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US 8,137,343 B2Granted
Tracking system using field mapping
AssigneeRhythmia Medical, Inc.
InventorsDoron Harlev, Rotem Eldar
Life of this patent
Estimating the term…
Abstract
In some aspects, a method includes (i) securing multiple sets of current injecting electrodes to an organ in a patient's body, (ii) causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ, (iii) in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes, (iv) determining expected signal measurements of the field inside the organ using a pre-determined model of the field, and (v) determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field.
Claims69
A method comprising:
- securing multiple sets of current injecting electrodes to one or more stable locations relative to an organ in a patient's body;
- causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;
- in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes,
- determining expected signal measurements of the field inside the organ using a previously determined model of the field;
- and
- determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field;
- wherein determining the position of the one or more additional electrodes in the organ based on measurements made by the additional electrodes and the determined expected signal measurements of the field comprises solving an optimization problem that minimizes a collective difference between each of the measured signals and an estimate for each of the respective measured signals as a function of the position of the measurement.
4 more elements
A system comprising:
- multiple sets of current injecting electrodes configured to he secured to one or more stable locations relative to an organ in a patient's body;
- one or more additional electrodes configured to be positioned within the organ in the patient's body;
- an electronic control system coupled to the multiple sets of current injecting electrodes and the one or more additional electrodes, the electronic control system being configured to:
- cause current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;
- in response to current flow caused by the multiple sets of current injecting electrodes, measure the field at each of one or more additional electrodes,
- a processing system coupled to the electronic system and configured to:
- determine expected signal measurements of the field inside the organ using a previously determined model of the field;
- and
- determine a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field;
- wherein the processing system is configured to solve an optimization problem that minimizes a collective difference between each of the measured signals and an estimate for each of the respective measured signals as a function of the position of the measurement.
7 more elements
A method comprising:
- securing at least three sets of current injecting electrodes to one or more stable locations relative to an organ in a patient's body;
- causing current to flow among the at least three sets of current injecting electrodes to generate a field in the organ:
- using a multi-electrode array located on a multi-electrode array catheter in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes;
- measuring the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;
- modeling the field using the measurements and the positions;
- determining expected signal measurements of the field at additional locations within the organ based on the model of the field;
- and
- determining a position of one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field:
- wherein the measuring of the field at the multiple locations comprises moving a catheter having one or more measuring electrodes to multiple locations within the organ, and using the measuring electrodes to measure the field for each of the multiple locations of the catheter:
- and wherein the additional locations correspond to regions inside the organ not interrogated by the movement of the catheter.
7 more elements
A system comprising:
- at least three sets of current injecting electrodes configured to be secured to stable locations relative to an organ in a patient's body;
- a multi-electrode array catheter comprising a multi-electrode array configured to be inserted in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes;
- one or more additional electrodes configured to be inserted in the organ;
- an electronic control system coupled to the at least three sets of current injecting electrodes, to the multi-electrode array catheter, and to the one or more additional electrodes, the electronic control system being configured to:
- cause current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;
- measure the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;
- a processing system coupled to the electronic system and configured to:
- model the field using the measurements and the positions;
- determine expected signal measurements of the field at additional locations within the organ based on the model of the field, the additional locations corresponding to regions inside the organ not interrogated by the movement of the catheter;
- and
- determine a position of the one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field.
8 more elements
A method comprising:
- securing multiple sets of current injecting electrodes to a patient's body;
- causing current to flow among the multiple sets of current injecting electrodes to generate a field in an organ in the patient's body;
- in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes,
- determining expected signal measurements Of the field inside the organ using a previously determined model of the field;
- and
- determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field.
3 more elements
A method comprising:
- securing at least three sets of current injecting electrodes to one or more stable locations relative to an organ in a patient's body;
- causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;
- using a multi-electrode array located on a multi-electrode array catheter in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes;
- measuring the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;
- modeling the field using the measurements and the positions;
- determining expected signal measurements of the field at additional locations within the organ based on the model of the field;
- and
- determining a position of one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field;
- wherein modeling of the field further comprises representing the model using a function that correlates field measurements with position coordinates.
6 more elements
A method comprising:
- securing at least three sets of current injecting electrodes to one or more stable locations relative to an organ in a patient's body;
- causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;
- using a multi-electrode array located on a multi-electrode array catheter in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes:
- measuring the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;
- modeling the field using the measurements and the positions;
- determining expected signal measurements of the field at additional locations within the organ based on the model of the field;
- and
- determining a position of one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field;
- wherein the additional locations within the organ comprise positions within the organ where the field was not measured;
- and
- wherein the positions within the organ where field was not measured comprise positions that are more than 5 mm away from positions where the field was measured.
8 more elements
A method comprising:
- securing at least three sets of current injecting electrodes to one or more stable locations relative to an organ in a patient's body;
- causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ:
- using a multi-electrode array located on a multi-electrode array catheter in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes;
- measuring the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;
- modeling the field using the measurements and the positions;
- determining expected signal measurements of the field at additional locations within the organ based on the model of the field;
- and
- determining a position of one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field;
- wherein the additional locations within the organ comprise positions within the organ where the field was not measured;
- and
- wherein the positions within the organ where field was not measured comprise positions that are not lying between positions where the field was measured.
8 more elements
A method comprising:
- securing at least three sets of current injecting electrodes to one or more stable locations relative to an organ in a patient's body;
- causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;
- using a multi-electrode array located on a multi-electrode array catheter in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes;
- measuring the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;
- modeling the field using the measurements and the positions;
- determining expected signal measurements of the field at additional locations within the organ based on the model of the field;
- and
- determining a position of one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field;
- and
- wherein determining expected signal measurements comprises determining expected signal measurements using, a non-interpolation based calculation.
7 more elements
Dependencies are inferred from the claim text.