Six degrees of freedom from a single inductive pickup coil sensor
AssigneeCovidien LP
InventorsNathan J. Knutson, Evan M. Gustafson
Life of this patent
Estimating the term…
Abstract
A method and system of detecting a position and orientation of the catheter in five degrees of freedom (5DOF) in a first position and in a second position and calculating a sixth degree of freedom of the catheter based on a difference in the detected 5DOF position and orientation of the catheter in the first position and the detected 5DOF position and orientation in the second position.
Claims20
A catheter navigation system comprising:
- a flexible catheter configured for navigation within a patient, the catheter including a five degrees of freedom (5DOF) sensor;
- a drive mechanism including at least one pull wire configured to change the position and orientation of the flexible catheter;
- a computing device configured to detect the 5DOF position and orientation of the sensor, the computing device including a memory and a processor, the memory storing thereon a computer program that when executed by the processor cause the computing device to perform steps of:
- detecting the position and orientation of the catheter in 5DOF at a first position and orientation;
- signaling the drive mechanism to move the catheter;
- detecting the position and orientation of the catheter in 5DOF at a second position and orientation;
- and
- calculating the roll of the catheter at the second position, wherein the roll calculation resolves the position and orientation of a distal portion of the catheter in six degrees of freedom (6DOF).
A method for detecting the position and orientation of a catheter in six degrees of freedom (6DOF), the method comprising:
- detecting a position and orientation of a catheter in five degrees of freedom (5DOF) in a first position and orientation;
- signaling a drive mechanism to move the catheter;
- detecting a position and orientation of the catheter in 5DOF in a second position and orientation;
- calculating the roll of the catheter based on a difference in the detected 5DOF position and orientation of the catheter in the first position and the detected 5DOF position and orientation in the second position.
A method for detecting the position and orientation of a catheter in six degrees of freedom (6DOF), the method comprising:
- detecting X, Y, Z, pitch and yaw position and orientation of a sensor on a distal portion of a catheter at a first position;
- detecting X, Y, Z, pitch and yaw position and orientation of the sensor on a distal portion of a catheter at a second position;
- calculating a roll orientation of the sensor at the second position based on the change in X, Y, Z, pitch, and yaw position and orientation from the first position to the second position.
Dependencies are inferred from the claim text.