Catheter Sensor Registration via Calibration Images
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Solution Overview
Problem
Existing medical procedures for cardiac tissue mapping and ablation face challenges in accurately registering the coordinate system of imaging systems with the electromagnetic sensor system, and determining the position and orientation of the catheter's distal end, especially since the sensor is not disposed on the catheter body, leading to variance in positional and orientational offsets.
Innovation Solution
A two-piece catheter design with an inner shaft containing the electromagnetic sensor and a hollow outer body with mapping and ablation electrodes, where pre-procedural registration and calibration images are used to ascertain the position and orientation of the distal end relative to the sensor and imaging system, allowing for accurate navigation and visualization during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of repair
If the electromagnetic sensor is separated from the catheter body, then the catheter shaft can be reused reducing costs, but the positional and orientational offsets between sensor and catheter distal end vary leading to registration inaccuracies
Solution Approach 1:
The patent performs pre-procedural registration and calibration to establish the positional and orientational relationship between the sensor and catheter distal end before the actual procedure. This preliminary calibration creates a reference framework that compensates for the separation between sensor and catheter body, allowing accurate visualization despite the modular design.
Solution Approach 2:
The patent introduces a calibration image and registration process as an intermediary element that bridges the gap between the sensor coordinate system and the catheter distal end coordinate system. This intermediary calibration data allows the system to accurately determine catheter position and orientation even though the sensor is physically separated from the catheter body.
2Measurement precision
If pre-procedural registration and calibration images are used to ascertain position and orientation, then accurate real-time visualization is achieved, but the procedure complexity and time increase
Solution Approach 1:
The registration and calibration are performed in advance before the actual medical procedure, separating the time-consuming setup phase from the treatment phase. This allows the procedural steps to be completed more efficiently once the calibration framework is established.
Solution Approach 2:
The patent creates a virtual calibration image that represents the spatial relationship between the sensor and catheter distal end. This digital copy or model of the geometric relationship allows for rapid calculations during the procedure without requiring repeated physical measurements or complex real-time calibration.
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
This approach enables precise anatomical and electroanatomical mapping, reduces costs by allowing the reuse of the catheter shaft, and provides accurate real-time visualization of the catheter's position and orientation within the heart, enhancing the effectiveness of cardiac ablation procedures.
Implementation Method 1
pre-procedural registration and calibration images are used to ascertain the position and orientation of the distal end relative to the sensor and imaging system
Data Source
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Figure 3A~3B
AI summary
While a catheter that includes (i) a catheter body, and (ii) a catheter shaft, which includes a sensor and which is disposed inside a lumen of the catheter body, is inside a body of a subject, a coordinate system of the sensor is registered with a coordinate system of an imaging system, using (a) a calibration image, acquired by the imaging system, that shows an indication of a distal end of the catheter body, and (b) a signal from the sensor, but not using any indication of the sensor shown in the calibration image. Using the registering, a visual output is generated. Other embodiments are also described.