System and method for energy delivery to tissue while monitoring position, lesion depth, and wall motion

A system comprising:

• an elongate device comprising an ultrasound transducer associated with a distal portion thereof and configured to move over a surface of target tissue;
• a sensor coupled to the distal portion of the elongate device, wherein the sensor is configured to detect one or more tissue parameters of the target tissue;
• and
• one or more processors communicatively coupled to the elongate device, the ultrasound transducer, and the sensor, and configured to execute instructions to:
• calculate a motion of the target tissue relative to the ultrasound transducer based on the one or more tissue parameters at least in part by scanning the sensor over the target tissue such that a singular spot is not repeatedly interrogated, wherein closely spaced points of the target tissue are approximated as a single point for the motion calculation;
• measure a distance between the ultrasound transducer and the surface of the target tissue based on the one or more tissue parameters;
• determine a type of the target tissue based at least in part on the calculated motion of the target tissue;
• generate a map of the surface of the target tissue based on the measured distance;
• identify an ablation path on the tissue based on the generated map;
• control the ultrasound transducer to deliver an ablation energy to the ablation path to ablate the target tissue;
• adjust the ablation based on the calculated motion and the measured distance to form a continuous lesion in the target tissue.

A system comprising:

• an elongate device comprising an ultrasound transducer associated with a distal portion thereof and configured to move over a surface of target tissue;
• a sensor coupled to the distal portion of the elongate device, wherein the sensor is configured to detect one or more tissue parameters of the target tissue;
• and
• one or more processors communicatively coupled to the elongate device, the ultrasound transducer, and the sensor, and configured to:
• calculate a motion of the target tissue relative to the ultrasound transducer based on the one or more tissue parameters;
• remove a noise profile component from the one or more tissue parameters in order to measure a distance between the ultrasound transducer and the surface of the target tissue based on the one or more tissue parameters;
• determine a type of the target tissue based at least in part on the calculated motion of the target tissue;
• generate a map of the surface of the target tissue based on the measured distance;
• identify an ablation path on the tissue based on the generated map;
• control the ultrasound transducer to deliver an ablation energy to the ablation path to ablate the target tissue;
• and
• adjust the ablation based on the calculated motion and the measured distance to form a continuous lesion in the target tissue;
• wherein the noise profile is generated at least in part prior to said measuring the distance when the ultrasound transducer is in a calibration mode and disposed in a solution providing an echoless environment.