Catheter Elongation Estimation via Sensor Projection
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Solution Overview
Problem
Existing invasive medical probes, such as cardiac catheters, face challenges in accurately determining the shape and expansion state of their expandable distal-end assemblies within a patient's organ cavity, leading to potential errors in anatomical mapping and treatment procedures.
Innovation Solution
A system comprising an expandable distal-end assembly with a proximal and distal position sensor, and a processor that estimates the position and elongation of the distal-end assembly by calculating the distance between the proximal and projected distal sensor positions, allowing for accurate estimation of the assembly's shape and expansion state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position sensors are installed at both proximal and distal ends of the expandable assembly to track shape and expansion, then measurement precision is improved, but device complexity increases due to additional sensors and processing requirements
Solution Approach 1:
The expandable assembly is divided into multiple segments with sensors positioned at key locations (proximal and distal ends). This segmentation allows the system to track the shape and expansion state of each segment independently, improving measurement precision while keeping the sensor count manageable.
Solution Approach 2:
A processor acts as an intermediary that receives signals from multiple position sensors and calculates the elongation of the expandable assembly. This intermediary component simplifies the overall system by centralizing the computation and coordination of sensor data, reducing the complexity that would otherwise arise from direct sensor-to-sensor communication.
2Measurement precision
If the distal position sensor measures position in three dimensions, then measurement precision is improved, but the calculation complexity increases requiring projection onto the longitudinal axis
Solution Approach 1:
The system transitions from three-dimensional position measurement to one-dimensional elongation calculation by projecting the distal sensor position onto the longitudinal axis. This dimensionality reduction maintains the essential measurement information while simplifying the calculation process and reducing computational complexity.
Data Source
AI summary
A computer readable medium comprising instructions to be executed by one or more processors, the instructions configured to cause a system to estimate, based at least in part on signals received from a first position sensor of an expandable assembly disposed along a longitudinal axis, a position and longitudinal direction of the first position sensor; and estimate, based at least in part on signals received from a second position sensor of the expandable assembly, a position of the second position sensor. The instructions are further configured to cause the system to project the estimated position of the second position sensor on an axis defined by the longitudinal direction of the first position sensor and correct the estimated position of the second position sensor by projecting the estimated position of the first position sensor.