Catheter Basket Deformation Modeling From Force Sensing
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Solution Overview
Problem
Existing systems fail to accurately depict the deformation and orientation changes of a catheter basket assembly during surgical procedures, particularly when it interacts with heart chamber walls, leading to inaccurate graphical representations.
Innovation Solution
A system that utilizes a force sensor to measure axial and equatorial forces on a catheter basket assembly, applying linear relationships to calculate deformation and rotation, enabling real-time rendering of the constrained form on a display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a simple icon is used to represent the basket assembly, then the display is simple and easy to understand, but the accuracy of representing deformation and orientation changes is insufficient
Solution Approach 1:
The system pre-calculates and stores the relationship between force measurements and corresponding basket deformation/rotation states. When force is measured during the procedure, the pre-computed graphical representations are retrieved and displayed, enabling accurate visualization without real-time complex calculations.
Solution Approach 2:
A processor acts as an intermediary between the force sensor and display device, translating raw force measurements into meaningful graphical representations. The processor computes the relationship between measured force and basket configuration, generating accurate visual feedback that bridges the gap between simple sensing and complex visualization.
2Measurement precision
If real-time force measurement and graphical updates are implemented, then the accuracy of deformation representation is improved, but the computational load and processing time increase
Solution Approach 1:
The system performs preliminary computation of the relationship between force magnitudes and corresponding basket deformations before the actual procedure. This pre-computation allows rapid retrieval and display of accurate graphical representations during real-time use without heavy computational burden.
Solution Approach 2:
The system uses the measured force value directly to determine the graphical representation through pre-established relationships, making the computation self-contained and efficient. The force sensor output directly drives the graphical update through lookup or simple calculation, minimizing processing requirements.
3Measurement precision
If the basket assembly form changes during the procedure, then the measurement of actual position and orientation is improved, but the graphical icon fails to reflect these changes
Solution Approach 1:
The system continuously measures force on the basket assembly and uses this feedback to update the graphical representation in real-time. The measured force information feeds back into the display system, ensuring the graphical icon accurately reflects the current deformation and orientation state of the basket.
Solution Approach 2:
The system changes the parameters of the graphical representation based on measured force values. As force magnitude and direction change during the procedure, the graphical icon's shape, orientation, and position parameters are dynamically adjusted to match the actual basket configuration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Provides accurate, real-time graphical representation of the catheter basket assembly's deformation and orientation within the heart chamber, enhancing surgical precision.
Implementation Method 1
a force sensor is disposed within said flexible elongated body proximate said distal end
Data Source
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Figure 3~4
AI summary
Apparatus for medical treatment, consisting of a probe and a processor. The probe has an insertion tube having a distal end configured for insertion into a body cavity of a living subject, and a basket assembly having multiple resilient spines coupled to the distal end of the insertion tube and joined together in a predefined form when the basket assembly is unconstrained by external forces. The probe also has a force sensor configured to output an indication of a force exerted on the basket assembly within the body cavity. The processor is configured to receive the indication of the force, to compute a constrained form of the basket assembly, different from the predefined form, responsively to the force, and to render to a display a graphical image representing the constrained form of the basket assembly.