US6272371B1
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Bend-responsive catheter
Assignee: Biosense Webster Inc
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Filing: 1997-12-31
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Granted: 2001-08-07
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Expires: 2017-12-31
Abstract
Abstract This invention is an invasive probe apparatus including flexible elongate probe ( 20 ) having a distal portion adjacent to a distal end ( 22 ) thereof for insertion into the body of a subject, which portion assumes a predetermined curve form when a force is applied thereto. First and second sensors ( 28, 30 ) are fixed to the distal portion of the probe ( 20 ) in known positions relative to the distal end ( 22 ), which sensors generate signals responsive to bending of the probe. Signal processing circuitry ( 36 ) receives the bend responsive signals and processes them to find position and orientation coordinates of at least the first sensor ( 28 ), and to determine the locations of a plurality of points along the length of the distal portion of the probe.
Inventors
- 👤 Ben-Haim Shlomo
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 21:42
CPC Classifications
A; A61; A61B; A61B5/00; A61B5/24; A61B5/25; A61B5/279; A61B5/28; A61B5/283; A61B5/287; A61B1/00; A61B1/005; A61B1/009; A61B34/00; A61B34/20; A61B5/06; A61B5/061; A61B5/065; A61B5/68; A61B5/6846; A61B5/6885; A61M; A61M25/00; A61M25/01; A61M25/0105; A61B1/0051; A61B17/00; A61B17/34; A61B17/3403; A61B18/00; A61B18/18; A61B18/20; A61B18/22; A61B18/24; A61B17/00234; A61B2017/00238; A61B2017/00243; A61B2017/00247; A61B2018/00315; A61B2018/00345; A61B2018/00351; A61B2018/00392; A61B2018/2255; A61B2018/2272; A61B2034/2046; A61B2034/2051; A61B90/00; A61B90/39; A61B2090/3954; A61B8/00; A61B8/08; A61B8/0833; A61M2025/0166; A61M25/0021; A61M25/0041; A61M25/0133; A61N; A61N1/00; A61N1/02; A61N1/04; A61N1/05
Claims Analysis
Total Claims: 33
Claim 1
Independent Claim
193 words
Invasive probe apparatus for use with an externally-applied magnetic field, the probe comprising: a flexible, elongate probe, having a distal portion adjacent to a distal end thereof, for insertion into the body of a subject, which portion assumes a predetermined, curved form when a force is applied thereto; a first sensor and a second sensor, fixed to the distal portion of the probe in known positions relative to the distal end, which sensors generate signals, the first sensor being a magnetic-field responsive sensor as a first position-sensing element for generating a first signal to enable determination of position and orientation coordinates of the first position-sensing element, said first signal defining a position and orientation coordinate signal, and the second sensor being a bend-sensing element for generating a second signal responsive to bending of the probe, said second signal defining a bend signal; and signal processing circuitry, which receives the position and orientation coordinate signal and the bend signal and processes them to find position and orientation coordinates of at least the first sensor and to determine the locations of a plurality of points along the length of the distal portion of the probe.
Claim 2
Dependent Claim
193 words
Invasive probe apparatus for use with an externally-applied magnetic field, the probe comprising: a flexible, elongate probe, having a distal portion adjacent to a distal end thereof, for insertion into the body of a subject, which portion assumes a predetermined, curved form when a force is applied thereto; a first sensor and a second sensor, fixed to the distal portion of the probe in known positions relative to the distal end, which sensors generate signals, the first sensor being a magnetic-field responsive sensor as a first position-sensing element for generating a first signal to enable determination of position and orientation coordinates of the first position-sensing element, said first signal defining a position and orientation coordinate signal, and the second sensor being a bend-sensing element for generating a second signal responsive to bending of the probe, said second signal defining a bend signal; and signal processing circuitry, which receives the position and orientation coordinate signal and the bend signal and processes them to find position and orientation coordinates of at least the first sensor and to determine the locations of a plurality of points along the length of the distal portion of the probe.
Claim 3
Dependent Claim
22 words
Apparatus according to claim 1 , wherein the first sensor comprises three coils, which generate signals responsive to the externally-applied magnetic field.
Claim 4
Dependent Claim
22 words
Apparatus according to claim 1 , wherein the probe has a generally constant elasticity over the length of the distal portion thereof.
Claim 5
Dependent Claim
14 words
Apparatus according to claim 1 , wherein the probe comprises a resilient longitudinal member.
Claim 6
Dependent Claim
21 words
Apparatus according to claim 4 , wherein the bend-sensing element generates signals responsive to a direction of bending of the probe.
Claim 7
Dependent Claim
16 words
Apparatus according to claim 4 , wherein the bend-sensing element comprises at least one piezoelectric crystal.
Claim 8
Dependent Claim
28 words
Apparatus according to claim 6 , wherein the at least one piezoelectric crystal comprises three such crystals, each crystal having an axis, wherein the axes are mutually orthogonal.
Claim 9
Dependent Claim
14 words
Apparatus according to claim 4 , wherein the bend-sensing element comprises a fiberoptic sensor.
Claim 10
Dependent Claim
14 words
Apparatus according to claim 4 , wherein the bend-sensing element comprises a strain sensor.
Claim 11
Dependent Claim
19 words
Apparatus according to claim 4 , wherein the signal processing circuitry determines a radius of curvature of the probe.
Claim 12
Dependent Claim
25 words
Apparatus according to claim 4 , wherein the signal processing circuitry determines a radius and a pitch of a helical form described by the probe.
Claim 13
Dependent Claim
18 words
Apparatus according to claim 4 , wherein the probe comprises a deflection device within the distal portion thereof.
Claim 14
Dependent Claim
20 words
Apparatus according to claim 1 , wherein the second sensor comprises a magnetic-field responsive sensor as a second position-sensing element.
Claim 15
Dependent Claim
26 words
Apparatus according to claim 13 , wherein the signal processing circuitry processes the signals generated by the second sensor to find position and orientation coordinates thereof.
Claim 16
Dependent Claim
24 words
Apparatus according to claim 14 , wherein the position and orientation coordinates found by the signal processing circuitry comprise six-dimensional position and orientation coordinates.
Claim 17
Independent Claim
99 words
A method for determining the course of an elongate, flexible probe inside the body of a subject through the use of an externally-applied magnetic field, comprising: generating an externally-applied magnetic field; finding position and orientation coordinates of a point on the probe using at least one magnetic field responsive sensor on the probe; measuring a bending angle of a portion of the probe adjacent to the point; and processing the position and orientation coordinates and the bending angle to determine the locations of a plurality of points along the length of a portion of the probe inside the body.
Claim 18
Independent Claim
99 words
A method for determining the course of an elongate, flexible probe inside the body of a subject through the use of an externally-applied magnetic field, comprising: generating an externally-applied magnetic field; finding position and orientation coordinates of a point on the probe using at least one magnetic field responsive sensor on the probe; measuring a bending angle of a portion of the probe adjacent to the point; and processing the position and orientation coordinates and the bending angle to determine the locations of a plurality of points along the length of a portion of the probe inside the body.
Claim 19
Dependent Claim
20 words
A method according to claim 16 , wherein finding position and orientation coordinates comprises finding six-dimensional position and orientation coordinates.
Claim 20
Dependent Claim
23 words
A method according to claim 16 , wherein measuring a bending angle comprises finding position coordinates of an additional point on the probe.
Claim 21
Dependent Claim
21 words
A method according to claim 16 , wherein measuring a bending angle comprises measuring a force associated with bending the probe.
Claim 22
Dependent Claim
25 words
A method according to claim 19 , wherein processing the position coordinates and the bending angle comprises calculating a radius of curvature of the probe.
Claim 23
Dependent Claim
28 words
A method according to claim 19 , wherein processing the position coordinates and the bending angle comprises calculating a radius of a helical path described by the probe.
Claim 24
Dependent Claim
136 words
A catheter comprising: an elongated member; a proximal position sensor on a distal end of the member; a distal position sensor on the distal end and spaced a distance from the proximal position sensor, the proximal position sensor and the distal position sensor generating signals to enable determination of position coordinates of the proximal position sensor and the distal position sensor respectively; and a bend portion between the proximal position sensor and the distal position sensor, wherein position coordinates of the proximal position sensor and the distal position sensor are used to determine a radius of curvature for the bend portion, the radius of curvature defining an arc and the bend portion following the arc upon a bending of the bend portion such that a position of any point on the bend portion can be determined.
Claim 25
Dependent Claim
136 words
A catheter comprising: an elongated member; a proximal position sensor on a distal end of the member; a distal position sensor on the distal end and spaced a distance from the proximal position sensor, the proximal position sensor and the distal position sensor generating signals to enable determination of position coordinates of the proximal position sensor and the distal position sensor respectively; and a bend portion between the proximal position sensor and the distal position sensor, wherein position coordinates of the proximal position sensor and the distal position sensor are used to determine a radius of curvature for the bend portion, the radius of curvature defining an arc and the bend portion following the arc upon a bending of the bend portion such that a position of any point on the bend portion can be determined.
Claim 26
Dependent Claim
26 words
The catheter according to claim 22 , wherein at least one of the proximal position sensor and the distal position sensor is a magnetic field sensor.
Claim 27
Dependent Claim
25 words
The catheter according to claim 22 , wherein at least one of the proximal position sensor and the distal position sensor is an acoustic sensor.
Claim 28
Dependent Claim
25 words
The catheter according to claim 22 , wherein at least one of the proximal position sensor and the distal position sensor is an electrical sensor.
Claim 29
Dependent Claim
12 words
The catheter according to claim 22 , further comprising a physiological sensor.
Claim 30
Dependent Claim
12 words
The catheter according to claim 26 , further comprising a therapeutic device.
Claim 31
Dependent Claim
26 words
The catheter according to claim 27 , wherein at least one of the proximal position sensor and the distal position sensor is a magnetic field sensor.
Claim 32
Dependent Claim
25 words
The catheter according to claim 27 , wherein at least one of the proximal position sensor and the distal position sensor is an acoustic sensor.
Claim 33
Dependent Claim
25 words
The catheter according to claim 27 , wherein at least one of the proximal position sensor and the distal position sensor is an electrical sensor.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2004-08-06 | 2005-02-05 | 2005-08-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2008-08-06 | 2009-02-05 | 2009-08-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2012-08-06 | 2013-02-05 | 2013-08-07 | $7700.00 | Window Closed / Lapsed |