of at least one other segment of the parallel segment pair.

[0013] Each of the support frames may include a corresponding connecting segment that extends between the corresponding pair of parallel segments and overlaps at a distal apex with a corresponding connecting segment of each of the other support frames.

[0014] The device may further comprise a mechanical linkage that binds the three loop members together at a common distal apex.

[0015] The mechanical link may include a rectangular or oval shape including an opening through which three loop members extend and a side including a seam. Alternatively, the mechanical link may include four continuous, i.e., seam-free, sides. Alternatively, the mechanical link may include three openings through which corresponding loop members extend. At least one of the three openings may be substantially circular, and at least one other of the three openings may have an elongated shape.

[0016] Instead of having a rectangular or oval shape, the mechanical link may be cylindrical with three passages therethrough. Each of the three passages may have a corresponding one of the three loop members extending therethrough. Some or all of the three loop members may have a corresponding tubular housing that surrounds a corresponding support frame and also extends through the corresponding passage. Some or all of the loop members may lack an outer housing where they extend through the corresponding passage (e.g., the support members may be bare at their distal apexes). Some or all of the support members that are bare where they pass through the corresponding passage may have a corresponding tubular housing that surrounds a corresponding support frame elsewhere along the loop path.

[0017] As an alternative to having a rectangular, oval, or cylindrical shape, the mechanical linkage may be shaped in the form of a tapered ring having an annular opening through which the three loop members extend and a tapered height that spans the diameter of the annular opening.

[0018] The device may further include a plurality of electrodes attached to the three loop members, each electrode having a surface characterized by a roughness parameter Ra representing the arithmetic mean deviation of the surface profile, Ra being between about 0.3 micrometers and about 0.4 micrometers.

[0019] The device may further include wires connected to the electrodes carried by the loop member. The wires may be bundled within the loop member. The device may further include wire pairs twisted together within the end effector. Each wire pair may be electrically connected to a corresponding electrode pair.

[0020] In a first possible loop member housing configuration, three loop members may each include an inner tubular housing, an outer tubular housing, and an electrical conductor. The inner tubular housing may surround at least a portion of the corresponding support frame. The outer tubular housing may surround at least a portion of the inner tubular housing and may be coupled to the inner tubular housing. The electrical conductor may be at least partially disposed within the outer tubular housing and outside the inner tubular housing. Each of the three loop members may further include an irrigation tube positioned within the outer tubular housing and outside the inner tubular housing.

[0021] As a second possible loop member housing configuration, as an alternative to the first possible configuration, three loop members may each include a tubular housing, electrical conductors, and irrigation tubing. Each corresponding tubular housing may surround a corresponding support frame and may have at least two lumens therethrough, with the corresponding support frame extending through a first of the two lumens. The electrical conductors may be disposed within a second of the at least two lumens, separate from the first lumen. The irrigation tubing may also be disposed within the second lumen.

[0022] As a third possible loop member housing configuration, as an alternative to the first and second possible configurations, three loop members may each include a tubular housing, electrical conductors, and an irrigation lumen. Each tubular housing may surround a corresponding support frame and may include at least three lumens extending therethrough. Each support frame may extend through a first of the at least three lumens. The electrical conductors may be disposed within a second of the at least three lumens, separate from the first lumen. A third of the at least three lumens, separate from the first and second lumens, may be configured for irrigation. The third lumen may be configured for irrigation direction and / or may include an irrigation tube.

[0023] The first, second, and third loop member configurations can be combined such that a loop member in the device can have one of the first possible loop member housing configuration, the second possible loop member housing configuration, and the third possible loop member housing configuration, and another loop member in the device can have a different configuration.

[0024] The device may further include at least one pull wire extending through and attached to a distal portion of the elongate shaft such that when the pull wire is retracted relative to the elongate shaft toward the proximal portion, the distal portion and the end effector are bent at an angle relative to the longitudinal axis.

[0025] An exemplary method may include one or more of the following steps, not presented in any particular order: A first loop member, a second loop member, and a third loop member may each be shaped to form a corresponding loop; A corresponding pair of ends of the first loop member, the second loop member, and the third loop member may be coupled to a distal portion of the elongate shaft; The first loop member, the second loop member, and the third loop member may be overlapped at a common distal apex distal to the distal portion of the elongate shaft such that a majority of the first loop member is not coplanar with a majority of at least one of the second loop member and the third loop member when the first loop member, the second loop member, and the third loop member are unconstrained; The elongate shaft may be manipulated to press a majority of the first loop member, a majority of the second loop member, and a majority of the third loop member into contact with a planar surface. The first loop member, the second loop member, and the third loop member may be positioned in contact with the planar surface such that a majority of the first loop member, a majority of the second loop member, and a majority of the third loop member are aligned with the planar surface.

[0026] The method may further include positioning the first loop member, the second loop member, the third loop member, and the distal portion of the elongate shaft within an intravascular catheter (guide sheath) while allowing the proximal portion of the elongate shaft to extend proximally from the intravascular catheter.

[0027] The method may further include manipulating a proximal portion of the elongate shaft to move the first loop member, the second loop member, and the third loop member out of the distal end of the catheter.

[0028] The method may further include manipulating a proximal portion of the elongate shaft to press a majority of the first loop member, a majority of the second loop member, and a majority of the third loop member into contact with a planar surface.

[0029] The method may further include shaping a first support frame to define a first looped path, the first support frame including a cross-sectional shape that varies along the first looped path and that is orthogonal to the first looped path. The method may further include positioning the first support frame within the first loop member. The method may further include shaping a second support frame to define a second looped path, the second support frame including a cross-sectional shape that varies along the second looped path and that is orthogonal to the second looped path. The method may further include positioning the second support frame within the second loop member. The method may further include shaping a third support frame to define a third looped path, the third support frame including a cross-sectional shape that varies along the third looped path and that is orthogonal to the third looped path. The method may further include positioning the third support frame within the third loop member.

[0030] The method may further include attaching the first support frame, the second support frame, and the third support frame to a distal portion of the elongate shaft at each end of a corresponding pair of ends of the first loop member, the second loop member, and the third loop member.

[0031] The method may further include engaging a serrated edge of each of the first support frame, the second support frame, and the third support frame with a distal portion of the elongate shaft.

[0032] The method may further include positioning the first support frame, the second support frame, and the third support frame such that the first looped path defines a first plane that intersects with at least one of a second plane defined by the second looped path and a third plane defined by the third looped path.

[0033] The method may further include molding a first pair of parallel segments on a first support frame, molding a second pair of parallel segments on a second support frame, and molding a third pair of parallel segments on a third support frame. The method may further include manipulating the elongate shaft to move a majority of the length of each segment of the first pair of parallel segments, the second pair of parallel segments, and the third pair of parallel segments so that they are aligned parallel to the planar surface.

[0034] The method may further include molding a first connecting segment extending between the first pair of parallel segments, a second connecting segment extending between the second pair of parallel segments, and a third connecting segment extending between the third pair of parallel segments.

[0035] The method may further include mechanically bunching the three loop members at the distal apex.

[0036] The method may further include forming a clip having two ends and a partially rolled shape with openings sized to receive the first, second, and third loop members. The method may further include moving the first, second, and third loop members through the openings into the partially rolled shape. The method may further include moving the two ends of the clip to reduce the opening. The method may further include constraining the first, second, and third loop members with the clip at a distal apex.

[0037] As an alternative to restraining the first, second, and third loop members with clips, the method may include restraining the first, second, and third loop members at their distal apexes within openings in an alternative mechanical link having a continuous circumference.

[0038] As another alternative, the method may include forming another alternative mechanical linkage having a rectangular or oval shape with a first opening, a second opening, and a third opening. The method may further include positioning a first loop member within the first opening, a second loop member within the second opening, and a third loop member within the third opening. The method may further include linking the first loop member, the second loop member, and the third loop member with the mechanical linkage at a distal apex. The method may further include forming the first opening to be substantially circular. The method may further include forming at least one of the second opening and the third opening to be elongated.

[0039] As another alternative, the method may include forming another alternative mechanical linkage having a cylindrical shape with a first passage therethrough, a second passage therethrough, and a third passage therethrough. The method may further include positioning a first loop member within the first passage, a second loop member within the second passage, and a third loop member within the third passage. The method may further include linking the first loop member, the second loop member, and the third loop member with the mechanical linkage at a distal apex. The method may further include surrounding each of the first loop member, the second loop member, and the third loop member with a corresponding tubular housing. The method may further include positioning each of the corresponding tubular housings to pass through the first passage, the second passage, and the third passage, respectively. As an alternative to positioning a corresponding tubular housing to pass through the first passage, the second passage, and the third passage, the method may include enclosing each of the first loop member, the second loop member, and the third loop member with a corresponding tubular housing such that at least corresponding portions of the first loop member, the second loop member, and the third loop member are removed where the corresponding loop member extends through the corresponding passage.

[0040] As another alternative to restraining the first, second, and third loop members with clips, the method may include restraining the first, second, and third loop members at their distal apexes within an opening of a mechanical link including a tapered ring having an annular opening through which the first, second, and third loop members extend and a height that tapers across the diameter of the annular opening.

[0041] The method may further include attaching the plurality of electrodes to the three loop members. The method may further include polishing at least a portion of a surface of each electrode of the plurality of electrodes. The method may further include swaging each electrode of the plurality of electrodes.

[0042] The method may further include electrically connecting wires to electrodes carried by the first loop member, the second loop member, and the third loop member. The method may further include bundling the wires within the first loop member, the second loop member, and the third loop member.

[0043] The method may further include at least partially enclosing the first support frame within the inner tubular housing. The method may further include positioning a plurality of electrical conductors adjacent to the first support frame and outside of the inner tubular housing. The method may further include at least partially enclosing the inner tubular housing and the plurality of electrical conductors with an outer tubular housing. The method may further include coupling the outer tubular housing to the inner tubular housing.

[0044] As an alternative to the step of including an inner tubular housing and an outer tubular housing, the method may include positioning a first support frame within a first lumen of a tubular housing having at least two lumens therethrough. The method may further include positioning a plurality of electrical conductors within a second lumen of the tubular housing, wherein the second lumen is separate from the first lumen. The method may further include positioning an irrigation tube within the second lumen.

[0045] As another alternative to the step of including an inner tubular housing and an outer tubular housing, the method may further include positioning the first support frame within a first lumen of a tubular housing having at least three lumens therethrough. The method may further include positioning a plurality of electrical conductors within a second lumen of the tubular housing, where the second lumen is separate from the first lumen. The method may further include positioning an irrigation tube within a third lumen of the tubular housing, where the third lumen is separate from the first and second lumens.

[0046] Another exemplary method may include the following steps, not presented in any particular order: A distal portion of an elongate shaft and an end effector extending distally from the distal portion may be moved through a catheter (or guide sheath) and into the heart. The end effector may be moved from the distal end of the catheter by manipulating a proximal portion of the elongate shaft. The end effector may be expanded distally from the distal end of the catheter to an unconstrained configuration such that, in the unconstrained configuration, the end effector has three loop members that overlap in three layers at a common distal apex. The proximal portion of the elongate shaft may be manipulated to press the end effector against the cardiac tissue. Pressing the end effector against the cardiac tissue may result in a majority of each of the loop members conforming to the cardiac tissue.

[0047] The method may further include expanding the end effector to an unconstrained configuration such that a majority of each of the three loop members is not coplanar with at least one of the other three loop members.

[0048] The method may further include bending three support frames, each extending through a corresponding one of the three loop members and attached to a distal portion of the elongate shaft, as a result of pressing the end effector against the cardiac tissue.

[0049] The method may further include positioning the three support frames such that each of the support frames has a corresponding pair of parallel segments. The method may further include aligning a majority of a length of each segment of each of the corresponding pairs of parallel segments parallel to the cardiac tissue as a result of pressing the end effector against the cardiac tissue. The method may further include bending the three support frames on either side of a majority of a length of each segment of each of the corresponding pairs of parallel segments as a result of pressing the end effector against the cardiac tissue.

[0050] The method may further include bending the three support frames along narrow segments of the support frames, the narrow segments having a cross-sectional area smaller than the cross-sectional area of ​​a majority of each length of each segment of each of the corresponding pairs of parallel segments.

[0051] The method may further include positioning the three support frames such that each support frame includes a corresponding connecting segment extending between a corresponding pair of parallel segments and overlapping at a distal apex with a respective corresponding connecting segment of the other support frames.

[0052] The method may further include maintaining the overlap of the three loop members at the distal apex with a mechanical link positioned at the distal apex.

[0053] The method may further include receiving an electrical signal from an electrode positioned on the end effector and in contact with cardiac tissue, the signal having a noise indicative signal of less than 0.03 mV. [Brief explanation of the drawings]

[0054] [Figure 1A] FIG. 1 is a diagram of a catheter having an end effector at a distal portion of the catheter and a proximal handle at a proximal portion of the catheter, in accordance with an aspect of the present invention. [Figure 1B] 1B is an orthogonal side view of a variation of the device shown in FIG. 1A, according to an embodiment of the present invention. [Figure 1C] 1B is an orthogonal side view of a variation of the device shown in FIG. 1A, according to an embodiment of the present invention. [Figure 2A] 1A and 1B show a more detailed view of the intermediate section and distal portion of the shaft of a catheter according to an aspect of the present invention. [Figure 2B] 1A and 1B show a more detailed view of the intermediate section and distal portion of the shaft of a catheter according to an aspect of the present invention. [Figure 2C] 1A and 1B show a more detailed view of the intermediate section and distal portion of the shaft of a catheter according to an aspect of the present invention. [Figure 3A] 1A-1C are front and side views of an end effector, in accordance with an aspect of the present invention. [Figure 3B] 1A-1C are front and side views of an end effector, in accordance with an aspect of the present invention. [Figure 4A] 10A-10C illustrate the orientation of loop members of an end effector, according to aspects of the present invention. [Figure 4B] 10A-10C illustrate the orientation of loop members of an end effector, according to aspects of the present invention. [Figure 4C] 10A-10C illustrate the orientation of loop members of an end effector, according to aspects of the present invention. [Figure 4D] 10A-10C illustrate the orientation of loop members of an end effector, according to aspects of the present invention. [Figure 5A] FIG. 10 illustrates electrode spacing and dimensions in an end effector, according to an aspect of the present invention. [Figure 5B] FIG. 10 is another view of an end effector including a mechanical linkage, in accordance with an aspect of the present invention. [Figure 6A] FIG. 1 is a diagram of an end effector pressed against a planar surface, according to an aspect of the present invention. [Figure 6B] FIG. 1 is a diagram of an end effector pressed against a planar surface, according to an aspect of the present invention. [Figure 7] FIG. 10 is a diagram of a mid-section of a catheter shaft being deflected by a puller wire. [Figure 8A] FIG. 10 is a diagram of a support frame for an end effector in an unconstrained configuration, in accordance with aspects of the present invention. [Figure 8B] FIG. 10 is a diagram of a support frame for an end effector in an unconstrained configuration, in accordance with aspects of the present invention. [Figure 8C] 8C is a diagram of the support frame of FIGS. 8A and 8B being pressed against a surface, according to an embodiment of the present invention. [Figure 8D] 8C is a diagram of the support frame of FIGS. 8A and 8B being pressed against a surface, according to an embodiment of the present invention. [Figure 9A] 1A-1C are diagrams of exemplary support frames with varying cross-sections along their corresponding looped paths, in accordance with aspects of the present invention. [Figure 9B] 1A-1C are diagrams of exemplary support frames with varying cross-sections along their corresponding looped paths, in accordance with aspects of the present invention. [Figure 10A] FIG. 10 is a diagram of an exemplary support frame of an end effector, in accordance with aspects of the present invention. [Figure 10B] FIG. 10B is a cross-sectional view of the exemplary support frame shown in FIG. 10A. [Figure 10C] FIG. 10B is a cross-sectional view of the exemplary support frame shown in FIG. 10A. [Figure 10D] FIG. 10B is a cross-sectional view of the exemplary support frame shown in FIG. 10A. [Figure 10E] FIG. 10B is a cross-sectional view of the exemplary support frame shown in FIG. 10A. [Figure 10F]10A-10C are diagrams of possible transitions between regions of an end effector support frame, in accordance with aspects of the present invention. [Figure 10G] 10A-10C are diagrams of possible transitions between regions of an end effector support frame, in accordance with aspects of the present invention. [Figure 11A] FIG. 10 is a diagram of an asymmetric support frame for an end effector, in accordance with an aspect of the present invention. [Figure 11B] FIG. 11B is a cross-sectional view of the asymmetric support frame shown in FIG. 11A. [Figure 11C] FIG. 11B is a cross-sectional view of the asymmetric support frame shown in FIG. 11A. [Figure 12A] FIG. 10 is a diagram of a symmetric support frame for an end effector, according to an aspect of the present invention. [Figure 12B] FIG. 12B is a cross-sectional view of the symmetrical support frame shown in FIG. 12A. [Figure 12C] FIG. 12B is a cross-sectional view of the symmetrical support frame shown in FIG. 12A. [Figure 12D] FIG. 12B is a detailed section of the symmetrical support frame shown in FIG. 12A. [Figure 13A] FIG. 10 illustrates another asymmetric support frame for an end effector, in accordance with an aspect of the present invention. [Figure 13B] FIG. 13B is a cross-sectional view of the asymmetric support frame shown in FIG. 13A. [Figure 13C] FIG. 13B is a cross-sectional view of the asymmetric support frame shown in FIG. 13A. [Figure 13D] FIG. 13B is a detailed section of the asymmetric support frame shown in FIG. 13A. [Figure 13E] FIG. 13B is a detailed section of the asymmetric support frame shown in FIG. 13A. [Figure 14A] FIG. 10 is a diagram of a symmetric support frame for an end effector, according to an aspect of the present invention. [Figure 14B] FIG. 14B is a cross-sectional view of the symmetrical support frame shown in FIG. 14A. [Figure 14C] FIG. 14B is a cross-sectional view of the symmetrical support frame shown in FIG. 14A. [Figure 14D] FIG. 14B is a detailed section of the symmetrical support frame shown in FIG. 14A. [Figure 14E]FIG. 14B is a detailed section of the symmetrical support frame shown in FIG. 14A. [Figure 15] 10A-10C are diagrams of wavy or sawtooth shapes at the ends of a support frame, according to aspects of the present invention. [Figure 16A] 10A-10C are diagrams illustrating deformation of a support frame due to the application of various forces, according to an aspect of the present invention. [Figure 16B] 10A-10C are diagrams illustrating deformation of a support frame due to the application of various forces, according to an aspect of the present invention. [Figure 16C] 10A-10C are diagrams illustrating deformation of a support frame due to the application of various forces, according to an aspect of the present invention. [Figure 16D] 10A-10C are diagrams illustrating deformation of a support frame due to the application of various forces, according to an aspect of the present invention. [Figure 17A] 1A-1C are diagrams of exemplary rectangular or oval mechanical links having a single closable opening and used to fasten a loop member, according to aspects of the present invention. [Figure 17B] 1A-1C are diagrams of exemplary rectangular or oval mechanical links having a single closable opening and used to fasten a loop member, according to aspects of the present invention. [Figure 17C] 1A-1C are diagrams of exemplary rectangular or oval mechanical links having a single closable opening and used to fasten a loop member, according to aspects of the present invention. [Figure 17D] 1A-1C are diagrams of exemplary rectangular or oval mechanical links having a single closable opening and used to fasten a loop member, according to aspects of the present invention. [Figure 18A] 1A-1C are diagrams of exemplary rectangular or oval mechanical links having a single opening and used to fasten a loop member, according to aspects of the present invention. [Figure 18B] 1A-1C are diagrams of exemplary rectangular or oval mechanical links having a single opening and used to fasten a loop member, according to aspects of the present invention. [Figure 18C]1A-1C are diagrams of exemplary rectangular or oval mechanical links having a single opening and used to fasten a loop member, according to aspects of the present invention. [Figure 19A] FIG. 10 is a diagram of an exemplary rectangular or oval mechanical link having three openings used to fasten loop members according to an embodiment of the present invention. [Figure 19B] FIG. 10 is a diagram of an exemplary rectangular or oval mechanical link having three openings used to fasten loop members according to an embodiment of the present invention. [Figure 19C] FIG. 10 is a diagram of an exemplary rectangular or oval mechanical link having three openings used to fasten loop members according to an embodiment of the present invention. [Figure 20A] 10A-10C are diagrams of exemplary cylindrical mechanical links having three passages and used to fasten support members of loop members, according to an embodiment of the present invention. [Figure 20B] 10A-10C are diagrams of exemplary cylindrical mechanical links having three passages and used to fasten support members of loop members, according to an embodiment of the present invention. [Figure 20C] 10A-10C are diagrams of exemplary cylindrical mechanical links having three passages and used to fasten support members of loop members, according to an embodiment of the present invention. [Figure 21A] 1A-1C are diagrams of exemplary cylindrical mechanical links used to fasten loop members having three passages and a tubular housing covering a support member, according to an embodiment of the present invention. [Figure 21B] 1A-1C are diagrams of exemplary cylindrical mechanical links used to fasten loop members having three passages and a tubular housing covering a support member, according to an embodiment of the present invention. [Figure 21C] 1A-1C are diagrams of exemplary cylindrical mechanical links used to fasten loop members having three passages and a tubular housing covering a support member, according to an embodiment of the present invention. [Figure 22A] 1 is a diagram of an exemplary mechanical linkage, in accordance with an aspect of the present invention. [Figure 22B] 1 is a diagram of an exemplary mechanical linkage, in accordance with an aspect of the present invention. [Figure 22C] 1 is a diagram of an exemplary mechanical linkage, in accordance with an aspect of the present invention. [Figure 23A] 1A-1C are diagrams of exemplary loop members having inner and outer housings surrounding a support frame, in accordance with aspects of the present invention. [Figure 23B] 1A-1C are diagrams of exemplary loop members having inner and outer housings surrounding a support frame, in accordance with aspects of the present invention. [Figure 24A] FIG. 10 is a diagram of an alternative exemplary loop member according to an embodiment of the present invention, the loop member having a tubular housing with two or three lumens passing therethrough, within which a support frame, conductive wires, and irrigation tubing are positioned. [Figure 24B] FIG. 10 is a diagram of an alternative exemplary loop member according to an embodiment of the present invention, the loop member having a tubular housing with two or three lumens passing therethrough, within which a support frame, conductive wires, and irrigation tubing are positioned. [Figure 24C] FIG. 10 is a diagram of an alternative exemplary loop member according to an embodiment of the present invention, the loop member having a tubular housing with two or three lumens passing therethrough, within which a support frame, conductive wires, and irrigation tubing are positioned. [Figure 25A] 1A-1C are diagrams of exemplary end effector electrodes having roughened surfaces, in accordance with aspects of the present invention. [Figure 25B] 1A-1C are diagrams of exemplary end effector electrodes having roughened surfaces, in accordance with aspects of the present invention. [Figure 25C] 1A-1C are diagrams of exemplary end effector electrodes having roughened surfaces, in accordance with aspects of the present invention. [Figure 25D] 1A-1C are diagrams of exemplary end effector electrodes having roughened surfaces, in accordance with aspects of the present invention. [Figure 25E]1A-1C are diagrams of exemplary end effector electrodes having roughened surfaces, in accordance with aspects of the present invention. [Figure 25F] 1A-1C are diagrams of exemplary end effector electrodes having roughened surfaces, in accordance with aspects of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0055] The following description of specific examples of the present invention should not be used for purposes of limiting the scope of the invention. The drawings, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of the invention. The detailed description illustrates by way of example, and not in limitation, the principles of the present invention. 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 illustrates, by way of example, one of the best modes contemplated for carrying out the invention. As will be understood, the present invention is capable of other different or equivalent aspects, all without departing from the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

[0056] Any one or more of the teachings, expressions, variations, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, variations, examples, etc. described herein. Accordingly, the teachings, expressions, variations, examples, etc. described below should not be considered in isolation from one another. In light of the teachings herein, various suitable ways in which the teachings herein can be combined will be readily apparent to those skilled in the art. Such modifications and variations are intended to be within the scope of the claims.

[0057] As used herein, the term "about" or "approximately" in reference to any numerical value or range of values ​​indicates a suitable tolerance of dimensions that allows a portion of a component or a 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 recited value; for example, "about 90%" may refer to a range of values ​​of 81% to 99%. Furthermore, as used herein, the terms "patient," "host," "user," and "subject" refer to any human or animal subject, and are not intended to limit the use of the systems or methods described above to humans, although use of the present invention in human patients represents a preferred embodiment.

[0058] FIG. 1A shows an exemplary device 10 having an elongate shaft 9, a distal electrode assembly or end effector 100, and a deflection control handle 16. The shaft 9 is preferably a tubular member. FIGS. 1B and 1C are orthogonal side views of variations of the device 10 shown in FIG. 1A. While the device 10 includes the novel aspects described herein, it may have several design variations. The device 10 is presented by way of example only and is not intended to be limiting.

[0059] The elongate shaft 9 has a proximal portion 12 in the form of an elongate catheter body, an intermediate deflection portion 14, and a distal portion 14A. A deflection control handle 16 is attached to the proximal end of the catheter body 12. The distal portion 14A of the shaft is coupled to an end effector 100 via a connector tube 46. The elongate shaft 9 forms a tubular catheter body sized or otherwise configured to pass through the vascular system. The end effector 100 has multiple loop members 1, 2, 3 that overlap at a common distal apex and are fastened at the distal apex by a mechanical linkage 50.

[0060] When the device is unconstrained and aligned, the proximal portion 12, mid-section 14, distal portion 14A, and end effector 100 are generally aligned along the longitudinal axis LL. The mid-section 14 can be configured to bend to deflect the distal portion 14A and end effector 100 from the longitudinal axis LL.

[0061] The end effector 100 can be collapsed (compressed toward the longitudinal axis LL) to fit within a guide sheath or catheter (not shown). The end effector 100 can be moved distally through the guide sheath by pushing the shaft 9 distally. The end effector 100 can be moved out the distal end of the guide sheath by manipulating the shaft 9 and / or the control handle 16. One example of a suitable guide sheath for this purpose is the Preface Braided Guiding Sheath, available from Biosense Webster, Inc. (Irvine, California, USA).

[0062] The end effector 100 includes a first loop member 1, a second loop member 2, and a third loop member 3. Each loop member 1, 2, and 3 has two spines 1A, 1B, 2A, 2B, 3A, and 3B and a connector 1C, 2C, or 3C connecting the two spines of the corresponding loop member 1, 2, or 3. The spines 1A and 1B of the first loop member 1 are connected by a first connector 1C, the spines 2A and 2B of the second loop member 2 are connected by a second connector 2C, and the spines 3A and 3B of the third loop member 3 are connected by a third connector 3C. The connectors 1C, 2C, and 3C are preferably arcuate members, as shown.

[0063] For each loop member 1, 2, 3, when end effector 100 is expanded in the unconstrained configuration, spines 1A, 1B, 2A, 2B, 3A, 3B of each spine pair may be substantially parallel to one another along a majority of their respective lengths, as shown in FIG. 1A. Preferably, when end effector 100 is in the unconstrained configuration, all spines of the end effector are parallel to one another along a majority of their respective lengths. Even when all spines are parallel, they are not necessarily coplanar, as described in more detail elsewhere herein, e.g., in connection with FIGS. 4A-4C.

[0064] Each spine 1A, 1B, 2A, 2B, 3A, or 3B may have a length in the range of approximately 5 to 50 mm, preferably in the range of approximately 10 to 35 mm, and more preferably approximately 28 mm. The parallel portions of each spine 1A, 1B, 2A, 2B, 3A, or 3B may be spaced apart from one another by a distance in the range of approximately 1 mm to approximately 20 mm, preferably in the range of approximately 2 to 10 mm, and more preferably approximately 4 mm. Preferably, each spine 1A, 1A, 2A, 2B, 3A, or 3B carries at least eight electrodes per spine member. The end effector preferably includes six spines as shown. With six spines each carrying eight electrodes, the end effector 100 includes 48 electrodes.

[0065] Distal electrode 38D and proximal electrode 38P are located near distal portion 14A of shaft 9. Electrodes 38D and 38P may be configured together to define a reference electrode (an electrode not in contact with tissue) (e.g., by masking a portion of one electrode and a different portion of the other electrode). One or more impedance sensing electrodes 38R may be configured to enable position sensing using impedance position sensing techniques, as described in U.S. Patent Nos. 5,944,022, 5,983,126, and 6,445,864 (copies of which are provided in priority U.S. Provisional Patent Application No. 63 / 031,955 and incorporated herein by reference).

[0066] 2A-2C show the mid-section 14 and distal portion 14A of the device shaft 9 in greater detail. FIG. 2A is a cross-sectional view along the longitudinal axis LL of the elongate shaft 9 at the boundary between the proximal portion 12 and the mid-section 14. FIG. 2B is a cross-sectional view of the mid-section 14 perpendicular to the longitudinal axis LL. FIG. 2C is an isometric view of the distal portion 14A and connector tube 46, showing certain components in transparency.

[0067] As shown in FIG. 2A , the catheter body 12 may be an elongated tubular configuration having a single axial passageway or central lumen 18. The catheter body 12 is flexible, i.e., bendable, but substantially incompressible along its length. The catheter body 12 may have any suitable construction and may be made of any suitable material. In some embodiments, the catheter body 12 has an outer wall 20 made of polyurethane or PEBAX. The outer wall 20 may include an embedded braided mesh, such as stainless steel, to increase the torsional stiffness of the catheter body 12, thereby allowing rotation of the control handle 16 to correspondingly rotate the mid-section 14.

[0068] The outer diameter of the catheter body 12 is preferably about 8 French or less, more preferably about 7 French. The thickness of the outer wall 20 is thin enough to allow the central lumen 18 to accommodate at least one puller wire, one or more lead wires, and any other desired wires, cables, or tubing. If desired, the inner surface of the outer wall 20 is lined with a stiffening tube 22 to improve torsional stability. In some embodiments, the outer wall 20 has an outer diameter of about 0.090 inches to about 0.094 inches (about 2.3 mm to about 2.4 mm) and an inner diameter of about 0.061 inches to about 0.065 inches (about 1.5 mm to about 1.7 mm).

[0069] As specifically shown in FIG. 2B , the mid-section 14 may include a short tube portion 19 having multiple lumens, such as four off-axis lumens 31, 32, 33, and 34. First lumen 31 carries multiple lead wires 40S for ring electrodes 37 carried on spines 1A, 1B, 2A, 2B, 3A, and 3B. Second lumen 32 carries first puller wire 24. Third lumen 33 carries cable 36 for electromagnetic position sensor 42 and lead wires 40D and 40P for distal and proximal ring electrodes 38D and 38P carried on the catheter proximal to end effector 100. Electromagnetic position sensing technology is described in U.S. Patent Nos. 5,391,199, 5,443,489, 5,558,091, 6,172,499, 6,590,963, and 6,788,967 (copies of which are provided in priority U.S. Provisional Patent Application No. 63 / 031,955, which is incorporated herein by reference). The magnetic position sensor 42, in conjunction with the impedance sensing electrode 38R, can be utilized in a hybrid magnetic and impedance position sensing technology known as ACL, which is described in U.S. Patent Nos. 7,536,218, 7,756,567, 7,848,787, 7,869,865, and 8,456,182 (copies of which are provided in priority U.S. Provisional Patent Application No. 63 / 031,955, which is incorporated herein by reference).

[0070] A fourth lumen 34 (e.g., diametrically opposite the second lumen 32 as shown) carries a second puller wire 26. The tubing 19 is fabricated from a suitable non-toxic material that is preferably more flexible than the catheter body 12. One suitable material for the tubing 19 is braided polyurethane, i.e., polyurethane with an embedded mesh, such as braided stainless steel. The dimensions of each lumen are large enough to accommodate lead wires, puller wires, cables, and any other components.

[0071] The useful length of the catheter shaft 9, i.e., the portion of the device 10 other than the end effector that can be inserted into the body, can vary as needed. Preferably, the useful length is in the range of about 110 cm to about 120 cm. The length of the midsection 14 is a relatively smaller portion of the useful length, preferably in the range of about 3.5 cm to about 10 cm, more preferably about 5 cm to about 6.5 cm.

[0072] As shown and described in Figures 2A and 2B of U.S. Patent No. 9,820,664 (a copy of which is provided in U.S. Provisional Patent Application No. 63 / 031,955, which is incorporated herein by reference), the proximal portion 12 of the catheter body may be attached to the intermediate section 14. If desired, a spacer (not shown) may be disposed within the catheter body 12 between the distal end of the stiffening tube (if provided) and the proximal end of the intermediate section 14. This spacer may provide a transition in flexibility at the junction between the catheter body 12 and the intermediate section 14, allowing this junction to bend smoothly without folding or kinking. A catheter having such a spacer is described in U.S. Patent No. 5,964,757 (a copy of which is provided in U.S. Provisional Patent Application No. 63 / 031,955, which is incorporated herein by reference).

[0073] The distal portion 14A of the shaft 9 may be substantially continuous with the mid-section 14 such that the mid-section includes the distal portion 14A. In this case, the distal portion is distinguished from the mid-section 14 by having one or more (optional) annular electrodes 38R positioned thereon. Thus, as referred to herein, the distal portion 14A of the shaft 9 may correspond to the distal portion of the mid-section 14.

[0074] 2C, the distal portion 14A of the shaft 9 is coupled to the end effector 100 by a connector tube 46. The connector tube 46 includes an insert for connecting the loop members 1, 2, 3 to provide an electrical connection through the catheter body intermediate portion 14. The connector tube 46 can be attached to the catheter distal portion 14A by adhesive or the like.

[0075] The connector tube 46 may be shaped to accommodate various components such as an electromagnetic position sensor, a pull wire anchor, and ring electrodes 38D, 38P. The connector tube 46 may include a central lumen 48 for accommodating various components. The connector tube 46 and mid-section 14 (distal portion 14A of shaft 9) may be attached using a circumferential notch 27 (FIG. 2A) at the distal end of tube 19 that receives the inner surface of the proximal end of the connector tube 46. The mid-section 14 and connector tube 46 may be attached by adhesive or the like.

[0076] The connector tube 46 can house various components, such as the electromagnetic position sensor 42, a distal anchor bar for the first puller wire 24, and another anchor bar 51B for the second puller wire 26. In FIG. 2C, only the anchor 51B for the second puller wire 26 is visible. The anchor bar for the first puller wire may be configured as a mirror image of the illustrated puller wire anchor bar 51B. A distal ring electrode 38D carried on the outer surface of the tube 19 near the distal end of the intermediate deflection section 14 (distal portion 14A of shaft 9) is connected to a lead wire formed in the side wall of the tube 19. The distal end of the lead wire is welded or otherwise attached to the distal ring electrode 38D as known in the art.

[0077] 3A and 3B are front and side views of end effector 100. Three loop members 1, 2, and 3 overlap along longitudinal axis LL at a common distal apex 50. Each loop member 1, 2, and 3 includes a proximal end segment 1D, 2D, 3D, 1E, 2E, and 3E, respectively, that is attached to distal portion 14A of elongate shaft 9 of device 10.

[0078] The end effector 100 is in an unconstrained configuration as shown in Figures 3A and 3B. When the end effector is unconstrained, loop members 1, 2, and 3 are not coplanar with one another, as best seen in the side view of Figure 3B. Also shown in Figure 3B is an orthogonal axis OO that is perpendicular to the longitudinal axis LL and generally perpendicular to a front view of the end effector 100.

[0079] Figures 4A-4D are diagrams showing the orientation of the loop members of the end effector. Figures 4B and 4C are cross-sectional views of the end effector 100 shown in Figure 4A. Figure 4D is a view of the end effector 100 as viewed proximally from the distal end of the end effector 100 shown in Figure 4A.

[0080] FIG. 4B shows a cross-sectional view through connector 46. Connector 46 includes a tubular insert 200 having a center coincident with longitudinal axis LL. Orthogonal planes P4 and P5 are aligned with the longitudinal axis to define four quadrants within insert 200. Parallel reference plane P5 is generally parallel to the front view of end effector 100 shown in FIG. 3A. Orthogonal reference plane P4 is generally perpendicular to parallel reference plane P5 and generally parallel to orthogonal axis OO. Apertures 202, 204, 206, 208, 210, and 212 of insert 200 are sized, positioned, and otherwise configured to receive corresponding end segments 1D, 2D, 3D, 1E, 2E, and 3E. Openings 214, 216 are disposed on an orthogonal plane P4 for insertion of pull or electrical wires and any other components from and to end effector 100. Components that traverse apertures 202, 204, 206, 208, 210, 212 and openings 214, 216 are not shown in FIG. 4B for purposes of illustration.

[0081] This configuration of apertures 202, 204, 206, 208, 210, and 212 arranges loop members 1, 2, and 3 in a non-coplanar, unconstrained arrangement as shown in the cross-sectional view (viewed from the proximal end) of Figure 4C, whereby loop 3 defines a plane P3 (bounded by spines 3A and 3B and connector 3C) that intersects orthogonal plane P4, loop 1 has a plane P1 (bounded by spines 1A and 1B and connector 1C) that intersects both orthogonal planes P4 and P5, and loop 2 has a plane P2 (bounded by spines 2A and 2B and connector 2C) that intersects orthogonal plane P4 and is substantially parallel to orthogonal plane P5. Figure 4D shows the distal end of the end effector as viewed proximally. Specifically, Loop 1 (defined by spines 1A, 1B, and connector 1C) is arranged to define a plane P1 that is continuous with or extends through spines 1A, 1B, and Loop 1C, while Loop 2's spines 2A, 2B, and connector 2C are arranged to define a plane P2 that intersects with plane P1. Loop 3's spines 3A, 3B, and connector 3C are arranged to define a plane P3 that intersects with both planes P1 and P2. The planes P1, P2, and P3 defined by corresponding Loops 1, 2, and 3 are configured such that Loops P1, P2, and P3 are not continuous or aligned such that a common plane passes through them. Thus, Planes P1, P2, and P3 are not parallel but intersect each other. Note that the longitudinal axis LL may be continuous with a second plane P2. In an alternative embodiment, the longitudinal axis LL may lie between the areas bounded by the planes P1, P2 and P3.

[0082] 4A-4D are examples of non-coplanar arrangements of loop members 1, 2, 3 in an end effector. There are many possible non-coplanar arrangements of loop members that can provide an end effector that looks like the end effector 100 shown.

[0083] FIG. 5A illustrates the spacing and dimensions of electrodes in the end effector. The electrode 37 may include one or more pairs of closely spaced bipolar microelectrodes 37A, 37B, configured to pick up electrocardiogram signals from tissue. In this embodiment, the pair of microelectrodes 37A, 37B has a separation gap distance (Lg) between them of approximately 1 mm to 200 micrometers, preferably approximately 200 micrometers or less. Each electrode 37A, 37B has an electrode area (Ae) and an electrode length (L). The electrode length may be approximately 2 mm to approximately 0.5 mm. Each spine electrode 37 preferably has a length of 1 mm to 0.5 mm. The illustrated electrode 37 is cylindrical, and the electrode area is calculated as the product of the electrode's circumference (C) and length (L). The spine has a diameter (D).

[0084] Additionally or alternatively, microelectrodes 37A, 37B need not completely surround each loop 1, 2, 3. In this case, microelectrodes 37A, 37B may be rectilinear or arcuate, rectangular in shape with a width (W) such that the electrode area (Ae) is the product of the electrode length (L) and width (W) (for an arcuate rectangle, the width is the arc length). In embodiments where the electrode pair configuration is other than rectilinear, rectangular, or cylindrical, a conversion factor CF may be used to determine the appropriate gap distance between the electrodes based on the known area of ​​one of the pair of electrodes. The conversion factor CF may be in the range of approximately 2 to 0.1, expressed in the reciprocal of the same root dimensional unit as the planar area of ​​the electrode. In one example where the planar area of ​​one electrode is about 0.08 square mm, the minimum gap distance (Lg) along the longitudinal axis extending through both electrodes can be determined to be a gap distance Lg of about 100 micrometers by applying a conversion factor CF (units of the same root dimension unit or reciprocal of mm) to the area of ​​one electrode. In another example where the area of ​​one electrode is 0.24 square mm, the conversion factor CF (units of the same root dimension unit or reciprocal of mm) can be determined to be a gap distance Lg of about 100 micrometers. -1 ) is 1.25mm -1or less, resulting in a minimum gap distance Lg ranging from about 300 micrometers to about 24 micrometers. Regardless of the electrode shape, a preferred conversion factor CF is about 0.8 (in units of the reciprocal of the same root dimensional unit as the electrode area).

[0085] FIG. 5B shows another view of the end effector 100, including the mechanical linkage 50. In this embodiment, at least one pair of closely spaced bipolar microelectrodes 37A, 37B is provided on each spine 1A, 2A, 3A, 1B, 2B, 3B. More specifically, each spine 1A, 2A, 3A, 1B, 2B, 3B carries four pairs of bipolar microelectrodes 37, corresponding to eight microelectrodes 37 per spine. This number may be varied as desired. FIG. 5B also shows a clip 50 connecting the connectors 1C, 2C, 3C at a single connection point. The clip 50 functions to maintain a spatially fixed arrangement between the loops 1, 2, 3 at their common distal apex.

[0086] 6A and 6B are diagrams of an end effector pressed against a planar surface S. In the illustrated example, the loop members 1, 2, and 3 can be pressed against the planar surface S by manipulating the device shaft 9. More specifically, when the end effector 100 is positioned within a patient, the catheter body 12 and control handle 16 can be manipulated to position the end effector 100 against a surface in the wall of a cavity within the patient's body, such as the interior wall of the heart and / or blood vessels. When the end effector 100 is positioned against the planar surface S, the majority of the length of each of the spines 1A, 2A, 3A, 1B, 2B, and 3B can be tangent to and aligned with the planar surface. Furthermore, when the end effector 100 is positioned against the planar surface S, the majority of the length of each of the spines 1A, 2A, 3A, 1B, 2B, and 3B can be aligned with the majority of the lengths of the other spines. The surface S does not necessarily have to be planar in order for the spines 1A, 2A, 3A, 1B, 2B, 3B to be in contact with and aligned with the surface. The end effector 100 may, for example, be capable of conforming to a curved surface.

[0087] As shown in FIG. 6B , when most of each spine 1A, 2A, 3A, 1B, 2B, 3B is pressed against the surface S, the connecting segments 1C, 2C, 3C can be stacked on the surface S at their distal apexes by the link portion 50. The link portion 50 allows the first connecting segment 1C, which is closest to the surface S, to be separated from the surface S. The second connecting segment 3C stacked on the first connecting segment 1C can be separated from the surface S by the link portion 50 and the first connecting segment 1C. The third connecting segment 2C can be separated from the surface S by the link portion 50 and the first and second connecting segments 1C, 3C. Thus, when most of each spine 1A, 2A, 3A, 1B, 2B, 3B is pressed against the planar surface, at least a portion of each connecting segment 1C, 2C, 3C can be separated from the planar surface S. Alternatively, the link portion 50 may be inserted into the first connecting segment 1C so that the first connecting segment is substantially in contact with the planar surface S. In this case, only the second connecting segment 3C and the third connecting segment 2C are spaced from the planar surface S at their distal vertices.

[0088] The proximal segments 1D, 2D, 3D, 1E, 2E, 3E of the loop members 1, 2, 3 may be bent such that at least a portion of each of the proximal segments curves away from the surface S.

[0089] When a majority of each spine 1A, 2A, 3A, 1B, 2B, 3B is pressed against surface S, at least a portion of the electrodes 37 of each spine can contact surface S. In some embodiments, all of the electrodes 37 of each spine can contact surface 37.

[0090] When a majority of each spine 1A, 2A, 3A, 1B, 2B, 3B is pressed against surface S, a majority of the length of each loop member may be in contact with surface S. Here, the respective length of each loop member includes the length of the corresponding loop member's spine 1A, 2A, 3A, 1B, 2B, 3B, connectors 1C, 2C, 3C, and proximal segments 1D, 2D, 3D, 1E, 2E, 3E (distal to connector tube 46).

[0091] FIG. 7 is a diagram of the catheter shaft midsection 14 deflected approximately 360 degrees. The end effector 100 has a first side 100A and a second side 100B. This allows a user to position the first side 100A (or 100B) against a tissue surface with at least the midsection 14 (if not the distal portion of the catheter body 12) generally perpendicular to the tissue surface and actuate the control handle to deflect the mid-deflection section 14 to achieve various deflection or radii of curvature (e.g., arrows D1 and D2) such that the second side 100B deflects toward the catheter body 12. This positioning may allow dragging of the second side 100B of the end effector 100, including the loop members 1, 2, and 3, across the tissue surface as the midsection 14 deflects. The midsection may be deflected by manipulation of the puller wires 24, 26 shown in FIGS. 2A-2C. The puller wires 24, 26 may be two separate tensioning members or may be part of a single tensioning member. In some embodiments, the puller wires 24, 26 may be actuated to deflect the mid-section 14 in both directions. The puller wires 24 and 26 may be actuated by a mechanism within the control handle 16 that is responsive to the thumb control knob or deflection control knob 11. Suitable control handles are disclosed in U.S. Patent Nos. 6,123,699, 6,171,277, 6,183,435, 6,183,463, 6,198,974, 6,210,407, and 6,267,746 (copies of which are provided in priority U.S. Provisional Patent Application No. 63 / 031,955, which is incorporated herein by reference).

[0092] Details of the construction of the puller wires, including their anchoring by the T-bar 51B (see FIG. 2C) at the midsection 14, are known in the art and are described, for example, in U.S. Pat. Nos. 8,603,069 and 9,820,664 (copies of which are provided in priority U.S. Provisional Patent Application No. 63 / 031,955 and incorporated herein by reference). The puller wires 24 and 26 may be made of any suitable metal, such as stainless steel or nitinol. The puller wires 24, 26 are preferably coated with Teflon or the like. The coating provides lubricity to the puller wires. The puller wires preferably have a diameter ranging from about 0.006 inches to about 0.010 inches.

[0093] 8A-8D are diagrams of the support frame assembly 80 of the end effector 100. FIGS. 8A and 8B show the support frame assembly 80 in an unconstrained configuration. FIGS. 8C and 8D show the support frame assembly 80 pressed against a surface S. When the end effector 100 is assembled, loop members 1, 2, and 3 each include a corresponding support frame 81, 82, and 83. The support frame assembly 80 extends into the connector tube 46 so that the loop members 1, 2, and 3 are mechanically attached to the shaft 9. The support frames 81, 82, and 83 provide structural integrity for the loop members 1, 2, and 3. The support frames 81, 82, and 83 may comprise cut-off sheets of plastic or metal, round plastic or metal wire, square plastic or metal wire, or other suitable biocompatible materials. In a preferred embodiment, the support frames are fabricated from a shape-memory material, such as Nitinol. For testing and illustration purposes, the support frame assembly 80 is fastened at the distal apex by mechanical linkage 50. In the assembled end effector 100, the support frames 81, 82, 83 may be assembled by mechanical linkages attached to the outer housings of the loop members 1, 2, 3 or by direct linkages between the support frames 81, 82, 83.

[0094] When the end effector is unconstrained, each of the support frames 81, 82, 83 defines a corresponding looped path for a corresponding loop member 1, 2, 3, as shown in FIG. 8A. Each support frame 81, 82, 83 includes a corresponding parallel segment 81A, 82A, 83A, 81B, 82B, 83B that extends through a corresponding spine 1A, 2A, 3A, 1B, 2B, 3B of the end effector 100. Each support frame 81, 82, 83 includes a corresponding proximal segment 81D, 82D, 83D, 81E, 82E, 83E that extends through a corresponding proximal segment 1D, 2D, 3D, 1E, 2E, 3E of the corresponding loop member 1, 2, 3. Proximal segments 81D, 82D, 83D, 81E, 82E, 83E extend into connector tube 46 so that end effector 100 is joined to shaft 9. Each support frame 81, 82, 83 includes corresponding connection segments 81C, 82C, 83C that extend between corresponding pairs of parallel segments 81A, 82A, 83A, 81B, 82B, 83B and through corresponding connection segments 1C, 2C, 3C of corresponding loop members 1, 2, 3.

[0095] When the end effector 100 is unconstrained, at least one of the parallel segments 81A, 82A, 83A, 81B, 82B, and 83B is not aligned in a common plane with the other parallel segments. In other words, at least one of the looped paths is not coplanar with one or both of the other looped paths. The pair of parallel segments 81A, 82A, 83A, 81B, 82B, and 83B of each support frame 81, 82, and 83 can define a plane for the corresponding support frame 81, 82, and 83. When the end effector 100 is in the unconstrained configuration, the support members 81, 82, and 83 can be generally aligned to define three planes P3, P4, and P5, as shown in FIG. 4C .

[0096] 8C and 8D, when loop members 1, 2, and 3 are pressed against surface S, a majority of the corresponding length of each segment in each corresponding pair of parallel segments may be substantially coplanar with a majority of the corresponding length of each other segment in each corresponding pair of parallel segments. Support member 80 may be aligned with surface S when loop members 1, 2, and 3 are pressed against surface S, as shown in FIG. 6B. When surface S is planar, parallel segments 81A, 82A, 83A, 81B, 82B, and 83B may be coplanar with one another along a majority of their corresponding lengths.

[0097] Each support frame 81, 82, 83 may include knuckles to enhance conformance of the loop members 1, 2, 3 to the surface S. The knuckles may be evenly or unevenly spaced along the loop path of the corresponding support member 81, 82, 83. The knuckle features may include narrowed sections of material in the support members 81, 82, 83. Additionally or alternatively, the knuckle features may include hinge mechanisms.

[0098] 9A and 9B are diagrams of exemplary support frames whose cross-sections vary along their respective looped paths. Each support frame 80 can have a cross-sectional shape that varies along the individual support frame's looped path, where the cross-sectional shape is taken from a cross section perpendicular to the direction of the looped path. Two different exemplary support frame assemblies 80a and 80b are shown in FIGS. 9A and 9B. Each of the exemplary support frame assemblies 80a and 80b has a region II having a cross-sectional area configured to resist deflection and a region II-II configured to be flexible. The region II configured to resist deflection can have a larger cross-sectional area compared to the region II-II configured to be flexible. Alternatively, the region II configured to resist deflection can be flattened to resist deflection along the long axis of the cross-section while having a cross-section similar to the non-flattened or less flattened region II-II. That is, in FIG. 9A, the thin section is intended to facilitate sheath retraction (retraction of the frame with less force), while in FIG. 9B, the distal II-II portion is still intended to retract the frame, but the proximal II-II section (knuckle) is intended to facilitate deflection relative to the longitudinal axis LL.

[0099] Figure 10A is another view of an exemplary support frame assembly 80c of the end effector 100. Figures 10B-10E are cross-sectional views of the exemplary support frame shown in Figure 10A. Figures 10F and 10G are views of exemplary transitions between the wide and narrow regions.

[0100] FIG. 10A shows a top view (looking down onto the second plane P2) of another exemplary support frame assembly 80c of the effector 100 (see FIG. 4C for orientation). Support frames 81, 82, and 83 are labeled with Roman numerals indicating locations having the approximate cross-sectional shapes shown in FIGS. 10B-10E. Each cross-section is taken perpendicular to the corresponding looped path of each support frame 81, 82, and 83. Each support frame 81, 82, and 83 varies in cross-section along its looped path. By varying the cross-section, the stiffness / flexibility of each support frame 81, 82, and 83 can be varied along its looped path.

[0101] FIG. 10B shows a substantially rectangular cross-section corresponding to the section of each support frame 81, 82, 83 labeled with the Roman numeral II. When unconstrained, parallel segments 81A, 82A, 83A, 81B, 82B, 83B define a plane corresponding to each support frame 81, 82, 83. The rectangle is elongated in the plane of the respective support frame. The rectangle is shortened in a direction perpendicular to the plane of the respective support frame 81, 82, 83. As will be appreciated by those skilled in the art, the shape allows for greater flexibility along an axis aligned with the short edge of the shape than along an axis aligned with the long edge of the shape. In some embodiments, the long side of the rectangle has a width of approximately 0.012 inches (0.3 millimeters), and the short side of the rectangle is approximately 0.008 inches (0.2 millimeters).

[0102] FIG. 10C shows an alternative oval or elliptical cross-section corresponding to the section of each support frame 81, 82, 83 labeled with the Roman numeral II. Like the rectangle shown in FIG. 10B, the ellipse shown in FIG. 10C is long in the plane of the corresponding support frame 81, 82, 83 and short in the direction perpendicular to the respective plane. This affects the relative flexibility in each direction, as will be understood by those skilled in the art. In some embodiments, the width of the long side of the ellipse is about 0.012 inches (0.3 mm), and the width of the short side of the ellipse is about 0.005 inches (0.13 mm).

[0103] FIG. 10D shows a cross-section of each support frame 81, 82, 83 corresponding to the section labeled with the Roman numeral II-II. The cross-section shown in FIG. 10D is substantially rectangular, with the width of the corresponding support frame 81, 82, 83 in the plane being shorter than the width of the rectangular cross-section shown in FIG. 10B. The height perpendicular to the plane of the support frames 81, 82, 83 in the cross-section shown in FIG. 10D may be approximately equal to the height of the rectangular cross-section shown in FIG. 10B. Alternatively, the height of the narrow section II-II may be greater than the height of the wide section II. The region of each support frame 81, 82, 83 having the cross-section shown in FIG. 10D is more flexible in the plane of the respective support frame than the region of the respective support frame having the cross-section shown in FIG. 10B. In some embodiments, the cross-section is generally square with an edge length of about 0.008 inches (0.2 millimeters).

[0104] Support frames 81, 82, 83 having rectangular cross sections as shown in Figures 10B and 10D can be formed by selecting a sheet of thickness approximately equal to the height of the cross-sectional shape shown in Figures 10B and 10D and cutting the sheet into the shape of each support frame 81, 82, 83 as shown in Figure 10A, varying the width of each segment of each support frame 81, 82, 83 so that it is wider in the area indicated by Roman numeral II and narrower in the area indicated by Roman numeral II-II. Alternatively, support frames 81, 82, 83 can be formed by selecting a square or rectangular wire, shaping the wire to form a looped path, and flattening the wire to have regions with a wider cross section II and a narrower cross section II-II.

[0105] FIG. 10E illustrates an alternative cross-section corresponding to the section of each support frame 81, 82, 83 labeled with Roman numeral II-II. The cross-section is oval or elliptical, and is shorter in the plane of the corresponding support frame 81, 82, 83 compared to the width of the elliptical cross-section shown in FIG. 10C. The height perpendicular to the plane of the support frames 81, 82, 83 in the cross-section shown in FIG. 10E may be greater than the height of the elliptical cross-section shown in FIG. 10C. The region of each support frame 81, 82, 83 having the cross-section shown in FIG. 10E is more flexible in the plane of the respective support frame than the region of each support frame having the cross-section shown in FIG. 10C. In some embodiments, the cross-section is generally circular, having a diameter of about 0.008 inches (0.2 millimeters).

[0106] Support frames 81, 82, 83 including oval or elliptical cross sections as shown in Figures 10C and 10E can be formed by selecting round or elliptical wire, shaping the wire to form a looped path, and flattening the wire to have regions with a wide cross section II and a narrow cross section II-II.

[0107] 10A-10E collectively, the end effector 100 may include a support frame assembly 80c having some or all of the cross-sections shown in FIGS. 10B-10E in any combination. Furthermore, each support frame 81, 82, 83 may individually include some or all of the cross-sections shown in FIGS. 10B-10E in any combination. The effector 100 may additionally or alternatively include cross-sections not illustrated herein to achieve the difference in flexibility between the region designated by Roman numeral II and the region designated by Roman numeral II-II, as would be understood by one of ordinary skill in the art following the teachings herein. Because combining rectangular and oval shapes in the same support frame 81, 82, 83 can increase cost and / or manufacturing difficulty, preferably, for manufacturability, the individual support frames 81, 82, 83 may include a predominantly rectangular cross-sectional shape (e.g., FIGS. 10B and 10D) or a predominantly oval cross-sectional shape (e.g., FIGS. 10C and 10E).

[0108] Figures 10F and 10G illustrate possible transitions (knuckles) between regions of the support frame of an end effector. As shown in Figure 10F, the support frame may transition asymmetrically in width, from a wide cross-section II to a narrow cross-section II-II, or vice versa. As shown in Figure 10G, the support frame may transition symmetrically in width, from a wide cross-section II to a narrow cross-section II-II, or vice versa. The support frame may include only asymmetrical transitions in width, only symmetrical transitions in width, or a mixture of asymmetrical and symmetrical transitions in width. Such transitions may be applied to any of the exemplary support members shown or described herein.

[0109] FIG. 11A is a diagram of an asymmetric support frame 181 of the end effector 100. FIGS. 11B and 11C are cross-sectional views of the asymmetric support frame 181 as shown in FIG. 11A. The asymmetric support frame 181 is another exemplary support frame that may be used in place of the outer support frames 81, 83 shown and described elsewhere herein (e.g., with respect to FIGS. 8A-8D). FIG. 12A is a diagram of a symmetric support frame 182 of the end effector 100. The symmetric support frame 182 is another exemplary support frame that may be used in place of the central support frame 82 shown and described elsewhere herein (e.g., with respect to FIGS. 8A-8D). FIGS. 12B and 12C are cross-sectional views of the symmetric support frame shown in FIG. 12A. FIG. 12D is a detailed section of the symmetric support frame shown in FIG. 12A. In some embodiments, the support frame assembly 80 may include two asymmetric support frames 181 and a single symmetric support frame 182.

[0110] FIG. 11A shows that parallel segments 81A, 81B of asymmetric support frame 181 can have a cross-section II, as shown in FIG. 11C, that is wider than the narrow cross-section II-II of connecting segment 81C, as shown in FIG. 11B. In some embodiments, the cross-sectional shape of parallel segments 81A, 81B can be substantially rectangular, having a width in the plane of support frame 181 of about 0.013 inches (0.33 mm) and a height perpendicular to the plane of support frame 181 of about 0.005 inches (0.13 mm). In some embodiments, the cross-sectional shape of connecting segment 81C can be substantially rectangular or square, having a width in the plane of support frame 181 of about 0.008 inches (0.2 mm) and a height perpendicular to the plane of support frame 181 of about 0.008 inches (0.2 mm). Furthermore, proximal segments 81E, 81D can have a cross-section II that is approximately the same dimensions as parallel segments 81A, 81B.

[0111] FIG. 12A shows that the majority of the length of the parallel segments 82A, 82B of the symmetric support frame 182 can have a cross-section II, as shown in FIG. 12C, that is wider than the narrow cross-section II-II of the connecting segment 82C. The parallel segments 82A, 82B can include a tapered transition, as shown in FIG. 12D and also shown in FIG. 12A, that narrows from the wide width of the wide cross-section II to the narrow width II-II of the narrow cross-section II-II. The distal portion of each parallel segment 82A, 82B distal to the tapered transition can have a narrower cross-section II. The proximal segments 82E, 82D can have a cross-section II that is approximately the same dimension as the majority of the length of the parallel segments 82A, 82B. The symmetric support frame 182 may further include narrower sections 82F, 82G, which may comprise the proximal portions of the corresponding parallel segments 82A, 82B and the distal portions of the corresponding proximal segments 82D, 82E, respectively. These narrower sections 82F, 82G may have a cross-section II-II as shown in FIG. 12B. These narrower sections 82F, 82G may have a length of approximately 0.102 inches (2.6 mm). The symmetric support frame 82 may have a width of approximately 0.294 inches (7.5 mm), measured between the outer edges of the parallel segments 82A, 82B in the plane of the support frame 82, as shown.

[0112] As shown in FIG. 12B, in some embodiments, narrow cross-sectional region II-II may have a substantially rectangular or square cross-sectional shape with a width in the plane of support frame 182 of about 0.005 inches (0.13 millimeters) and a height perpendicular to the plane of support frame 182 of about 0.005 inches (0.13 millimeters).

[0113] As shown in FIG. 12C, in some embodiments, the wide cross-sectional region II may have a substantially rectangular cross-sectional shape with a width in the plane of the support frame 182 of about 0.01 inches (0.25 mm) and a height perpendicular to the plane of the support frame 182 of about 0.005 inches (0.13 mm).

[0114] FIG. 13A is a diagram of an asymmetric support frame 281 of the end effector 100. FIGS. 13B and 13C are cross-sectional views of the asymmetric support frame 281 shown in FIG. 13A. The asymmetric support frame 281 is another exemplary support frame that may be used in place of the outer support frames 81, 83 shown and described elsewhere herein (e.g., with respect to FIGS. 8A-8D). FIGS. 13D and 13E are detailed cross-sectional views of the asymmetric support frame 281 shown in FIG. 13A. FIG. 14A is a diagram of a symmetric support frame 282 of the end effector 100. The symmetric support frame 282 is another exemplary support frame that may be used in place of the central support frame 82 shown and described elsewhere herein (e.g., with respect to FIGS. 8A-8D). FIGS. 14B and 14C are cross-sectional views of the symmetric support frame shown in FIG. 14A. FIGS. 14D and 14E are detailed cross-sectional views of the symmetric support frame shown in FIG. 14A. In some embodiments, the support frame assembly 80 may include two asymmetric support frames 281 and a single symmetric support frame 282 .

[0115] FIG. 13A shows that parallel segments 81A, 81B of asymmetric support frame 281 can have a cross section II, as shown in FIG. 13B, that is wider than the narrow cross section II-II of connecting segment 81C. In some embodiments, the cross-sectional shape of parallel segments 81A, 81B can be substantially rectangular, having a width in the plane of support frame 281 of about 0.01 inches (0.25 mm) and a height perpendicular to the plane of support frame 281 of about 0.007 inches (0.18 mm). In some embodiments, the cross-sectional shape of connecting segment 81C, at least in the region indicated by cross section AA in FIG. 13A, can be substantially square, having a width in the plane of support frame 281 that is narrower than the width of the cross section of parallel segments 81B, 81A. Cross section II can have a width of about 0.005 to about 0.007 inches (about 0.13 to 0.18 mm). Cross section II may have a height of approximately 0.007 inches (approximately 0.18 mm). Additionally, proximal segments 81E, 81D may have cross section II of approximately the same dimensions as parallel segments 81A, 81B. The length L1 (shown as "y" in FIG. 13A) of frame 81B as measured from the distal end to the proximal end may be approximately 1.4 inches (or 36 mm), and the width W1 as measured from frame 81A to frame 81B is approximately 0.29 inches (or 7.4 mm).

[0116] FIG. 13D shows the transition in connector segment 81C between the wider cross section II shown in FIG. 13D and the narrower cross section II-II shown in FIG. 13C.

[0117] FIG. 13E shows a serrated segment of a support frame 281 shaped to secure the two ends of the loop member to the distal portion of the shaft 9 or connector tube 46 .

[0118] FIG. 14A shows that the majority of the length of the parallel segments 82A, 82B of the symmetric support frame 282 can have a cross-section II, as shown in FIG. 14C, that is wider than the narrow cross-section II-II of the connecting segment 82C, as shown in FIG. 14B. The parallel segments 82A, 82B can include a tapered transition from the wide width of the wide cross-section II to the narrow width II-II of the narrow cross-section II-II, as shown in FIG. 14D and also in FIG. 14A. FIG. 14E shows a sawtooth segment of the support frame 282 shaped to secure two ends of a loop member to the distal portion of a shaft. The inventors have devised a configuration for the support frame of FIG. 14A (as well as FIG. 13A) such that the aspect ratio of length L1 to width W1 (i.e., L1 / W1) can be between 4 and 5. In a preferred embodiment, the aspect ratio (L1 / W1) of the frame supports of Figures 13A and 14A is one of 4.5 or 4.75.

[0119] As shown in FIG. 14B, in some embodiments, narrow cross-sectional region II-II may have a substantially rectangular cross-sectional shape with a width in the plane of support frame 282 of approximately 0.005 inches (0.13 mm) and a height perpendicular to the plane of support frame 282 of approximately 0.007 inches (0.18 mm).

[0120] As shown in FIG. 14C, in some embodiments, the wide cross-sectional region II may have a substantially rectangular cross-sectional shape with a width in the plane of the support frame 282 of about 0.01 inches (0.25 mm) and a height perpendicular to the plane of the support frame 282 of about 0.005 inches (0.13 mm).

[0121] 15 is an illustration of a wavy or sawtooth shape 86 on the end of the support frame. The wavy or sawtooth shape 86 can facilitate engagement of the support frames 81, 82, 83 with the distal end 14A of the shaft 9 (e.g., within the connector tube 46). Specifically, the sawtooth portion 86 of each support frame may be molded to the connector tube 46 or attached (e.g., with glue or epoxy) to the connector tube 46. To ensure structural integrity of each loop frame when the loop exits the tube 46, each sawtooth portion 86 of each support frame is attached directly to the tube 46, and one sawtooth portion 86 does not engage or interlock with another sawtooth portion 86 from another support member. This ensures that the force transmitted from the distal end of the loop to frame 81 is not transmitted via the sawtooth to itself or to the other frames 82 and 83, since the sawtooth 86 is individually attached to the tube 46 and not to the other sawtooth 86.

[0122] 16A-16D are diagrams illustrating deformation of the support frame assemblies due to the application of various forces. Each support frame assembly 80 includes a first support frame 81, a second support frame 82, and a third support frame 83. The first support frame 81 and the third support frame 83 are outer support frames that surround the second, central support frame 82. The support frame assembly 80 includes a mechanical linkage 50 that fastens the first support frame 81, the second support frame 82, and the third support frame 83 at their distal apexes.

[0123] FIG. 16A shows the first support frame 81 being forced against a planar surface S when the apex of the wedge W is forced against the third support frame 83 with a force F1. The support frame assembly 80 is aligned generally perpendicular to the planar surface S. The force F1 is applied generally perpendicular to the planar surface S and in a direction toward the planar surface S. The force F1 is applied centrally along the length of the outer parallel segment 83B of the third support frame 83. The outer parallel segment 83B of the third support frame bends toward the surface S as a result of the force F1. The support frame assembly 80 may be configured to resist contact between the spines when the force F1 is applied. In FIG. 16A, the outer parallel segment 83B of the third support frame bends and contacts the second support frame 82. The force F1 sufficient to move the outer parallel segment 83B of the third support frame 83 into contact with the second support frame 82 can be a metric used to compare various support frame assembly designs (e.g., having different support frame cross-sectional designs), where a higher force F1 indicates a better result for this test.

[0124] FIG. 16B shows the support frame assembly 80 compressed between two planar surfaces S1, S2 by a force F2. The planar surfaces S1, S2 are aligned generally parallel to one another. The support frame assembly 80 is aligned generally perpendicular to the planar surfaces S1, S2. The outer parallel segment 81A of the first support frame 81 is pressed by the first planar surface S1. The outer parallel segment 83B of the third support frame 83 is pressed by the second planar surface S2. As a result of being compressed between the planar surfaces S1, S2 by the force F2, the outer parallel segments 81A, 83B bend toward the opposite planar surface S1, S2. The support frame assembly 80 may be configured to resist contact between the spines when the force F2 is applied. The force F2 sufficient to move the outer parallel segment 83B of the third support frame 83 or the outer parallel segment 81A of the first support frame 81 into contact with the second support frame 82 can be a metric used to compare various support frame assembly designs (e.g., having different support frame cross-sectional designs), where a higher force F2 indicates a better result for this test. In a preferred embodiment, F1 or F2 is about 10 gram-force or greater. Suitable force ranges are about 10 gram-force to 50 gram-force and 10 gram-force to 70 gram-force for F1.

[0125] 16C shows the support frame assembly 80 being compressed by a force F3 applied to the distal end of the support frame assembly 80 by a planar surface S. The distal portion 14A of the shaft 9 is held in position proximal to the connector tube 46 so that the longitudinal axis LL defined by the shaft 9 is generally perpendicular to the surface S. Force F3 is applied to the connector segments 81C, 83C of the first and third support frames 81, 83. As a result of being compressed in the direction of the longitudinal axis LL by force F3, the support frame assembly 80 and the connector tube 46 are deflected out of alignment with the longitudinal axis LL. This is to ensure that when the distal section 14A of the shaft 9 and / or the end effector are applied to the heart wall, the distal section of the end effector and / or shaft is sufficiently flexible to twist with a sufficiently low force so that the end effector will not puncture the heart wall.

[0126] 16D shows the support frame assembly 80 deflected by a force F4 applied generally perpendicular to the support frame assembly near the distal apex mechanical linkage 50. The distal portion 14A of the shaft 9 is held near the connector tube 46. As a result of force F4, the support frame 80 is deflected and no longer aligned with the longitudinal axis LL. In some use cases, a greater or lesser deflection due to force F4 may be desired depending on the shape of the treatment area and / or the physician's preference for tactile feedback.

[0127] 17A-17D are diagrams of an exemplary rectangular or oval-shaped mechanical link 50a having a single closable opening and used to fasten loop members according to an embodiment of the present invention. Alternative mechanical links 50b-h are shown in FIGS. 18A-22C. Similar to the fastening of loop members 1, 2, and 3 at their distal apexes as described and illustrated herein, links 50a-h can be used to fasten loop members (or other electrode holding structures) of catheter-based devices. The mechanical links may function to prevent electrodes 37 on spines 1A, 2A, 3A, 1B, 2B, and 3B of end effector 100 from contacting each other. Loop members 1, 2, and 3 are spatially attached to each other by connector tubes 46 near the proximal end of end effector 100. Without the mechanical linkages, the distal ends of compliant loop members 1, 2, and 3 would be free to move relative to one another when subjected to forces such as forces F1, F2, F3, and F4 shown in Figures 16A-16D. The mechanical linkages are sized, shaped, and otherwise configured to allow for collapse of end effector 100 for delivery through a catheter or guide sheath to a treatment site. Ease of assembly of end effector 100 is also a design consideration for the mechanical linkages.

[0128] FIG. 17A shows a mechanical link 50a fastening three loop members 1, 2, and 3. The mechanical link 50a includes a seam or gap 52. FIGS. 17B and 17C show the mechanical link 50a as manufactured. The link 50a is initially formed as an open clip. A rigid material, preferably metal, is molded or cut into a shape resembling an open paperclip. The individual loop members 1, 2, and 3 can be constructed before being fastened by the mechanical link 50a. In some exemplary methods of construction, the end effector 100 can be fully contracted and attached to the shaft 9 before the link 50a is attached to the loop members 1, 2, and 3. The link 50a can include openings 52 sized to allow one loop member 1, 2, and 3 to be inserted into the link 50a at a time. The openings 52, as manufactured, can be larger than the diameter of each of the loop members 1, 2, and 3 near their distal apexes. Once loop members 1, 2, and 3 are inserted into link 50a, opening 52 can be reduced, as shown in FIG. 17D. Opening 52 can be reduced by crimping the free open end of link 50a until it is aligned with the other open end of link 50a. When the opening is reduced, the short side of link 50a can be moved through an angle of approximately 20°, and the free open end of the long side of link 50a can be moved through an angle of approximately 59°, as shown in FIG. 17B.

[0129] 17A-17D are symmetrical. Alternatively, mechanical linkage 50a may be asymmetrical to facilitate a uniform collapse of the end effector into its collapsed configuration for delivery through a catheter.

[0130] 18A-18C are diagrams of an exemplary rectangular or oval-shaped mechanical link 50b having a single opening and used to fasten loop members 1, 2, and 3. The exemplary mechanical link 50b has four continuous sides. Compared to the exemplary mechanical link 50a shown in FIGS. 17A-17D, the exemplary mechanical link 50b of FIGS. 18A-18C does not have a gap or seam 52. During assembly, the loop members 1, 2, and 3 can be placed through the opening 54 in the link 50b before the ends of the loop members 1, 2, and 3 are attached to the shaft 9.

[0131] 18A-18C are symmetrical. Alternatively, one side of the ring may be wider than the other to facilitate folding of the loop members 1, 2, 3 to a particular side when the end effector 100 is contracted for delivery through a catheter or guide sheath.

[0132] 19A-19C are diagrams of an exemplary rectangular or oval-shaped mechanical link 50c having three openings 56, 57, 58 that may be used to fasten loop members 1, 2, and 3. Each opening 56, 57, and 58 may be shaped or otherwise configured to receive a loop member 1, 2, or 3.

[0133] Link portion 50c may include a circular opening 57 for receiving a central symmetric loop member 2. The central loop member 2 may be generally orthogonal to link portion 50c at its distal apex, such that the corresponding opening 57 in link portion 50c may be circular. Link portion 50c may include two elongated openings 58, 56, each shaped to receive a corresponding outer asymmetric loop member 1, 3. The outer loop members 1, 3 may pass through link portion 50c at a non-orthogonal angle. The elongated shape of the corresponding link openings 56, 58 may be elongated to accommodate the non-orthogonal trajectory of the outer loop members 1, 3 through link portion 50c.

[0134] Each loop member 1, 2, 3 may include a corresponding tubular housing 91, 92, 93 that covers most of the support frame 81, 82, 83 of that loop member 1, 2, 3. To reduce the distance between the support frames 81, 82, 83 at their distal apexes, the loop members 1, 2, 3 may not include tubular housings 91, 92, 93 near their distal apexes. The openings 56, 57, 58 in the link 50c may be sized to allow the support frames 81, 82, 83 of the loop members to pass through, but need not be sized to allow the tubular housings 91, 92, 93 to pass through. During assembly, the support frames 81, 82, 83 may be positioned through the openings 56, 57, 58 in the link 50c before the tubular housings 91, 92, 93 are added to the loop members 1, 2, 3.

[0135] Alternatively, openings 56, 57, 58 may be sized to allow passage of tubular housings 91, 92, 93 of loop members 1, 2, 3, thereby enabling a design in which some or all of tubular housings 91, 92, 93 cross the distal apex and / or an assembly process in which tubular housings 91, 92, 93 are attached to loop members 1, 2, 3 prior to mechanical link portion 50c.

[0136] 20A-20C are diagrams of an exemplary cylindrical mechanical link 50d having three passages 60, 62, 64 and used to fasten support members 81, 82, 83 of loop members 1, 2, 3. The openings 60, 62, 64 of link 50d can be sized to allow the support frames 81, 82, 83 of the loop members to pass through, but need not be sized to allow the tubular housings 91, 92, 93 to pass through. During assembly, the support frames 81, 82, 83 can be positioned through the openings 60, 62, 64 of link 50d before the tubular housings 91, 92, 93 are added to loop members 1, 2, 3.

[0137] 21A-21C are diagrams of an exemplary cylindrical mechanical link 50e having three passages 66, 68, 70 and used to fasten loop members 1, 2, 3 having tubular housings 91, 92, 93 that cover support members 81, 82, 83. In some embodiments, passages 66, 68, 70 can be sized to allow for an assembly process in which tubular housings 91, 92, 93 are attached to loop members 1, 2, 3 prior to mechanical link 50e.

[0138] 22A-22C are diagrams of additional exemplary mechanical links. FIG. 22A shows a mechanical link 50f including a polymer with a shape highly conforming to the dimensions of the loop members 1, 2, and 3. The link 50f may include an adhesive. The link 50f may be applied manually, by overmolding, or by other means understood by those skilled in the art. FIG. 22B shows a mechanical link 50g including an adhesive. FIG. 22C shows a tapered ring-shaped link 50h having an annular opening 72 through which the three loop members 1, 2, and 3 can extend and a height that tapers from a larger dimension H2 to a smaller dimension H1 across the diameter of the opening 72. The link 50h has one side portion (H1) on one side that is narrower than the other side portion H2. This narrowed portion H1 allows the loops 1, 2, and 3 to bend more easily toward the narrowed side during retraction into the sheath. This reduces the force required for sheath retraction.

[0139] 23A and 23B are diagrams of an exemplary loop member 1 having an inner housing 94 and an outer housing 90 surrounding a support frame 81. The illustrated loop member 1 can be used in place of the loop members 1, 2, and 3 shown and otherwise disclosed herein in accordance with the teachings herein. Specifically, it may be advantageous to use the illustrated loop member in place of the loop members 1, 2, and 3 shown in FIGS. 19C and 20C. The inner housing 94 and outer housing 90 can combine to function as tubular housings 91, 92, and 93 illustrated elsewhere herein.

[0140] The outer housing 90 may comprise a polymer tube (e.g., thermoplastic polyurethane) having a single lumen sized to accommodate the wires 40 that provide electrical connections to the support frame 80 and the end effector electrodes 37. The lumen of the outer housing 90 may also be sized to accommodate an irrigation tube 96 with an irrigation lumen running therethrough. In this configuration, the support frame is surrounded by a sleeve to isolate the edges of the support frame from damaging the conductors. The support frame, sleeve, and conductors are within a single lumen (irrigation is optional) as shown in FIG. 23B. The small diameter tube 95 in FIG. 23A is a separate piece that is joined to a larger tube to reduce the outer diameter when passing through the mechanical linkage.

[0141] The inner housing 94 (FIG. 23B) may be molded, sized, and otherwise configured to closely surround the support frame 81. The inner housing 94 may comprise a polymeric material, such as a shrink sleeve applied during a reflow process. Because neither the wires 40 nor the irrigation tubing 96 may extend beyond the spine of the loop members, the outer housing 90 need not cover the connector segments of the loop members. The inner housing 94 may have dimensions that allow for a smaller distance between the loop members 1, 2, and 3 near the distal apex compared to loop members having a tubular housing of similar dimensions to the outer housing 90 that intersects or extends near the distal apex. Additionally, the distal end of the end effector 100 may be reduced in size compared to an end effector having a tubular housing of similar dimensions to the outer housing 90 that intersects or extends near the distal apex.

[0142] Within the outer housing 90, the inner housing 94 may be coupled to the outer housing 90. Binding the inner housing 94 to the outer housing 90 can reduce fluid leakage. Binding the inner housing 94 to the outer housing 90 can help the shape of the outer housing 90 conform to the shape of the support frame 81 when the end effector 100 is deformed from its unconstrained configuration, preventing shifting of the support frame 81 within the outer housing 90.

[0143] At the distal end of the outer housing 90, the loop member 1 may include a fitting 41 configured to prevent fluid ingress into the outer housing 90. The fitting 41 may be coupled to the outer housing 90 and the inner housing 94.

[0144] FIGS. 24A-24C are views of alternative exemplary loop members having tubular housings 90a, 90b with two lumens (90a) or three lumens (90b) extending therethrough, with support frame 81, conductive wire 40, and irrigation tubing 96 positioned therein. Regardless of whether the tubular housings 90a, 90b have two or three lumens, the loop member can have an appearance similar to that shown in FIG. 24A. FIG. 24B shows a cross-section of a loop member having a tubular housing 90a with two lumens. The design objective of the FIG. 24B embodiment is to isolate the support member so as not to damage the conductors or irrigation lines. FIG. 24C shows a cross-section of a loop member having a tubular housing 90b with three lumens. The cross-sections shown in FIGS. 24B and 24C are taken along the spine of the loop member as shown in FIG. 24A.

[0145] 24B, support frame 81 is positioned within one lumen of dual-lumen tubular housing 90a, and wires 40 and irrigation tubing 96 are positioned within the other lumen of dual-lumen tubular housing 90b. Separating support frame 81 from wires 40 and irrigation tubing 96 prevents the edges of support frame 81 from compromising the wall isolation of wires 40 or irrigation tubing 96. Dual-lumen tubular housing 90b can be used in place of tubular housings 91, 92, 93 illustrated elsewhere herein.

[0146] In FIG. 24C, the support frame 81 is positioned within a first lumen of the three-lumen tubular housing 90b, the wire 40 is positioned within a second lumen of the three-lumen tubular housing 90b, and the irrigation tubing 96 is positioned within a third lumen of the three-lumen tubular housing 90b. The three-lumen tubular housing 90c can be used in place of the tubular housings 91, 92, and 93 illustrated elsewhere herein. The purpose of this design in FIG. 24C is to isolate the irrigation line 96 from contact with other materials. As an alternative to the example of FIG. 24C, the loop member 1 need not include the irrigation tubing 96, and the lumen of the tubular housing 90b, within which the irrigation tubing 96 is shown, may be used for direct irrigation.

[0147] The spine covers 90, 90a, 90b may preferably be between 3 French and 2 French. In some embodiments, the spine cover 90 shown in Figures 23A and 23B allows for more interior space for the same French size compared to the spine covers 90a, 90b shown in Figures 24A-24B. This allows for a larger support frame, a larger irrigation tube 96, and / or increased wire 40 volume.

[0148] 25A-25F are diagrams of exemplary end effector electrodes 37 having various surface roughnesses. Contact resistance between an electrode and tissue is inversely proportional to the surface area of ​​the electrode in contact with the tissue. In other words, increasing the contact area between the electrode and tissue allows for more efficient transfer of electrical energy from the electrode to the tissue and from the tissue to the electrode. In diagnostic measurements, more efficient transfer of electrical energy from the tissue to the electrode results in cleaner, less noisy, and more accurate electrical signals (sensor measurements). The footprint or perimeter of the electrode is limited by the shape of the vascular system through which the end effector 100 navigates to reach the treatment site, the shape of the treatment site, and the shapes of other components of the end effector 100. Micro-roughness on the electrode surface increases the effective surface area of ​​the electrode without increasing the electrode footprint, thereby reducing contact resistance when the electrode surface is pressed against tissue. However, increasing surface roughness can also promote thrombus formation on the electrode, potentially leading to complications during treatment.

[0149] FIG. 25A shows a control electrode 37 with an untreated surface. FIG. 25B shows an electrode 37 that has been shrunk by swaging. The shrunk electrode is compressed to have a circumference approximately equal to the circumference of the tubular housings 91, 92, and 93. FIG. 25C shows an electrode 37 that has been microblasted and not swaged. Microblasting imparts a surface roughness on the order of micrometers. Alternatively, the surface may be roughened by other suitable processes, such as chemical etching, sputtering, and / or other deposition methods. FIG. 25D shows an electrode 37 that has been microblasted and swaged.

[0150] Roughening the electrode surface (e.g., microblasting) in combination with swaging creates a controlled, shallow surface roughness. Swaging reduces the ring diameter of the electrode 37 and can also flatten some of the vertical features created by roughening, resulting in an electrode with a larger surface area and a relatively flat outer surface. The larger surface area can be more effective at reducing contact resistance between the electrode and tissue.

[0151] Surface roughness can be characterized by a roughness parameter Ra, which represents the arithmetic mean deviation of the surface profile. As shown in FIG. 25F, in some embodiments, some or all of the electrodes 37 of the end effector 100 can have a surface roughness parameter Ra of about 0.3 micrometers to about 0.4 micrometers. This surface roughness can be effective for increasing the surface area of ​​the electrodes 37 and reducing contact resistance to tissue without strongly promoting thrombus formation. In comparison, an untreated surface, such as that shown in FIG. 25E, can have a surface roughness parameter Ra of about 0.1 micrometers to about 0.2 micrometers.

[0152] When the device is operated (e.g., pressed against a surface and / or deflected by the mid-section 14), the wires 40 carrying the electrical signals of the end effector electrodes 37 may shift or vibrate. This vibration may introduce noise into the electrical signals carried by the wires 40. In some embodiments, the wires 40 may be twisted together within the end effector 100 and / or shaft 9 to reduce movement and vibration of the wires 40. Additionally or alternatively, other strategies for bundling and reducing wire movement of the wires 40 may include shrink-sleeving the wires 40, bonding the wires 40 with an adhesive, and / or braiding the wires 40. Additionally or alternatively, pairs of wires 40 connected to bipolar pairs of electrodes 37 may be twisted together within the corresponding spines 1A, 2A, 3A, 1B, 2B, 3B to increase electromagnetic compatibility between each twisted pair and thereby reduce electrical noise in the electrical signals carried by each twisted pair.

[0153] [Embodiment] (1) A device comprising: an elongate shaft having a proximal portion and a distal portion, the elongate shaft configured to be manipulated at the proximal portion to position the distal portion within a patient's heart, the elongate shaft defining a longitudinal axis of the device; an end effector disposed proximate the distal portion of the elongate shaft, the end effector comprising three loop members overlapping at a common distal apex along the longitudinal axis, each of the three loop members having a corresponding end pair attached to the distal portion of the elongate shaft, the end effector configured to expand to an unconstrained configuration when unconstrained and define three distinct planes for each of the three loop members, such that when the distal end of the elongate shaft is deflected at an angle relative to the longitudinal axis and the loop members are positioned against a planar surface, a majority of the length of each of the three loop members is in a flat configuration and abuts the planar surface. (2) each of the three loop members includes a support frame extending through a corresponding one of the three loop members and attached to the distal portion of the elongate shaft at each end of the corresponding end pair of the corresponding loop member; when the end effector is in the unconstrained configuration, each of the support frames defines a corresponding looped path for the corresponding loop member; An apparatus as described in embodiment 1, wherein each of the support frames includes a corresponding cross-sectional shape perpendicular to the corresponding loop-shaped path, and each of the corresponding cross-sectional shapes varies along the corresponding loop-shaped path. (3) Each of the three loop members is an inner tubular housing surrounding at least a portion of the corresponding support frame; an outer tubular housing surrounding at least a portion of the inner tubular housing and coupled to the inner tubular housing; 3. The device of claim 2, further comprising: a plurality of electrical conductors disposed within the outer tubular housing and at least partially outside the inner tubular housing. (4) Each of the support frames comprises: a corresponding pair of parallel segments, each segment in the corresponding pair of parallel segments having a corresponding length; when the end effector is in the planar configuration, a majority of the corresponding length of each segment in each of the corresponding pairs of parallel segments is substantially coplanar with a majority of the corresponding length of each other segment in each of the corresponding pairs of parallel segments; An apparatus as described in embodiment 2, wherein when the end effector is in the unconstrained configuration, the majority of the corresponding lengths of the segments in at least one of the corresponding parallel segment pairs is not in the same plane as the majority of the corresponding lengths of at least one segment in another corresponding parallel segment pair. (5) The distal end of the annular septum further includes a mechanical link that binds the three loop members together at the distal apex, the mechanical link comprising: a rectangular or oval shape including an opening through which the three loop members extend and a side including a seam; a rectangular or oval shape including an opening through which the three loop members extend and four continuous sides; a rectangular or oval shape including three openings each having a corresponding one of said three loop members extending therethrough; a cylindrical shape having three passages therethrough, each of the three passages containing a corresponding one of the three loop members extending therethrough; and The device described in embodiment 1 includes at least one of the following: a tapered ring having an annular opening through which the three loop members extend and a tapered height extending across the diameter of the annular opening.

[0154] (6) The apparatus of claim 1, further comprising a plurality of electrodes attached to the three loop members, each electrode of the plurality of electrodes comprising a surface, the surface being characterized by a roughness parameter Ra representing an arithmetic mean deviation of a profile of the surface, Ra being between about 0.3 micrometers and about 0.4 micrometers. (7) The device of embodiment 1, further comprising at least one puller wire extending through the elongate shaft and attached to the distal portion of the elongate shaft such that when the puller wire is retracted relative to the elongate shaft toward the proximal portion, the distal portion and the end effector are bent at an angle relative to the longitudinal axis. (8) a tubular member extending along a longitudinal axis; a first loop member extending from the tubular member and including two spine members connected to an arcuate member, the first loop member arranged in a first plane; a second loop member extending from the tubular member and including two spine members connected to an arcuate member, the second loop member being arranged on a second plane intersecting the first plane; a third loop member extending from the tubular member and comprising two spine members connected to an arcuate member, the third loop member being arranged in a third plane intersecting the first plane and the second plane such that in an unconstrained configuration, a majority of the length of each of the three loop members is not coplanar with a majority of the length of at least one of the other three loop members; An apparatus for a mapping catheter, wherein each of the first loop member, the second loop member, and the third loop member includes a plurality of electrodes disposed thereon. (9) each of the three loop members includes a support frame extending through a corresponding one of the three loop members and attached to a distal portion of the tubular member; each of the support frames defining a corresponding loop path for the corresponding loop member; An apparatus as described in embodiment 8, wherein each of the support frames includes a corresponding cross-sectional shape perpendicular to the corresponding loop-shaped path, and each of the corresponding cross-sectional shapes varies along the corresponding loop-shaped path. (10) Each of the three loop members is an inner tubular housing surrounding at least a portion of the corresponding support frame; an outer tubular housing surrounding at least a portion of the inner tubular housing and coupled to the inner tubular housing; 10. The device of embodiment 9, comprising: a plurality of electrical conductors disposed within the outer tubular housing and at least partially outside the inner tubular housing.

[0155] (11) The three loop members are movable into a flat configuration when the loop members are positioned against a planar surface, and in the flat configuration, a majority of the length of each of the three loop members is in contact with the planar surface; Each of the support frames comprises: a corresponding pair of parallel segments, each segment in the corresponding pair of parallel segments having a corresponding length; when the three loop members are in the planar configuration, a majority of the corresponding length of each segment in each of the corresponding pairs of parallel segments is substantially coplanar with a majority of the corresponding length of each other segment in each of the corresponding pairs of parallel segments; An apparatus as described in embodiment 9, wherein when the three loop members are in the unconstrained configuration, the majority of the corresponding lengths of the segments in at least one of the corresponding parallel segment pairs are not in the same plane as the majority of the corresponding lengths of at least one segment in another corresponding parallel segment pair. (12) The present invention further includes a mechanical link portion that binds the bow-shaped members of the three loop members, and the mechanical link portion includes: a rectangular or oval shape including an opening through which the three loop members extend and a side including a seam; a rectangular or oval shape including an opening through which the three loop members extend and four continuous sides; a rectangular or oval shape including three openings each having a corresponding one of said three loop members extending therethrough; a cylindrical shape having three passages therethrough, each of the three passages containing a corresponding one of the three loop members extending therethrough; and The device of embodiment 8, comprising at least one of: a tapered ring having an annular opening through which the three loop members extend and a tapered height extending across the diameter of the annular opening. (13) The apparatus of claim 8, further comprising a plurality of electrodes attached to the three loop members, each electrode of the plurality of electrodes comprising a surface, the surface being characterized by a roughness parameter Ra representing an arithmetic mean deviation of a profile of the surface, Ra being between about 0.3 micrometers and about 0.4 micrometers. (14) The device of embodiment 8, further comprising at least one puller wire extending through and attached to the distal portion of the tubular member such that when the puller wire is retracted proximally, the distal portion of the tubular member and the three loop members are bent at an angle relative to the longitudinal axis. (15) forming a first loop member, a second loop member, and a third loop member to form corresponding loops, respectively; coupling respective pairs of corresponding ends of the first loop member, the second loop member, and the third loop member to a distal portion of an elongate shaft; overlapping the first loop member, the second loop member, and the third loop member at a common distal apex distal to the distal portion of the elongate shaft such that a majority of the first loop member is not coplanar with a majority of at least one of the second loop member and the third loop member when the first loop member, the second loop member, and the third loop member are unconstrained; manipulating the elongate shaft to force the majority of the first loop member, the majority of the second loop member, and the majority of the third loop member into contact with a planar surface; contacting the first loop member, the second loop member, and the third loop member with the planar surface such that the majority of the first loop member, the majority of the second loop member, and the majority of the third loop member are aligned with the planar surface.

[0156] (16) positioning the first loop member, the second loop member, the third loop member, and the distal portion of the elongate shaft within an intravascular catheter while a proximal portion of the elongate shaft extends proximally from the intravascular catheter; manipulating the proximal portion of the elongate shaft to move the first loop member, the second loop member, and the third loop member out of the distal end of the catheter; 16. The method of claim 15, further comprising manipulating the proximal portion of the elongate shaft to press the majority of the first loop member, the majority of the second loop member, and the majority of the third loop member into contact with the planar surface. (17) shaping the first support frame to define the first looped path such that the first support frame includes a cross-sectional shape perpendicular to the first looped path that varies along the first looped path; Positioning the first support frame within the first loop member; shaping a second support frame to define a second looped path such that the second support frame includes a cross-sectional shape orthogonal to the second looped path that varies along the second looped path; Positioning the second support frame within the second loop member; shaping a third support frame to define a third looped path such that the third support frame includes a cross-sectional shape orthogonal to the third looped path that varies along the third looped path; Positioning the third support frame within the third loop member; 16. The method of claim 15, further comprising attaching the first support frame, the second support frame, and the third support frame to the distal portion of the elongate shaft at each end of the corresponding end pairs of the first loop member, the second loop member, and the third loop member. (18) at least partially enclosing the first support frame within an inner tubular housing; positioning a plurality of electrical conductors adjacent to the first support frame and outside the inner tubular housing; at least partially enclosing the inner tubular housing and the plurality of electrical conductors in an outer tubular housing; 18. The method of claim 17, further comprising: coupling the outer tubular housing to the inner tubular housing. (19) Positioning the first support frame, the second support frame, and the third support frame such that the first looped path defines a first plane that intersects with at least one of a second plane defined by the second looped path and a third plane defined by the third looped path; molding a first pair of parallel segments in the first support frame, molding a second pair of parallel segments in the second support frame, and molding a third pair of parallel segments in the third support frame; 18. The method of claim 17, further comprising manipulating the elongated shaft to move a majority of the length of each segment of the first pair of parallel segments, the second pair of parallel segments, and the third pair of parallel segments so that they are aligned parallel to the planar surface. (20) attaching a plurality of electrodes to the first loop member, the second loop member, and the third loop member; polishing at least a portion of a surface of each electrode of the plurality of electrodes; 16. The method of claim 15, further comprising swaging each electrode of the plurality of electrodes.

Claims

1. 1. An apparatus comprising: an elongate shaft having a proximal portion and a distal portion, the elongate shaft configured to be manipulated at the proximal portion to position the distal portion within a patient's heart, the elongate shaft defining a longitudinal axis of the device; an end effector disposed proximate the distal portion of the elongate shaft, the end effector comprises three loop members overlapping at a common distal apex along the longitudinal axis, each of the three loop members having a corresponding pair of ends attached to the distal portion of the elongate shaft, the end effector configured to expand to an unconstrained configuration upon being unconstrained and define three distinct planes for each of the three loop members, the three distinct planes not being coplanar; and positioning the three loop members against a planar surface by deflecting the distal portion of the elongate shaft at an angle relative to the longitudinal axis such that the three loop members contact the planar surface in a flat configuration along the length of each of the three loop members. an end effector; a mechanical link portion for bundling the three loop members; when in the unconstrained configuration, a first length from an end of the corresponding end pair of a first loop member of the three loop members to a distal end of the first loop member is greater than a second length from an end of the corresponding end pair of a second loop member of the three loop members to a distal end of the second loop member, and the second length is less than a third length from an end of the corresponding end pair of a third loop member of the three loop members to a distal end of the third loop member, the distal end of the second loop member, a portion proximally spaced from the distal end of the first loop member, and a portion proximally spaced from the distal end of the third loop member are positioned at the common distal vertex, and the three loop members are bound together by the mechanical link at the common distal vertex; each of the three loop members includes a support frame extending through a corresponding one of the three loop members and attached to the distal portion of the elongate shaft at each end of the corresponding end pair of the corresponding loop member; when the end effector is in the unconstrained configuration, each of the support frames defines a corresponding looped path for the corresponding loop member; Each of the support frames includes a corresponding cross-sectional shape perpendicular to the corresponding looped path, each of the corresponding cross-sectional shapes varying along the corresponding looped path.

2. Each of the three loop members is an inner tubular housing surrounding at least a portion of the corresponding support frame; an outer tubular housing surrounding at least a portion of the inner tubular housing and coupled to the inner tubular housing; 10. The device of claim 1, comprising: a plurality of electrical conductors disposed within the outer tubular housing and at least partially outside the inner tubular housing.

3. Each of the support frames comprises: a corresponding pair of parallel segments, each segment in the corresponding pair of parallel segments having a corresponding length; when the end effector is in the planar configuration, each segment in each of the corresponding pairs of parallel segments is substantially coplanar with each other segment in each of the corresponding pairs of parallel segments; The apparatus of claim 1 , wherein when the end effector is in the unconstrained configuration, a segment in at least one of the corresponding pairs of parallel segments is not coplanar with at least one segment of another of the corresponding pairs of parallel segments.

4. The mechanical link portion is a rectangular or oval shape including an opening through which the three loop members extend and a side including a seam; a rectangular or oval shape including an opening through which the three loop members extend and four continuous sides; a rectangular or oval shape including three openings each having a corresponding one of said three loop members extending therethrough; a cylindrical shape having three passages therethrough, each of the three passages containing a corresponding one of the three loop members extending therethrough; and 10. The device of claim 1, further comprising at least one of: a tapered ring including an annular opening through which the three loop members extend and a tapered height extending across a diameter of the annular opening.

5. 10. The apparatus of claim 1, further comprising a plurality of electrodes attached to the three loop members, each electrode of the plurality of electrodes comprising a surface, the surface characterized by a roughness parameter Ra representing an arithmetic mean deviation of a profile of the surface, Ra being between 0.3 micrometers and 0.4 micrometers.

6. 10. The device of claim 1, further comprising at least one puller wire extending through the elongate shaft and attached to the distal portion of the elongate shaft such that when the puller wire is retracted relative to the elongate shaft toward the proximal portion, the distal portion and the end effector are bent at an angle relative to the longitudinal axis.

7. The device of claim 3 , wherein when in the flat configuration, the three loop members are held overlapping in a stacked configuration at the common distal apex.

8. 2. The device of claim 1, wherein when in the flat configuration, the three loop members are stacked at the common distal apex such that the third loop member is located between the first loop member and the second loop member at the common distal apex.

9. 9. The device of claim 8, wherein when in the flat configuration, the three loop members are positioned relative to the planar surface such that the first loop member is located between the third loop member and the planar surface at the common distal apex.

10. The device described in claim 9, wherein the mechanical link portion comprises a rectangular or oval shape including a single opening through which the three loop members extend and four continuous sides defining the opening.

11. 1. A method of manufacturing a device for use within a patient's heart, comprising: forming a first loop member, a second loop member, and a third loop member to form corresponding loops, respectively; coupling respective pairs of corresponding ends of the first loop member, the second loop member, and the third loop member to a distal portion of an elongate shaft; overlapping the first loop member, the second loop member, and the third loop member at a common distal apex distal to the distal portion of the elongate shaft such that a plane defined by the first loop member, a plane defined by the second loop member, and a plane defined by the third loop member are not coplanar when the first loop member, the second loop member, and the third loop member are unconstrained; bundling the first, second, and third loop members with a mechanical link at the common distal apex such that, when the first, second, and third loop members are released, a first length from the end of the corresponding end pair of the first loop member to the distal end of the first loop member is greater than a second length from the end of the corresponding end pair of the second loop member to the distal end of the second loop member, and the second length is less than a third length from the end of the corresponding end pair of the third loop member to the distal end of the third loop member, thereby positioning the distal end of the second loop member, a portion of the first loop member proximally spaced from the distal end, and a portion of the third loop member proximally spaced from the distal end at the common distal apex; shaping a first support frame to define a first looped path such that the first support frame includes a cross-sectional shape orthogonal to the first looped path that varies along the first looped path; Positioning the first support frame within the first loop member; shaping a second support frame to define a second looped path such that the second support frame includes a cross-sectional shape orthogonal to the second looped path that varies along the second looped path; Positioning the second support frame within the second loop member; shaping a third support frame to define a third looped path such that the third support frame includes a cross-sectional shape perpendicular to the third looped path that varies along the third looped path; Positioning the third support frame within the third loop member; and attaching the first support frame, the second support frame, and the third support frame to the distal portion of the elongate shaft at each end of the corresponding end pairs of the first loop member, the second loop member, and the third loop member.

12. at least partially enclosing the first support frame within an inner tubular housing; positioning a plurality of electrical conductors adjacent to the first support frame and outside the inner tubular housing; at least partially enclosing the inner tubular housing and the plurality of electrical conductors in an outer tubular housing; The method of claim 11 , further comprising: coupling the outer tubular housing to the inner tubular housing.

13. positioning the first support frame, the second support frame, and the third support frame such that the first looped path defines a first plane that intersects with at least one of a second plane defined by the second looped path and a third plane defined by the third looped path; 12. The method of claim 11, further comprising molding a first pair of parallel segments in the first support frame, molding a second pair of parallel segments in the second support frame, and molding a third pair of parallel segments in the third support frame.

14. attaching a plurality of electrodes to the first loop member, the second loop member, and the third loop member; polishing at least a portion of a surface of each electrode of the plurality of electrodes; The method of claim 11 , further comprising: swaging each electrode of the plurality of electrodes.

15. The device described in claim 1, wherein the mechanical link portion includes a rectangular or oval shape including three openings, wherein a first and a third of the three openings are horizontally elongated openings, a second of the three openings is circular, the first opening is positioned between the second opening and the third opening, the first loop member extends through the first opening, the second loop member extends through the second opening, and the third loop member extends through the third opening.

16. The device described in Claim 15, wherein the three openings are aligned along the longitudinal axis of the mechanical link portion, and the longitudinal axes of the first and third openings are perpendicular to the longitudinal axis of the mechanical link portion.

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