Finding roll angle of distal end of deflectable or non-deflectable invasive medical instrument

Abstract

A system includes a medical instrument, a position sensor, and a processor. The medical instrument includes a handle and a head, the head being configured for insertion into an organ of a patient and having a feature that is rotationally-asymmetric about a longitudinal axis of the medical instrument. The position sensor, which is disposed on the head and is configured to generate signals in response to an externally-applied magnetic field. The processor is configured to receive the signals generated by the position sensor on the head, and estimate, based on the received signals, a roll angle of the rotationally-asymmetric feature of the head.

Dependencies are inferred from the claim text.