Apparatus and method for delivery and monitoring of ablation therapy
AssigneeIntuitive Surgical Operations, Inc.
InventorsJohn B. Allison, Celina Escobedo, Jean-Luc Pageard, Brian Pedersen
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Abstract
Methods are provided for monitoring and controlling tissue ablation using RF energy delivered by an imaging ablation catheter under direct visualization, using the control and modulation of a set of ablation parameters based on direct optical imaging of the tissue surface via the imaging ablation catheter, where a set of optical image-derived parameters modulates the setting of a subset of Radio Frequency dosing parameters. The ablation dosing algorithms based on image-derived information can be implemented manually or in semi-automated or automated forms.
Claims20
A method of reducing outgassing during ablation of tissue, the method comprising:
- determining a contact angle between a distal tip of an ablation catheter and the tissue while the ablation catheter is in contact with the tissue;
- and
- reducing ablation power based on at least the contact angle exceeding a threshold value.
A method of reducing outgassing during ablation of tissue, the method comprising:
- identifying a plurality of optical markers in a field of view of a camera;
- fitting a shape to intersect the plurality of optical markers;
- determining an eccentricity of the shape;
- determining a contact angle between a distal tip of an ablation catheter and the tissue while the ablation catheter is in contact with the tissue by referencing predetermined eccentricity values associated with known contact angles;
- and
- reducing ablation power based on at least the contact angle.
A method of reducing outgassing during ablation of tissue, the method comprising:
- measuring an impedance associated with each of a plurality of electrodes of an ablation catheter;
- determining a variation between the measured impedance of at least two of the electrodes;
- determining a contact angle between a distal tip of an ablation catheter and the tissue while the ablation catheter is in contact with the tissue by referencing a plurality of predetermined relationships between known contact angles and measured impedance variations;
- and
- reducing ablation power based on at least the contact angle.
Dependencies are inferred from the claim text.