Patent US751555A successfully refreshed from Google Patents.
US6690963B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
System for determining the location and orientation of an invasive medical instrument
Assignee: Biosense Webster Inc
•
Filing: 1995-01-24
•
Granted: 2004-02-10
•
Expires: 2015-01-24
Abstract
Abstract A locating system for determining the location and orientation of an invasive medical instrument, for example a catheter ( 10 ) or endoscope, relative to a reference frame, comprising: a plurality of field generators ( 18, 20, 22 ) which generate known, distinguishable fields, preferably continuous AC magnetic fields, in response to drive signals; a plurality of sensors ( 30, 32, 34 ) situated in the invasive medical instrument ( 10 ) proximate the distal end thereof which generate sensor signals in response to said fields; and a signal processor ( 26 ) which has an input for a plurality of signals corresponding to said drive signals and said sensor signals and which produces the three location coordinates and three orientation coordinates of a point on the invasive medical instrument.
Inventors
- 👤 Shlomo Ben-Haim
- 👤 Daniel Osadchy
- 👤 Udi Peless
- 👤 Ilan Greenberg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 14:15
CPC Classifications
A; A61; A61B; A61B5/00; A61B5/02; A61B5/021; A61B5/0215; A61B18/00; A61B18/04; A61B18/12; A61B18/14; A61B18/1492; A61B18/18; A61B18/20; A61B34/00; A61B34/20; A61B5/026; A61B5/029; A61B5/06; A61B5/065; A61B5/145; A61B5/24; A61B5/25; A61B5/279; A61B5/28; A61B5/283; A61B5/285; A61B5/287; A61B8/00; A61B8/08; A61B8/0833; A61M; A61M25/00; A61M25/01; A61M25/0105; A61M25/0133; A61M25/0147; A61N; A61N1/00; A61N1/02; A61N1/04; A61N1/06; A61N1/18; A61N1/32; A61N1/36; A61N1/362; A61N1/365; A61N1/36514; A61N1/36564; A61N1/40; A61N1/403; A61B1/00; A61B1/273; A61B1/2733; A61B18/02; A61B18/22; A61B18/24; A61B17/00; A61B17/00234; A61B2017/00238; A61B2017/00243; A61B2017/00247; A61B2018/00315; A61B2018/00345; A61B2018/00351; A61B2018/00392; A61B2034/2046; A61B2034/2051; A61B90/00; A61B90/36; A61B2090/364; A61B2090/367; A61B90/39; A61B2090/3954; A61B2090/3958; A61B5/316; A61B5/318; A61B5/346; A61B5/349; A61B5/352; A61M25/0127; A61N1/3621; A61N1/3627
Claims Analysis
Total Claims: 31
Claim 1
Independent Claim
151 words
A locating system for determining the location and orientation of an invasive medical instrument having a distal end relative to a reference frame, comprising: a plurality of field generators which generate known, distinguishable fields in response to drive signals, wherein the field generated by each field generator has a different frequency and each said different frequency is an integer multiple of a given frequency; an invasive medical instrument; a locating sensor having at least one coil situated in the invasive medical instrument near the distal end thereof which generate at least one sensor signal in response to said fields; and a signal processor which has an input for a plurality of signals corresponding to said drive signals and said at least one sensor signal and which computes location coordinates and orientation coordinates of a portion of the invasive medical instrument, responsive to said drive and said at least one sensor signal.
Claim 2
Dependent Claim
151 words
A locating system for determining the location and orientation of an invasive medical instrument having a distal end relative to a reference frame, comprising: a plurality of field generators which generate known, distinguishable fields in response to drive signals, wherein the field generated by each field generator has a different frequency and each said different frequency is an integer multiple of a given frequency; an invasive medical instrument; a locating sensor having at least one coil situated in the invasive medical instrument near the distal end thereof which generate at least one sensor signal in response to said fields; and a signal processor which has an input for a plurality of signals corresponding to said drive signals and said at least one sensor signal and which computes location coordinates and orientation coordinates of a portion of the invasive medical instrument, responsive to said drive and said at least one sensor signal.
Claim 3
Dependent Claim
18 words
The locating system according to claim 1 wherein the plurality of field generators comprise three distinguishable, non-overlapping generators.
Claim 4
Dependent Claim
25 words
The locating system of claim 1 wherein said plurality of field generators have a plurality of coils which have axes which intersect within a coil.
Claim 5
Dependent Claim
30 words
The locating system of claim 1 wherein said at least one coil comprises three coils and wherein said three coils have axes which do not all intersect in a point.
Claim 6
Dependent Claim
20 words
The locating system of claim 1 wherein the fields generated by each of the field generators have a different phase.
Claim 7
Dependent Claim
13 words
The locating system of claim 1 wherein the fields are AC magnetic fields.
Claim 8
Dependent Claim
15 words
The locating system of claim 6 , wherein the AC magnetic fields are continuous fields.
Claim 9
Dependent Claim
23 words
The locating system of claim 1 and including a display system for displaying the position of a point on the invasive medical instrument.
Claim 10
Dependent Claim
25 words
The locating system of claim 1 wherein there is an additional sensor on a portion of the invasive medical instrument which senses a local condition.
Claim 11
Dependent Claim
24 words
The locating system of claim 9 wherein the additional sensor senses local electrical signals and transfers them to terminals external to a patient's body.
Claim 12
Dependent Claim
20 words
The locating system of claim 10 , wherein the signals are electrical signals from the endocardium of the patient's heart.
Claim 13
Dependent Claim
61 words
The locating system of claim 11 , wherein the signal processor processes position and orientation coordinate signals and the local electrical signals acquired at a plurality of points on the endocardium by the locating sensor and the additional sensor respectively of the medical instrument to generate a map that represents the propagation of electrical signals through tissue in the patient's body.
Claim 14
Dependent Claim
31 words
The locating system of claim 9 wherein the portion of the invasive medical instrument includes an ablator for supplying electrical energy to the endocardium for ablating a portion of the endocardium.
Claim 15
Dependent Claim
14 words
The locating system of claim 9 wherein the additional sensor is an ultrasonic transmitter/receiver.
Claim 16
Dependent Claim
27 words
The locating system of claim 14 wherein the ultrasonic transmitter/receiver provides a less than three dimensional representation of the acoustic properties of tissue beyond the distal end.
Claim 17
Dependent Claim
25 words
The locating system according to claim 15 wherein the portion is a distal end of the invasive medical instrument, wherein the distal end is deflectable.
Claim 18
Dependent Claim
50 words
The locating system according to claim 16 and including image reconstruction circuitry which receives a plurality of said less than three dimensional representations acquired at different orientations of the distal end and produces a three dimensional map of the acoustic properties of tissue at least partially surrounding the distal end.
Claim 19
Dependent Claim
25 words
The locating system of claim 1 and including an electrode adapted for supplying electrical energy to the endocardium for ablating a portion of the endocardium.
Claim 20
Dependent Claim
53 words
The locating system of claim 1 and further comprising a reference instrument which includes a plurality of sensors situated in the reference instrument, and a display system, wherein said display system displays the position of a point on the invasive medical instrument relative to the position of a point on the reference instrument.
Claim 21
Dependent Claim
13 words
The locating system of claim 19 , further comprising a single reference instrument.
Claim 22
Dependent Claim
26 words
The locating system of claim 19 wherein the reference instrument is an invasive medical instrument and wherein said sensors are situated proximate the distal end thereof.
Claim 23
Dependent Claim
15 words
The system of claim 1 wherein the invasive medical instrument is a catheter or endoscope.
Claim 24
Independent Claim
99 words
A method of determining the position and orientation of an invasive medical instrument having a distal end, comprising: (a) generating a plurality of distinguishable, geometrically different AC magnetic fields such that the AC magnetic fields are generated at a different frequency wherein each different frequency in an integer multiple of a given frequency; (b) sensing the AC magnetic fields at a plurality of sensors proximate the distal end; and (c) computing six dimensions of position and orientation of a portion of the invasive medical instrument responsive to signals representative of the generated magnetic fields and the sensed magnetic fields.
Claim 25
Independent Claim
99 words
A method of determining the position and orientation of an invasive medical instrument having a distal end, comprising: (a) generating a plurality of distinguishable, geometrically different AC magnetic fields such that the AC magnetic fields are generated at a different frequency wherein each different frequency in an integer multiple of a given frequency; (b) sensing the AC magnetic fields at a plurality of sensors proximate the distal end; and (c) computing six dimensions of position and orientation of a portion of the invasive medical instrument responsive to signals representative of the generated magnetic fields and the sensed magnetic fields.
Claim 26
Dependent Claim
21 words
A method according to claim 23 wherein the AC magnetic fields are sensed at three points of the invasive medical instrument.
Claim 27
Dependent Claim
135 words
A locating system for determining the location and orientation of an invasive medical instrument having a distal end relative to a reference frame, comprising: a plurality of field generators which generate known, distinguishable fields in response to drive signals wherein the field generated by each field generator has a different frequency and each said different frequency is an integer multiple of a given frequency; a plurality of sensors situated in the invasive medical instrument proximate the distal end thereof which generate sensor signals in response to said fields; and a signal processor which has an input for a plurality of signals corresponding to said drive signals and said sensor signals and which computes three location coordinates and three orientation coordinates of a portion of the invasive medical instrument, responsive to said drive and sensor signals.
Claim 28
Dependent Claim
135 words
A locating system for determining the location and orientation of an invasive medical instrument having a distal end relative to a reference frame, comprising: a plurality of field generators which generate known, distinguishable fields in response to drive signals wherein the field generated by each field generator has a different frequency and each said different frequency is an integer multiple of a given frequency; a plurality of sensors situated in the invasive medical instrument proximate the distal end thereof which generate sensor signals in response to said fields; and a signal processor which has an input for a plurality of signals corresponding to said drive signals and said sensor signals and which computes three location coordinates and three orientation coordinates of a portion of the invasive medical instrument, responsive to said drive and sensor signals.
Claim 29
Dependent Claim
25 words
The locating system of claim 25 , wherein the signal processor cross-correlates the signals corresponding to the drive and sensor signals to provide cross-correlation results.
Claim 30
Dependent Claim
32 words
The locating system of claim 26 wherein the signal processor uses the results of the cross-correlation to calculate the contribution of each field generator to the signal generated by each said sensor.
Claim 31
Dependent Claim
45 words
The locating system of claim 25 , wherein the signal processor cross-correlates the signals corresponding to the drive and sensor signals and wherein the duration of the cross-correlation of the inputs is the minimal common product of the integer multipliers divided by the given frequency.
References Cited (Backward Citations)
US3644825A
Cited
US3868565A
Cited
US4017858A
Cited
US4054881A
Cited
US4173228A
Cited
US4396885A
Cited
US4223228A
Cited
US4317078A
Cited
EP0038151A1
Cited
GB2094590A
Cited
US4661773A
Cited
US4710708A
Cited
US4422041A
Cited
US5062151A
Cited
US4652820A
Cited
US4613866A
Cited
GB2155736A
Cited
US4642786A
Cited
US4697595A
Cited
US4821731A
Cited
US4771788A
Cited
US4849692A
Cited
US4945305A
Cited
GB2197078A
Cited
US5186174A
Cited
WO1988009515A1
Cited
US5047715A
Cited
US4829250A
Cited
US5295486A
Cited
EP0399536A1
Cited
US5056517A
Cited
US5070462A
Cited
US5681260A
Cited
US5042486A
Cited
US5109194A
Cited
US5117181A
Cited
US5273025A
Cited
US5253647A
Cited
US5172056A
Cited
US5429132A
Cited
US5168222A
Cited
US5622170A
Cited
US5231989A
Cited
US5211165A
Cited
US5425367A
Cited
US5218174A
Cited
US5255684A
Cited
US5276430A
Cited
US5318025A
Cited
US5397304A
Cited
EP0567187A1
Cited
US5295484A
Cited
US5373845A
Cited
US5341807A
Cited
WO1994003227A1
Cited
WO1994004938A1
Cited
US5375596A
Cited
DE4238176A1
Cited
US5443489A
Cited
US5755725A
Cited
WO1995009562A1
Cited
US5558091A
Cited
US5729129A
Cited
US5752513A
Cited
US5727553A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-02-09 | 2007-08-11 | 2008-02-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-02-09 | 2011-08-11 | 2012-02-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-02-09 | 2015-08-11 | 2016-02-10 | $7700.00 | Window Closed / Lapsed |