Incorporating new location readings to old models
AssigneeNavix International Limited
InventorEli DICHTERMAN
Life of this patent
Estimating the term…
Abstract
A method of estimating a location of a catheter in a heart chamber with respect to a model is provided. The model is generated based on readings received from the catheter. The method, in some embodiments, includes receiving readings from the catheter when the catheter is in the location to be estimated; and estimating the location based on the location readings received together with a completeness indicator, indicative of a completeness of the model. Examples of completeness indicators include elapsed time and variance in the model data.
Claims31
A method of estimating a location of a catheter in a body part with respect to a model of the body part, the method comprising:
- accessing a model generated based on location readings received from the catheter, the model representing the location readings as corresponding, by transformation, to model locations;
- receiving current location readings from the catheter positioned in a location to be estimated from the current location readings;
- determining a completeness indicator indicative of degree of change in model shape as location readings and corresponding model locations are added to the model;
- and
- estimating the location to be estimated, wherein the estimating includes transforming the current location readings to a current location estimate using the completeness indicator to adjust transformation of the model location readings to model locations.
A method of guiding navigation of a catheter within a body part, the method comprising:
- showing an estimated location of the catheter with respect to the body part, on a model of the body part, generated based on location readings received from the catheter, and representing the location readings as corresponding, by transformation, to model locations;
- and
- updating the shown location as new location readings are received from the catheter;
- wherein the location is estimated by:
- receiving a completeness indicator indicative of degree of change in model shape as location readings and corresponding model locations are added to the model,
- receiving current location readings from the catheter when the catheter is in the location to be estimated, and
- estimating the location to be estimated, wherein the estimating includes transforming the current location readings to a current location estimate using the completeness indicator to adjust transformation of the model location readings to model locations.
31-55. (canceled)
Dependencies are inferred from the claim text.