Device and method for registering a position sensor in an anatomical body
First Claim
1. An apparatus insertable into an anatomical body, said apparatus comprising:
- an insertable portion for holding a position sensor that can transmit a signal indicative of its position in a frame of reference;
fiducial markings on the insertable portion, said fiducial markings being detectable by an imaging modality when the insertable portion is inserted in the anatomical body and permitting the position and orientation of the insertable portion to be determined, said insertable portion substantially rigidly holding the position sensor at a known spatial position with respect to the fiducial markings;
wherein the fiducial markings are non-symmetrical about at least a first axis of the insertable portion;
wherein, after insertion in the anatomical body, the fiducial markings can be detected by the imaging modality to facilitate unambiguous registration to the anatomical body of the position sensor rigidly held in the insertable portion by correlating the fiducial markings detected by the imaging modality to the determined position of the position sensor in the frame of reference.
3 Assignments
0 Petitions
Accused Products
Abstract
An apparatus having an insertable portion for holding a position sensor is disclosed. The position sensor can transmit a signal indicative of its position with respect to a field generator. The insertable portion of the catheter has fiducial markings that are detectable by an imaging modality when the insertable portion is inserted into the anatomical body. The fiducial markings are asymmetrical about at least a first axis of the insertable portion. After the insertable portion has been inserted into the anatomical body, the fiducial markings can be detected to facilitate registration of the position sensor held in the insertable portion to the anatomical body. The apparatus also has a fixing mechanism for releasably fixing the insertable portion to the anatomical body. The non-symmetrical fiducial markings facilitate unambiguous registration of the insertable portion to the anatomical body. When the insertable portion is inserted into the anatomical body to a location of interest, the fixing mechanism substantially rigidly fixes the insertable portion of the catheter to a part of the anatomical body near the location of interest.
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Citations
26 Claims
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1. An apparatus insertable into an anatomical body, said apparatus comprising:
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an insertable portion for holding a position sensor that can transmit a signal indicative of its position in a frame of reference;
fiducial markings on the insertable portion, said fiducial markings being detectable by an imaging modality when the insertable portion is inserted in the anatomical body and permitting the position and orientation of the insertable portion to be determined, said insertable portion substantially rigidly holding the position sensor at a known spatial position with respect to the fiducial markings;
wherein the fiducial markings are non-symmetrical about at least a first axis of the insertable portion;
wherein, after insertion in the anatomical body, the fiducial markings can be detected by the imaging modality to facilitate unambiguous registration to the anatomical body of the position sensor rigidly held in the insertable portion by correlating the fiducial markings detected by the imaging modality to the determined position of the position sensor in the frame of reference. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of registering a position sensor to an anatomical body, said method comprising the steps of:
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(a) fixing a position sensor to an insertable portion of an apparatus, said insertable portion having fiducial markings thereon;
(b) inserting the insertable portion of the apparatus to a location of interest in the anatomical body; and
(c) detecting the non-symmetrical fiducial markings on the insertable portion of the apparatus to facilitate registration of the position sensor in the insertable portion to the anatomical body by;
(c1) detecting the fiducial markings on the insertable portion;
(c2) determining the position of the position sensor in a frame of reference; and
(c3) registering the position sensor to the anatomical body by correlating the detected fiducial markings to the determined position of the position sensor in the frame of reference. - View Dependent Claims (22)
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23. A device for facilitating tracking of an apparatus in an anatomical body, said device comprising:
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an insertable portion for holding a position sensor that can transmit a position signal indicative of its position in a frame of reference;
non-symmetrical fiducial markings on the insertable portion, said non-symmetrical fiducial markings being detectable by an imaging modality to facilitate unambiguous registration of the position sensor held in the insertable portion to the anatomical body;
wherein the apparatus can insert the insertable portion into the anatomical body, and, the position signal transmitted from the position sensor indicates the position of the apparatus near the position sensor;
wherein the insertable portion substantially rigidly holds the sensor at a known spatial position with respect to the fiducial markings; and
wherein, after insertion of the insertable portion in the anatomical body, an image of the insertable portion can be obtained by the imaging modality, and, the position sensor can be registered to the anatomical body by correlating the fiducial markings detected by the imaging modality to the determined position of the position sensor in the frame of reference. - View Dependent Claims (24, 25, 26)
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Specification