• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to an apparatus that includes a probe that has a proximal and a distal end, the probe being configured to be inserted into an organ of a human patient and defining a geometric axis of the probe. At least two conductors are positioned on the probe at the distal end. The apparatus includes at least two flexible conductive grooves, each conductive groove having a first termination and a second termination, the first terminations being electrically connected together in a region on the geometric axis of the probe beyond the distal end, each second termination being electrically connected to a respective conductor, the grooves being configured to flex in the respective arched forms that span a volume. The apparatus also includes a processor configured to receive the stresses induced on the streaks through the conductors and calculate a position and orientation of the volume in response to the stresses received.
    公开号:BR112019025026A2
    申请号:R112019025026-3
    申请日:2018-05-23
    公开日:2020-06-23
    发明作者:Bar-Tal Meir；Meir Bar-tal；Dan Montag Avram；Avram Dan Montag
    申请人:Biosense Webster (Israel) Ltd.；
    IPC主号:
    专利说明:

    [0001] [0001] The present invention relates, in general, to catheter navigation, and particularly to methods and systems for locating the position and orientation of a catheter. BACKGROUND OF THE INVENTION
    [0002] [0002] There is a growing competitive drive in the electrophysiology market to develop catheters with multiple basket or balloon-type electrodes in order to provide more detailed electrograms that result in more accurate maps. The usefulness of information from such a catheter is greatly improved if location information is also available.
    [0003] [0003] US patent 6,748,255, issued to Fuimaono et al., Describes a catheter with basket that is considered useful for mapping the heart. The catheter comprises an elongated catheter body with proximal and distal ends and at least one lumen through it, and a basket set of electrodes is mounted on the distal end of the catheter body.
    [0004] [0004] US patent 7,155,270, issued to Solis et al., Describes a catheter that is considered useful for simultaneous mapping of multiple points within the heart. The catheter includes a mapping set that includes a plurality of flexible ridges, each with a free distal end, and the ridges are supported by a support structure that allows them to be arranged in relation to each other.
    [0005] [0005] US patent 6,529,756, issued to Phan et al., Describes a probe that can be used to create circumferential lesions in body tissue and that can also be used to perform mapping functions. The probe includes a deformable / expandable structure that holds electrodes or other operative elements against body tissue.
    [0006] [0006] US patent 6,893,439, assigned to Fleischman, and US patent 6,939,349, assigned to Fleischman et al., Describe an electrode support structure that comprises a guide body that has a leg at its distal end flexible grooved. The grooved leg is flexed to define an arched shape to facilitate intimate contact against the tissue, and an electrode element is carried by the grooved leg for movement along its geometric axis.
    [0007] [0007] US patent 8,346,339, issued to Kordis et al., Describes a basket-style cardiac mapping catheter with a set of flexible electrodes for the detection of cardiac rhythm disorders. The catheter includes a plurality of flexible grooves that have proximal portions, distal portions and medial portions between them, and there is an anchor for the secure fixation of the proximal portions of the grooves.
    [0008] [0008] US patent 8,560,086, issued to Just et al., Describes a family of sets of catheter electrodes that includes a flexible circuit that has a plurality of electrical traces and a substrate, an annular electrode that surrounds the flexible circuit and that it is electrically coupled to at least one of the plurality of electrical traces, and an external cover that extends over at least a portion of the electrode.
    [0009] [0009] US patent 8,644,902, issued to Kordis et al., Describes a method for detecting cardiac rhythm disorders using a basket-style cardiac mapping catheter. The method includes providing a basket set that includes a plurality of flexible grooves to guide a plurality of exposed electrodes, and the electrodes are substantially flat electrodes that are substantially oriented unidirectionally in a direction outside the basket.
    [0010] [0010] US patent application 2015/0208942, attributed to Bar-Tal et al., Describes how the catheterization of the heart can be performed by inserting a probe with electrodes into the heart of a living individual. The probe can be a basket catheter that has multiple ribs, each rib having multiple electrodes.
    [0011] [0011] US patent application 2015/036650842, assigned to Chou et al., Describes an expandable catheter assembly with the electrical routes of the flexible printed circuit board. The expandable assembly may comprise a plurality of grooves that form a basket matrix or a basket catheter.
    [0012] [0012] The documents incorporated by reference in the present patent application must be considered an integral part of the application except that, if any term described in these incorporated documents conflicts with the definitions made explicitly or implicitly in this specification, only the definitions of this specification should be considered. DESCRIPTION SUMMARY
    [0013] [0013] An embodiment of the present invention provides an apparatus that includes: a probe having a proximal end and a distal end, the probe being configured to be inserted into an organ of a human patient and defining a geometric axis of the probe; at least two conductors positioned on the probe at the distal end; at least two flexible conductive grooves, each conductive groove having a first termination and a second termination, the first terminations being electrically connected together in a region on the geometric axis of the probe beyond the distal end, each second termination being electrically connected to a respective conductor, the grooves being configured to flex in the respective arched shapes that cover a volume; and a processor configured to receive the stresses induced on the streaks through the conductors and calculate a position and orientation of the volume in response to the stresses received.
    [0014] [0014] In a described embodiment, the splines are attached to the flexible material that forms a balloon catheter. Alternatively, the probe and the grooves form a catheter with basket.
    [0015] [0015] In another described mode, the processor is configured to calculate an ellipticity of the volume in response to the received voltages.
    [0016] [0016] In yet another described modality, the device includes at least one magnetic field radiator that generates an alternating magnetic field that crosses the volume surrounded by the streaks in order to generate the received voltages.
    [0017] [0017] In an alternative embodiment, the at least two flexible conductive grooves include an even number of grooves, and the processor is configured to calculate the respective centers and orientations of pairs of opposite grooves, and derive the position and orientation of the volume from the respective centers and guidelines.
    [0018] [0018] In another alternative modality, the at least two conductors and the at least two flexible conductive grooves are symmetrically distributed around the geometric axis of the probe.
    [0019] [0019] In yet another alternative modality, the at least two conductors and the at least two flexible streaks are equal in number.
    [0020] [0020] At least two flexible conductive ribs can consist of n ribs, where n is an integer greater than or equal to three, and the processor is configured to receive a subset of voltages
    [0021] [0021] Alternatively, the at least two flexible conductive streaks can consist of n streaks, where n is an integer greater than or equal to two, and the processor is configured to receive (n2) induced voltages in the respective (n2) pairs of different streaks and calculate the position and orientation of the volume in response to the (n2) stresses received.
    [0022] [0022] The processor can be configured to calculate a volume magnitude in response to incoming voltages. The streaks can be attached to the flexible material that forms a balloon catheter, and the device can additionally comprise a screen, and the processor can be configured to display a virtual representation of the balloon catheter in response to position, orientation and position. volume magnitude.
    [0023] [0023] In addition, according to one embodiment of the present invention, a method is included which includes: configuring a probe, which has a proximal end and a distal end, to be inserted into an organ of a human patient, the probe being defines a geometric axis of the probe; position at least two conductors on the probe at its distal end; providing at least two flexible conductive grooves, each conductive groove having a first termination and a second termination; electrically connect the first terminations in a region on the geometric axis of the probe beyond the distal end; electrically connect each second termination to a respective conductor among the conductors;
    [0024] [0024] The present invention will be better understood from the following detailed description of its modalities, taken in conjunction with the drawings, in which: BRIEF DESCRIPTION OF THE DRAWINGS
    [0025] [0025] Figure 1 is a schematic illustration of a medical system comprising a medical probe, according to an embodiment of the present invention;
    [0026] [0026] Figures 2A, 2B and 2C are schematic illustrations of a distal end of the probe, according to an embodiment of the present invention;
    [0027] [0027] Figure 3 illustrates the voltages developed between different conductor terminations in the probe and a common conductor termination, according to a modality of the present invention;
    [0028] [0028] Figure 4 is a flow chart of steps of a balloon catheter algorithm implemented by a processor for a balloon, according to an embodiment of the present invention;
    [0029] [0029] Figure 5 illustrates experimental results using a system similar to the medical system of Figure 1, according to an embodiment of the present invention; and
    [0030] [0030] Figure 6 is a flowchart that describes the steps of a position and orientation algorithm for tracking a single catheter axis sensor, according to one embodiment of the present invention.
    [0031] [0031] It is important for a catheter probe with basket or balloon that the location of the catheter is known as accurately as possible. This knowledge is typically obtained from one or more sensors that are incorporated into the catheter. In contrast, the modalities of the present invention use the streak of the catheter with basket or balloon as single monoaxial magnetic sensors with single turn, the signals of which, when in an alternating magnetic field, provide a location for the sensors. A large area single loop sensor is as accurate as a multiple area small loop sensor because the total areas of the two types of sensors are similar. Streak signals can be used alone, or in conjunction with other location sensors built into the catheter, to provide the location of a volume covered by the streak in the catheter.
    [0032] [0032] Thus, one embodiment of the present invention comprises a probe that can be inserted into an organ, typically the heart, of a human patient. The probe, typically cylindrical, defines a geometric axis of symmetry. At least two conductors are positioned on the probe at a distal end of the probe, and the probe comprises at least two flexible conductive grooves. Each conductive groove has a first termination and a second termination, and the first terminations are electrically connected to each other in a region on the geometric axis of the probe, in addition to the distal end of the probe. Each second termination is electrically connected to a respective conductor, and the grooves are configured to flex in the respective arched shapes that span a volume.
    [0033] [0033] A processor receives the stresses induced in the streaks through the conductors, the stresses being induced in the streaks by an alternating magnetic field that crosses the volume covered by the streaks. The processor calculates a position and orientation of the volume in response to incoming voltages. Detailed Description
    [0034] [0034] Figure 1 is a schematic illustration of a medical system 20, which comprises a medical probe 22 having a proximal end 23 and a distal end 26, according to an embodiment of the present invention. Figures 2A, 2B and 2C are schematic illustrations of the distal end 26 of probe 22, according to an embodiment of the present invention. System 20 can be based, for example, on the CARTO system produced by Biosense Webster Inc., located at number 33 on Technology Drive, Irvine, CA, 92618, USA.
    [0035] [0035] In modalities described later in this document, medical probe 22 is used for diagnosis or therapeutic treatment, for example, for mapping electrical potentials and / or for performing ablation procedures in a heart 28 of a patient 30. Alternatively, probe 22 can be used, with appropriate adaptations, for other therapeutic and / or diagnostic purposes in the heart or other organs of the body.
    [0036] [0036] During a medical procedure using the system 20, a medical professional 32 inserts a medical probe 22 into a biocompatible sheath (not shown) that has been pre-positioned in a patient's lumen so that a balloon 34, described in detail with reference to Figures 2A, 2B and 2C, affixed to the distal end 26 of the medical probe, enter a chamber of the heart 28.
    [0037] [0037] System 20 is controlled by a system 46 processor that can be incorporated as a single processor or as a set of processors connected in a network or grouping cooperatively. Processor 46 is typically a programmed digital computing device that comprises a central processing unit (CPU), random access memory (RAM), non-volatile secondary storage, such as a hard disk or CD-ROM drive, network and / or peripheral devices. Program codes, including software programs and / or data, are loaded into RAM for execution and processing by the CPU and the results are generated for display, output, transmission or storage, as is known in the art. Using its CPU and its memories, processor 46 can be programmed to execute the algorithms described here, using one or more modules, described later in this document, contained in a bank of modules 50 with which the processor communicates.
    [0038] [0038] Although, for the sake of simplicity in describing this document, processor 46 is assumed to be the one described above, it is understood that the scope of the invention includes a processor formed from any suitable integrated circuits, including, but not limited to, not limited to, an ASIC (integrated circuit for specific application), an FPGA (array of programmable ports in the field), an MCU (microcontroller unit) and a CPU.
    [0039] [0039] In some embodiments, processor 46 comprises a real-time noise reduction circuit 45, typically configured as an FPGA, followed by an analog-to-digital (A / D) signal conversion integrated circuit 47. The processor can pass the signals from the A / D circuit 47 to the modules described here. The processor uses circuit 45 and circuit 47, as well as the resources of the modules mentioned above, to execute the algorithms.
    [0040] [0040] Processor 46 is typically located on an operating console 24 of the system. The console 24 comprises the controls 54 that are used by the professional 32 to communicate with the processor 46. The console 24 typically comprises a screen 56 in which the visual information generated by the processor, such as a map 48 of the heart 28, can be presented to the professional 32.
    [0041] [0041] The console 24 is connected by a cable 36 to a location block 25, typically located under the patient 30, which comprises a plurality of fixed alternating magnetic field radiators. In one embodiment, there are three generally similar sets of radiators 27A, 27B and 27C, each radiator comprising three orthogonal coils that radiate respective magnetic fields at different frequencies, so that, in this case, there are nine separate fields that are irradiated. Radiators 27A, 27B and 27C, collectively here called radiators 27, are powered by a magnetic tracking module 52 in module bank 50, and radiate their magnetic fields in a volume that includes the heart 28 and its surroundings.
    [0042] [0042] In addition to supplying the radiators 27, module 52 is configured to record the voltages developed by the conductive elements in the balloon 34, the voltages being created in response to the alternating magnetic fields generated by the radiators 27, which pass through the conductive elements. The voltage generation is described in detail below, and, as also described below, from the recorded voltages, processor 46 is able to derive the position and orientation of the balloon 34.
    [0043] [0043] Figures 2A and 2B are schematic illustrations of balloon 34, respectively, in a generally spherical and generally ellipsoidal shape, and Figure 2C is a schematic illustration of balloon 34 seen from a distal point in relation to the balloon. Balloon 34 is presumed to involve volume 38. Figure 2A illustrates the balloon when fully inflated, and Figure 2B illustrates the balloon in an at least partially inflated configuration. Typically, when partially or completely inflated, the balloon 34 has a diameter on the order of about 20 mm to about 40 mm.
    [0044] [0044] As previously stated, the balloon 34 is attached to the distal end 26, and the distal end defines a geometric axis of symmetry of probe 60 of the balloon when it is at least partially inflated. To transport the balloon through the aforementioned pre-positioned sheath, the balloon is initially in an deflated form, and in this form, the distal end 26 is inserted into heart 28. When in the right place in heart 28, the balloon can be inflated, typically by injecting a fluid, such as saline, into the balloon. When the procedure for which the balloon was positioned in the heart 28 is completed, the balloon can be deflated and probe 22 (with the balloon deflated) can be removed from the patient 30.
    [0045] [0045] In order for the balloon to be deflated and inflated, balloon 34 is formed from a flexible biocompatible plastic material 62, and the material is attached to a plurality of flexible streaks 64A, 64B, ... 64H, generically similar . The grooves 64A, 64B, ... are here generically called grooves 64, and the grooves are typically symmetrically distributed around the geometric axis 60. In the disclosure and claims, the groove is presumed to be a long strip or slat, narrow and thin. In addition, due to its shape, a groove can be flexed in a generally arched shape.
    [0046] [0046] Although the number of grooves 64 can be any convenient even or odd number of grooves that is two or more, in the description below, for example, it is assumed that there are eight grooves 64A, 64B, ... 64H . In some embodiments, the ribs 64 are internal to the material 62, so that the ribs act as ribs or ridges covered by the material 62. Alternatively, the ribs 64 are external to the material 62, and the ribs are fixed by cement to the external surface of the material. material 62 in order to support the material in place. Typically, the grooves 64 are formed from a flexible printed circuit (PC, "printed circuit"), a flexible wire such as nitinol or a composition of such materials.
    [0047] [0047] As shown in Figures 2A and 2B, the grooves 64 surround, that is, they cover the volume 38 surrounded by the balloon 34.
    [0048] [0048] For the sake of simplicity and clarity, in the description below, it is assumed that the grooves 64 are external to the material 62 and are formed from flexible PC, and those skilled in the art will be able to adapt the description, with the necessary adaptations, in the case of grooves 64 that are internal to the material of the balloon and / or that are formed from other materials mentioned above.
    [0049] [0049] Streaks 64 typically comprise other elements, such as sensors, typically thermocouples or thermistors, to measure the temperature of the cardiac tissue that comes into contact with the streaks, and electrodes. The electrodes can be used, among others, for the ablation by radiofrequency (RF) of the cardiac tissue and / or to measure and record electrocardiogram (ECG) signals generated by the cardiac tissue. In some embodiments, the other elements also comprise location sensors, typically coils, which provide control signals in response to magnetic fields from radiators 27 that pass through the sensors. Processor 46 can be configured to use such signals in order to find the location, that is, the position and orientation, of the sensors. However, in some modalities there are no location sensors, since, as described below, processor 46 uses the signals from the conductors in the grooves 64 to determine the position and orientation of the balloon 34.
    [0050] [0050] The signals to and from these other elements are typically analyzed and / or generated by processor 46 together with the respective modules in module bank 50. For the sake of simplicity, these other elements and their respective modules are not shown in the figures .
    [0051] [0051] Each strand 64A, 64B, ... 64H comprises a respective conductor 66A, 66B, ... 66H, the conductors being generically referred to in the present invention as conductors 66. Conductors 66 can be formed on striations 64 by any method convenient, like, but not limited to, plating on the stretch marks. Thus, the ribs 64 are also called conductive ribs 64 in the present invention. The ribs 66 have a first common termination 70 in a distal region 72 of the balloon, the region 72 being beyond the distal end 26 and on the geometric axis 46, where the geometric axis cuts through material 62. In addition, conductors 66A, 66B, ... 66H have their respective separate second terminations, 74A, 74B, ... 74H, collectively called 74. The termination signals 74A, 74B, ... 74H, produced as described below, are conducted by the respective conductors 76A, 76B, ... 76H to the proximal end 23 of probe 22 and then to module 52, and processor 46 uses the module to analyze the signals, as also described below.
    [0052] [0052] In some modalities, one or more conductors 66 can be configured to perform multiple functions, such as being able to act as electrodes, and / or as at least one terminal of the temperature sensors, and / or as at least one terminal of the temperature sensors location, all of which are mentioned above.
    [0053] [0053] When balloon 34 is at least partially inflated, each pair of conductors 66 is connected at common termination 70, terminates at respective different secondary terminations 74 and involves a region defined by the specific pair of conductors 66 (that is, defined by 66A , 66B, 66C ... 66H). It should be understood that the specific pair of conductors 66 acts as a coil with a single turn. Thus, when the region encircled by the single turn coil is crossed by alternating magnetic fields from the radiators 27, Faraday's law of induction provides that an induced voltage is developed along the different second terminations 74 of the pair 66 and that the voltage depends on the area of the surrounding region, the intensity of the magnetic fields in the region and the orientation of the region in relation to the magnetic fields.
    [0054] [0054] Figure 3 illustrates the voltages developed between the different 74A, 74B, ... 74H terminations and the common 70 termination, according to an embodiment of the present invention. As shown in the figure, voltages VA, VB, ... VH can be considered to be generated between the second terminations 74A, 74B, ... 74H and the first common termination 70 of conductors 66, and the voltage measured between any two second terminations is the sum of the two voltages assumed to be generated in the two conductors. For example, a VAC voltage measured between 74A and 74C terminations is given by equation (1): VAC = VA + VC (1)
    [0055] [0055] Single axis geometry sensors (SEGUs) with a coil with multiple turns are known in the art, and since they are positioned in alternating magnetic fields that have been spatially mapped, it must be understood that the voltage developed along the coil can be used to find the position and orientation of the coil in the magnetic field. The appendix below describes an algorithm to find the position and orientation of a SEGU in a mapped magnetic field, and those skilled in the art can use the description of the algorithm, with the necessary adaptations, to find the position and orientation of a coil of single loop, like a specific single loop coil defined by a pair of conductors 66. The algorithm is applicable since among others, the total area of a multiple loop SEGU, typically with a diameter of the order of 1 mm, is the same order that a single loop coil formed by a pair of conductors 66 in a balloon with a diameter of the order of 20 mm, so that the stresses formed by the multiple loop coil and the single loop coil (in the same magnetic field) are also in the same order.
    [0056] [0056] For n conductors 66 (in the grooves 64), where n is an integer equal to or greater than 2, there are (n2) possible different pairs of conductors that form the single turn coils that generate (n2) respective voltages . Thus, for the 8 conductors (in their respective grooves) considered here, there are 28 different possible single turn coils. This relationship would govern different single-loop coils regardless of the number of conductors. For example, where n = 4, there are 6 different possible single turn coils; when n = 6, there are 15 different possible single turn coils; where n = 12, there are 66 different possible single turn coils, and so on.
    [0057] [0057] The tension on each single turn coil provides the position and orientation of the coil, and the geometric relationships between the conductors, as well as the geometric relationships between the conductors and the balloon, are known or can be estimated. From the geometric relationships, and the voltages developed by the 28 different single-turn coils, processor 46 is able to estimate the position and orientation of the volume 38 of the balloon 34.
    [0058] [0058] It will be possible, in this way, to understand that for n striations that form (n2) pairs of single turn coils, based on the geometric relationships and stresses developed by the (n2) coils, processor 46 is able to estimate the position and the orientation of volume 38 of balloon 34.
    [0059] [0059] In addition, instead of using all (n2) pairs of single turn coils, processor 46 can be configured to estimate the position and orientation of volume 38 of balloon 34 using a selected subset of coils.
    [0060] [0060] Thus, in a described mode, instead of analyzing the 28 different voltages generated by the set of eight conductors 66, processor 46 is configured to analyze the four sets of voltages generated by the subset of the eight conductors composed of four opposite pairs of conductors 66, (66A, 66E), (66B, 66F), (66C, 66G), (66D, 66H). That is, the processor records and analyzes the voltages given by equations (2): VAE = VA + VE VBF = VB + VF (2) VCG = VC + VG VDH = VD + VH
    [0061] [0061] Each pair of opposite conductors 66 (for example, 66A and 66E forming a pair) generally forms a flat ellipse. (In the case of complete inflation of balloon 34, the ellipse is approximately circular with an ellipticity of approximately one unit). In addition, the centers of each of the four ellipses are approximately the same, corresponding to the center of volume 38. Due to the symmetry of the grooves 64, each of the four ellipses typically has substantially the same ellipticity, so that the balloon 34 is effectively an ellipsoid of revolution around geometric axis 60. Since, due to the known construction of the grooves 64 in balloon 34, the orientation of the four ellipses in relation to each other is known, these orientations can be used to calculate an orientation of the balloon and a magnitude of its involved volume. By estimating the balloon's location, that is, its position and orientation, as well as its volume, the processor is able to provide a virtual representation of the actual size of the physical balloon and its actual location in relation to the structures of the heart in a medical procedure.
    [0062] [0062] Figure 4 is a flow chart of steps of a balloon catheter algorithm implemented by processor 46 for balloon 34, according to an embodiment of the present invention. The algorithm assumes that the voltages of the four opposite conductor pairs 66 of the modality described above, which describes the four ellipses of the balloon, are measured. From the measured voltages, processor 46 finds the position and orientation of volume 38.
    [0063] [0063] In an 80 generation step, a magnetic field model ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
    权利要求:
    Claims (24)
    [1]
    1. Apparatus, characterized by comprising: a probe that has a proximal end and a distal end, the probe being configured to be inserted into an organ of a human patient and defining a geometric axis of the probe; at least two conductors positioned on the probe at the distal end; at least two flexible conductive grooves, each conductive groove having a first termination and a second termination, the first terminations being electrically connected together in a region on the geometric axis of the probe beyond the distal end, each second termination being electrically connected to a respective conductor, the grooves being configured to flex in the respective arched shapes that cover a volume; and a processor configured to receive the stresses induced on the streaks through the conductors and to calculate a position and orientation of the volume in response to the stresses received.
    [2]
    2. Apparatus according to claim 1, characterized by the fact that the splines are attached to the flexible material that forms a balloon catheter.
    [3]
    3. Apparatus according to claim 1, characterized by the fact that the probe and the grooves form a catheter with basket.
    [4]
    4. Apparatus, according to claim 1, characterized by the fact that the processor is configured to calculate an ellipticity of the volume in response to the received voltages.
    [5]
    5. Apparatus, according to claim 1, and characterized by the fact that it comprises at least one magnetic field radiator that generates an alternating magnetic field that crosses the volume surrounded by the splines in order to generate the received stresses.
    [6]
    6. Apparatus according to claim 1, characterized by the fact that the at least two flexible conductive ribs comprise an even number of ribs, and in which the processor is configured to calculate the respective centers and the orientations of opposite pairs of ribs , and derive the position and orientation of the volume from the respective centers and orientations.
    [7]
    7. Apparatus according to claim 1, characterized by the fact that at least two conductors and at least two flexible conductive streaks are symmetrically distributed around the geometric axis of the probe.
    [8]
    8. Apparatus according to claim 1, characterized by the fact that the at least two conductors and the at least two flexible splines are equal in number.
    [9]
    9. Apparatus according to claim 1, characterized by the fact that at least two flexible conductive streaks comprise n streaks, where n is an integer greater than or equal to three, and in which the processor is configured to receive a subset of (n2) stresses induced in the respective (n2) pairs of different striations, and calculate the position and orientation of the volume in response to the received subset.
    [10]
    10. Apparatus according to claim 1, characterized by the fact that at least two flexible conductive streaks comprise n streaks, where n is an integer greater than or equal to two, and the processor is configured to receive ( n2) stresses induced in the respective (n2) pairs of different striations, and calculate the position and orientation of the volume in response to the (n2) stresses received.
    [11]
    11. Apparatus, according to claim 1, characterized by the fact that the processor is configured to calculate a volume magnitude in response to incoming voltages.
    [12]
    12. Apparatus, according to claim 11, characterized by the fact that the splines are fixed to a flexible material that forms a balloon catheter, the apparatus additionally comprising a screen, and in which the processor is configured to present in the a virtual representation of the balloon catheter in response to the position, orientation and magnitude of the volume.
    [13]
    13. Method, characterized by understanding: configuring a probe, which has a proximal and a distal end, to be inserted in an organ of a human patient, the probe defining a geometric axis of the probe; position at least two conductors on the probe at its distal end; providing at least two flexible conductive grooves, each conductive groove having a first termination and a second termination; electrically connect the first terminations in a region on the geometric axis of the probe beyond the distal end; electrically connect each second termination to a respective conductor; flex the grooves in the respective arched shapes that cover a volume; and receiving the stresses induced on the streaks through the conductors and calculating a position and orientation of the volume in response to the stresses received.
    [14]
    14. Method, according to claim 13, characterized by the fact that the splines are attached to the flexible material that forms a balloon catheter.
    [15]
    15. Method, according to claim 13, characterized by the fact that the probe and the grooves form a catheter with basket.
    [16]
    16. Method, according to claim 13, characterized by the fact that it comprises calculating an ellipticity of the volume in response to the stresses received.
    [17]
    17. Method, according to claim 13, and characterized by the fact that it comprises generating an alternating magnetic field that crosses the volume surrounded by the grooves in order to generate the received stresses.
    [18]
    18. Method, according to claim 13, characterized by the fact that the at least two flexible conductive grooves comprise an even number of grooves, and the method comprises calculating the respective centers and orientations of opposite pairs of grooves, and deriving the position and orientation of the volume from the respective centers and orientations.
    [19]
    19. Method, according to claim 13, characterized by the fact that it comprises distributing at least two conductors and at least two flexible conductive strips symmetrically around the geometric axis of the probe.
    [20]
    20. Method according to claim 13, characterized in that the at least two conductors and the at least two flexible striations are equal in number.
    [21]
    21. Method, according to claim 13, characterized by the fact that at least two flexible conductive streaks comprise n streaks, where n is an integer greater than or equal to three, and the method comprises receiving a subset of (n2) stresses induced in the respective (n2) pairs of different grooves, and calculate the position and orientation of the volume in response to the received subset.
    [22]
    22. Method, according to claim 13, characterized by the fact that at least two flexible conductive streaks comprise n streaks, where n is an integer greater than or equal to two, the method comprising receiving (n2) stresses induced in the respective (n2) pairs of different grooves, and calculate the position and orientation of the volume in response to the (n2) stresses received.
    [23]
    23. Method according to claim 13, characterized by the fact that it comprises calculating a magnitude of the volume in response to the stresses received.
    [24]
    24. Method, according to claim 23, characterized by the fact that the grooves are fixed to a flexible material that forms a balloon catheter, the method additionally comprising presenting on screen a virtual representation of the balloon catheter in response the position, orientation and magnitude of the volume.
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    同族专利:
    公开号 | 公开日
    AU2018276164A1|2019-11-28|
    WO2018220479A1|2018-12-06|
    US20180344202A1|2018-12-06|
    EP3903721A4|2021-11-03|
    EP3903721A1|2021-11-03|
    EP3629987B1|2021-06-23|
    CA3063654A1|2018-12-06|
    MX2019014369A|2020-01-23|
    IL270694D0|2020-01-30|
    CN110691559A|2020-01-14|
    JP2020521582A|2020-07-27|
    EP3629987A1|2020-04-08|
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    法律状态:
    2021-08-31| B11A| Dismissal acc. art.33 of ipl - examination not requested within 36 months of filing|
    2021-11-03| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    2021-11-16| B11Y| Definitive dismissal - extension of time limit for request of examination expired [chapter 11.1.1 patent gazette]|
    优先权:
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    US201762512263P| true| 2017-05-30|2017-05-30|
    US62/512,263|2017-05-30|
    US15/971,966|US20180344202A1|2017-05-30|2018-05-04|Catheter Splines as Location Sensors|
    US15/971,966|2018-05-04|
    PCT/IB2018/053633|WO2018220479A1|2017-05-30|2018-05-23|Catheter splines as location sensors|
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