# US 9,750,566 B2 · Magnetic navigation systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,750,566 B2 - Document ID: US9750566B2 - Status: Granted - Kind: B2 - Application number: 13/862,996 - Filed: 2013-04-15 - Published: 2013-08-29 - Granted: 2017-09-05 - Earliest claimed: 2009-05-19 - Assignees: AtriCure, Inc. - Applicants: Atricure, Inc. - Inventors: Tamer Ibrahim; David K. Swanson - Web page: https://patentgrep.com/patent/US9750566B2 ## CPC - A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)} - A61B 18/20: using laser - A61B 18/06: caused by chemical reaction {, e.g. moxaburners} - A61B 2018/00214: {Expandable means emitting energy, e.g. by elements carried thereon} - A61B 2018/0022: {Balloons} - A61B 2018/00273: {Anchoring means for temporary attachment of a device to tissue} - A61B 2018/00357: {Endocardium} - A61B 2018/00375: {Ostium, e.g. ostium of pulmonary vein or artery} - A61B 2018/00702: {Power or energy} - A61B 2018/00791: {Temperature} - A61B 2018/00898: {Alarms or notifications created in response to an abnormal condition} - A61B 2018/0212: {using an instrument inserted into a body lumen, e.g. catheter} - A61B 2018/1807: {using light other than laser radiation} - A61B 2018/1861: {with an instrument inserted into a body lumen or cavity, e.g. a catheter} - A61B 2218/002: Irrigation - A61N 7/022: {intracavitary} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) ## Abstract Systems and methods for forming a lesion on an endocardial tissue of a patient's heart involve placing an ablation assembly inside of the heart and adjacent to the endocardial tissue, and placing a guiding assembly outside of the heart. An ablation assembly includes an ablation element and a first attraction element, and a guiding assembly includes a second attraction element. First and second attraction elements can be attracted via magnetism. Techniques involve forming an ablation on the cardiac tissue of a patient's heart with an ablation element of the ablation assembly. Optionally, techniques may include moving the second attraction element of the guiding assembly relative to the patient's heart, so as to effect a corresponding movement of the ablation element of the ablation assembly. ## Claims ### Claim 1 A method of forming a lesion on an endocardial tissue of a patient's heart, comprising: placing an ablation assembly inside of the heart and adjacent to the endocardial tissue, the ablation assembly comprising an ablation element, a support structure, and a first attraction element; placing a guiding assembly outside of the heart, the guiding assembly comprising a second attraction element, such that a magnetic attraction is present between the first and second attraction elements, and the support structure of the ablation assembly forms a space between the ablation element and the endocardial tissue; and forming the lesion on the endocardial tissue of the patient's heart with the ablation element of the ablation assembly while the support structure isolates the ablation element from blood flowing in the patient's heart. ### Claim 2 (depends on 1) The method according to claim 1, wherein the support structure electrically isolates the ablation element from the flowing blood. ### Claim 3 (depends on 1) The method according to claim 1, wherein the support structure thermally isolates the ablation element from the flowing blood. ### Claim 4 (depends on 1) The method according to claim 1, further comprising forcing out residual blood from an ablation zone near the ablation element. ### Claim 5 (depends on 1) The method according to claim 1, wherein the ablation assembly further comprises a temperature sensing element, and the method further comprises controlling ablation energy applied by the ablation element based on temperature sensed by the temperature sensing element. ### Claim 6 (depends on 1) The method according to claim 1, wherein the magnetic attraction between the first and second attraction elements rotationally orients the ablation element relative to the endocardial tissue. ### Claim 7 (depends on 1) The method according to claim 1, wherein the support structure comprises a balloon. ### Claim 8 A method of forming a lesion on an endocardial tissue of a patient's heart, comprising: placing an ablation assembly inside of the heart and adjacent to the endocardial tissue, the ablation assembly comprising an ablation element, a support structure, and a first attraction element; placing a guiding assembly outside of the heart, the guiding assembly comprising a second attraction element, such that a magnetic attraction is present between the first and second attraction elements, and forming the lesion on the endocardial tissue of the patient's heart with the ablation element of the ablation assembly while the support structure isolates the ablation element from blood flowing in the patient's heart. ### Claim 9 (depends on 8) The method according to claim 8, wherein the support structure electrically isolates the ablation element from the flowing blood. ### Claim 10 (depends on 8) The method according to claim 8, wherein the support structure thermally isolates the ablation element from the flowing blood. ### Claim 11 (depends on 8) The method according to claim 8, further comprising forcing out residual blood from an ablation zone near the ablation element. ### Claim 12 (depends on 8) The method according to claim 8, wherein the ablation assembly further comprises a temperature sensing element, and the method further comprises controlling ablation energy applied by the ablation element based on temperature sensed by the temperature sensing element. ### Claim 13 (depends on 8) The method according to claim 8, wherein the magnetic attraction between the first and second attraction elements rotationally orients the ablation element relative to the endocardial tissue. ### Claim 14 (depends on 8) The method according to claim 8, wherein the support structure comprises a balloon. ### Claim 15 A method of forming a lesion on an interior surface of a tissue of a patient's heart, comprising: placing an ablation assembly adjacent to the interior surface of the tissue, the ablation assembly comprising an ablation element, a support structure, and a first attraction element; placing a guiding assembly exterior to the tissue, the guiding assembly comprising a second attraction element, such that a magnetic attraction is present between the first and second attraction elements; and forming the lesion on the tissue of the patient's heart with the ablation element of the ablation assembly while the support structure isolates the ablation element from blood flowing in the patient's heart. ### Claim 16 (depends on 15) The method according to claim 15, wherein the support structure electrically isolates the ablation element from the flowing blood. ### Claim 17 (depends on 15) The method according to claim 15, wherein the support structure thermally isolates the ablation element from the flowing blood. ### Claim 18 (depends on 15) The method according to claim 15, further comprising forcing out residual blood from an ablation zone near the ablation element. ### Claim 19 (depends on 15) The method according to claim 15, wherein the ablation assembly further comprises a temperature sensing element, and the method further comprises controlling ablation energy applied by the ablation element based on temperature sensed by the temperature sensing element. ### Claim 20 (depends on 15) The method according to claim 15, wherein the magnetic attraction between the first and second attraction elements rotationally orients the ablation element relative to the endocardial tissue. ### Claim 21 (depends on 15) The method according to claim 15, wherein the support structure comprises a balloon.