US 10,702,342 B2Granted

Navigation guidance method for complex catheters

AssigneeMedtronic, Inc.

InventorScott A. Hareland

Life of this patent

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Abstract

A method and system for determining a target location for a medical device having complex geometry relative to an anatomical feature, and for navigating and positioning the medical device at the target location. The system may include a medical device including a treatment element having a centroid, one or more navigation electrodes, and a longitudinal axis and a navigation system in communication with the one or more navigation electrodes, the navigation system including a processing unit. The processing unit may be programmed to define a plane that approximates a surface of the anatomical feature, define a centroid of the anatomical feature, define a vector that is normal to the plane and extends away from the centroid of the anatomical feature, and determine a target location for the treatment element of the medical device based on the vector to assist the user in placing the device for treatment.

A system for recommending a target location for a medical device relative to a target anatomical feature, the system comprising:

a medical device including a balloon having complex geometry, a centroid, a first navigation electrode, a second navigation electrode, and a longitudinal axis, the balloon being disposed between the first navigation electrode and the second navigation electrode;
a navigation system in communication with the first navigation electrode and the second navigation electrode, the navigation system including a plurality of surface electrodes in communication with the first navigation electrode and the second navigation electrode, a display, and a processing unit having processing circuitry configured to, during use:
define a plane that approximates a surface of the target anatomical feature;
define a centroid of the target anatomical feature and a boundary of the target anatomical feature;
define a vector that is normal to the plane and extends away from the centroid of the target anatomical feature;
determine a first target location for the balloon;
recommend a second target location for the first navigation electrode and recommend a third target location for the second navigation electrode;
and
display on the display a first graphical indicator for the second target location for the first navigation electrode, a second graphical indicator for the third target location for the second navigation electrode, and a line corresponding to the vector,
the recommended target location for each of the first and second navigation electrode being displayed on the display before beginning at least one of a treatment phase and a mapping phase,
the processing circuitry being configured to determine the first target location in three dimensions according to a first equation:
[
x
b
y
b
z
b
]
=
[
x
0
y
0
z
0
]
+
d
⁡
[
a
b
c
]
where d is a distance between the centroid of the balloon and the centroid of the target anatomical feature calculated according to a second equation:
d
=
r
b
⁢
cos
⁡
(
sin
-
1
⁡
(
r
os
,
max
r
b
)
)
where ros,max is a distance between the centroid of the target anatomical feature and the boundary of the anatomical feature and rb is a distance between the centroid of the balloon and the boundary of the anatomical feature,
the processing circuitry being configured to recommend the second target location in three dimensions according to a third equation:
e
d
=
[
x
d
y
d
z
d
]
=
[
x
b
y
b
z
b
]
-
l
d
⁡
[
a
b
c
]
and recommend the third target location in three dimensions according to a fourth equation:
e
p
=
[
x
p
y
p
z
p
]
=
[
x
b
y
b
z
b
]
+
l
p
⁡
[
a
b
c
]
where ld is a distance between the centroid of the balloon and the first navigation electrode and lp is a distance between the centroid of the balloon and the second navigation electrode.

117 more elements

Facts

Application

15/259,683Filed 8 Sep 2016

Published

US 2018/0064494 A18 Mar 2018

Granted

7 Jul 2020

Term ends

Not estimatedThe source records don’t support an estimate.

Classification15 codes

A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 5/066
Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on…
A61B 5/068
Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on…
A61B 5/6852
Mounted on an invasive device: catheters

Abstract

Claims4