Flexible Intrabody Probe Shape Tracking via EM Loops
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Solution Overview
Problem
Current magnetic and impedance-based position sensing systems are inadequate for tracking the 3-D shape and deformation of flexible intrabody devices, such as catheters, especially when they bend or flex, as they primarily provide point location measurements and are not suitable for flexible portions.
Innovation Solution
Incorporating integrated electromagnetic (EM) loops on flexible portions of the intrabody probe that generate voltage signals in response to magnetic fields, allowing for real-time tracking of the probe's shape and deformation by processing voltage signals from multiple EM loops positioned along the flexible sections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If magnetic position sensors are mounted on rigid portions of catheter shafts, then accurate position reference is provided, but deformation detection capability is lost
Solution Approach 1:
The catheter is divided into multiple segments, each equipped with its own magnetic position sensor. This segmentation allows each sensor to accurately measure the position and deformation of its specific segment while maintaining overall system accuracy, resolving the contradiction between providing accurate position reference and detecting deformation.
Solution Approach 2:
The system transitions from static rigid mounting to dynamic flexible mounting by incorporating flexible circuit boards that can bend and deform with the catheter segments. This dynamic adaptation enables the sensors to maintain accurate position measurement while accommodating and detecting catheter deformation.
2Measurement precision
If multiple magnetic position sensors are used to track shape, then device complexity increases, but deformation tracking capability is improved
Solution Approach 1:
The catheter is divided into multiple segments, each equipped with its own magnetic position sensor. This segmentation allows each sensor to accurately measure the position and deformation of its specific segment while maintaining overall system accuracy, resolving the contradiction between providing accurate position reference and detecting deformation.
Solution Approach 2:
The system transitions from static rigid mounting to dynamic flexible mounting by incorporating flexible circuit boards that can bend and deform with the catheter segments. This dynamic adaptation enables the sensors to maintain accurate position measurement while accommodating and detecting catheter deformation.
3Device complexity
If impedance-based measurements are used, then device simplicity is maintained, but measurement precision for deformation tracking is insufficient
Solution Approach 1:
Magnetic position sensors serve as an intermediary between the simple impedance-based system and the requirement for accurate deformation measurement. The magnetic sensors provide precise position and deformation data while working in conjunction with the existing impedance-based telemetry system, combining the advantages of both approaches.
4Adaptability or versatility
If flexible portions of catheter are made deformable, then adaptability to body cavities is improved, but position sensing capability deteriorates
Solution Approach 1:
The system transitions from static rigid mounting to dynamic flexible mounting by incorporating flexible circuit boards that can bend and deform with the catheter segments. This dynamic adaptation enables the sensors to maintain accurate position measurement while accommodating and detecting catheter deformation.
Solution Approach 2:
Flexible circuit boards are used as the mounting substrate for magnetic position sensors on flexible catheter portions. These thin, flexible circuits maintain electrical connectivity while allowing the sensors to move and deform with the catheter, preserving both flexibility and sensing capability.
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
Enables accurate real-time tracking of the flexible probe's location and shape in a local coordinate system, effectively monitoring deformations and providing a visual representation of the probe's configuration, even when subjected to external forces.
Implementation Method 1
one or more integrated electromagnetic (EM) loops of electrically-conductive elements that are responsive to one or more magnetic fields to provide electrical signals indicative of the position the probe and its shape in space including its deformation in real-time
Data Source
AI summary
An intrabody probe with a flexible portion is configured with one or more integrated EM loops of electrically-conductive elements wherein the EM loops when exposed to one or more external magnetic fields are configured to generate voltage signals that are indicative of position of the EM loops, such as when the EM loops are subjected to an external force that results in deformation. With multiple EM loops at different locations on the flexible portion of the probe, a collection of such voltage signals from each EM loop enables a system configured to receive and process the voltage signals to determine coordinates of the EM loops in a local coordinate system and track a shape in space representative of probe deformation in real time.