Electrophysiology mapping and visualization system

• US 10,278,588 B2
• Filed: 12/10/2014
• Issued: 05/07/2019
• Est. Priority Date: 02/02/2005
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Saadat, Vahid, Peh, Ruey-Feng, Tam, Edmund A.
• Primary Examiner(s): Luong, Peter
• Application Number:
  US14/565,742
• Publication Number:
  US 20150094577A1
• Time in Patent Office: 1,609 Days
• CPC Class Codes: A61B 1/00082 Balloons
• CPC Class Codes: A61B 1/00085 Baskets
• CPC Class Codes: A61B 1/00089 Hoods
• CPC Class Codes: A61B 1/00097 Sensors
• CPC Class Codes: A61B 1/005 Flexible endoscopes
• CPC Class Codes: A61B 1/015 Control of fluid supply or evacuation
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 17/0487 Suture clamps, clips or locks, e.g. for replacing suture knots; Instruments for applying or removing suture clamps, clips or locks suture anchors A61B17/0401; wound clamps or clips A61B17/08; ligaturing clamps or clips A61B17/122
• CPC Class Codes: A61B 17/12045 double occlusion, e.g. during anastomosis
• CPC Class Codes: A61B 17/221 Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions surgical snare instruments A61B17/32056
• CPC Class Codes: A61B 17/3415 for introducing tubes or catheters, e.g. gastrostomy tubes, drain catheters A61B17/3417 takes precedence; body piercing catheter guide needles A61M25/06
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 2017/00044 Sensing electrocardiography, i.e. ECG
• CPC Class Codes: A61B 2017/00053 Mapping
• CPC Class Codes: A61B 2017/00296 mounted on an endoscope
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00575 for closure at remote site, e.g. closing atrial septum defects
• CPC Class Codes: A61B 2017/0409 Instruments for applying suture anchors
• CPC Class Codes: A61B 2017/0477 : with pre-tied sutures
• CPC Class Codes: A61B 2017/12127 : Double occlusion, e.g. for creating blood-free anastomosis site
• CPC Class Codes: A61B 2017/22038 : with a guide wire
• CPC Class Codes: A61B 2017/22054 : with two balloons
• CPC Class Codes: A61B 2017/22067 : Blocking; Occlusion A61B2017/22054 takes precedence
• CPC Class Codes: A61B 2017/22069 : Immobilising; Stabilising
• CPC Class Codes: A61B 2017/22082 : after introduction of a substance
• CPC Class Codes: A61B 2017/3445 : used as instrument channel for multiple instruments
• CPC Class Codes: A61B 2017/3484 : Anchoring means, e.g. spreading-out umbrella-like structure
• CPC Class Codes: A61B 2017/3488 : Fixation to inner organ or inner body tissue
• CPC Class Codes: A61B 2018/00982 : combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
• CPC Class Codes: A61B 2018/0212 : using an instrument inserted into a body lumen, e.g. catheter
• CPC Class Codes: A61B 2034/107 : Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 : Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/301 : for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/306 : using optical fibres
• CPC Class Codes: A61B 2090/309 : using white LEDs
• CPC Class Codes: A61B 2090/3614 : using optical fibre
• CPC Class Codes: A61B 2090/373 : using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/3958 : emitting a signal
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 5/0031 : Implanted circuitry
• CPC Class Codes: A61B 5/0084 : for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/02007 : Evaluating blood vessel condition, e.g. elasticity, compliance
• CPC Class Codes: A61B 5/287 : Holders for multiple electrodes, e.g. electrode catheters for electrophysiological study [EPS]
• CPC Class Codes: A61B 5/6882 : Anchoring means
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4472 : Wireless probes
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61M 5/007 : for contrast media

Abstract

A system comprises a catheter and an electromagnetic sensor assembly supported at a distal end of the catheter. The electromagnetic sensor assembly includes a magnetic strut spirally extended away from the distal end of the catheter around an open area distal of the catheter. The system also comprises an imaging element supported at a distal end of the catheter inside the open area. The imaging element acquires an image of the tissue surface region. The system also comprises a processor that receives a position of the electromagnetic sensor assembly and the tissue surface image. The processor maps the position of the electromagnetic sensor assembly and tissue surface image together. The system also comprises a barrier reconfigurable from a low-profile shape to an expanded deployment shape projecting from a distal end of the catheter. The electromagnetic sensor assembly is spirally configured over the barrier.

Claims

1. A system comprising:

a catheter;

an electromagnetic sensor assembly supported at a distal end of the catheter, the electromagnetic sensor assembly including a magnetic strut spirally extended away from the distal end of the catheter around an open area distal of the distal end of the catheter;

an imaging element supported at a distal end of the catheter inside the open area such that a tissue surface region is able to be visualized through the open area of the electromagnetic sensor assembly via the imaging element, wherein the imaging element is operable to acquire a tissue surface image of the tissue surface region; and

a processor in electrical communication with the imaging element and the electromagnetic sensor assembly so as to receive a position of the electromagnetic sensor assembly and the tissue surface image, the processor configured to map the position of the electromagnetic sensor assembly and tissue surface image together; and

a barrier being reconfigurable from a low-profile shape to an expanded deployment shape projecting distally from a distal end of the catheter, the electromagnetic sensor assembly being spirally configured over the barrier.

2. The system of claim 1 wherein the magnetic stmt operates as a receiver antenna for detecting a magnetic field.

3. The system of claim 1 wherein the magnetic strut operates as a transmitter antenna configured for generating electromagnetic waves.

4. The system of claim 1 further comprising at least one sensor positioned distally of the imaging element and configured to detect an electrical activity of the tissue surface region.

5. The system of claim 4 wherein the processor is in electrical communication with the at least one sensor and is configured to map the detected electrical activity to the position of the electromagnetic sensor assembly.

6. The system of claim 1 wherein the processor is in electrical communication with the electromagnetic sensor assembly to receive an orientation of the electromagnetic sensor assembly, the processor configured to map the orientation of the electromagnetic sensor assembly and the tissue surface image together.

7. A method performed by a computing system, the method comprising:

positioning a catheter within an anatomic passageway;

acquiring an electrical signal indicating a position of an electromagnetic sensor assembly, the electromagnetic sensor assembly supported at a distal end of the catheter and including a magnetic strut spirally extended away from the distal end of the catheter around an open area distal of the distal end of the catheter;

acquiring a tissue surface image of a tissue surface region from an imaging element, the imaging element supported at a distal end of the catheter inside the open area such that a tissue surface region is able to be visualized through the open area of the electromagnetic sensor assembly via the imaging element; and

mapping the position of the electromagnetic sensor assembly and tissue surface image together

wherein the catheter includes a barrier that is reconfigurable from a low-profile shape to an expanded deployment shape projecting distally from a distal end of the catheter, the electromagnetic sensor assembly being spirally configured over the barrier.

8. The method of claim 7 further comprising operating the magnetic stmt as a receiver antenna for detecting a magnetic field.

9. The method of claim 7 further comprising operating the magnetic strut as a transmitter antenna for generating electromagnetic waves.

10. The method of claim 7 further comprising detecting an electrical activity of the tissue surface region with at least one sensor positioned distally of the imaging element.

11. The method of claim 10 further comprising mapping the detected electrical activity to the position of the electromagnetic sensor assembly.

12. The method of claim 7 further comprising mapping an orientation of the electromagnetic sensor assembly with the tissue surface image.