Robotic surgical system and method for diagnostic data mapping

A method of generating a diagnosis map of at least a portion of a heart, comprising the steps of:

• inserting an electrode within a portion of a heart;
• robotically moving the electrode within the portion of the heart;
• measuring electrophysiology information at a point on the surface of the heart in meaningful proximity to the electrode;
• associating the measured electrophysiology information with position information for the point on the surface of the heart;
• repeating the measuring and associating steps for a plurality of points on the surface of the heart, thereby generating a plurality of surface diagnostic data points;
• and
• generating the diagnosis map from the plurality of surface diagnostic data points.

A method of generating a diagnosis map of at least a portion of a heart, comprising the steps of:

• inserting an electrode within a portion of a heart;
• robotically moving the electrode within the portion of the heart;
• detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart;
• measuring electrophysiology information at a plurality of surface points where the electrode is in meaningful proximity to a surface of the heart;
• associating the measured electrophysiology information with the surface point at which the measurement was made;
• storing the measured electrophysiology information and location information for the contact point at which the measurement was made;
• and
• generating a three-dimensional model of the portion of the heart comprising location information and associated electrophysiology information for at least some of the plurality of surface points.

A method of generating a diagnosis map of at least a portion of a heart, comprising the steps of:

• inserting an electrode within a portion of a heart;
• using a robotic controller to move the electrode within the portion of the heart;
• detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart;
• processing the plurality of location points to distinguish those location points that are interior to a surface of the portion of the heart;
• generating a plurality of surface points defining a three-dimensional surface model of the portion of the heart;
• measuring electrophysiology information of at least some of the plurality of surface points;
• associating measured electrophysiology information with the surface point at which the measurement was made;
• and
• storing the plurality of surface points defining the three-dimensional surface model of the portion of the heart with the associated measured electrophysiology information.

A method of generating a diagnosis map of at least a portion of a heart, comprising the steps of:

• a) inserting a catheter within a heart;
• b) using a robotic controller to move the catheter within the heart;
• c) detecting position information of the catheter and generating position information for a surface point on the surface of the heart;
• d) measuring electrophysiology information at the surface point and associating the measured electrophysiology information with the position information for the surface point at which the electrophysiology information was measured;
• e) repeating steps c) and d) for each of a plurality of surface points;
• and
• f) generating a three-dimensional surface model of the portion of the heart, the model comprising position information for the plurality of surface points and the associated measured electrophysiology information.