Navigation using sensed physiological data as feedback

• US 20060270915A1
• Filed: 01/11/2006
• Published: 11/30/2006
• Est. Priority Date: 01/11/2005
• Status: Active Grant

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Ritter, Rogers C., Viswanathan, Raju R.
• Granted Patent: US 7,708,696 B2
• Time in Patent Office: Days
• US Class Current: 600/300
• CPC Class Codes: A61B 2017/00044 Sensing electrocardiography, i.e. ECG
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 5/026 Measuring blood flow A61B3/1233, A61B3/1241 take precedence
• CPC Class Codes: A61B 5/028 by thermo-dilution
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/068 using impedance sensors
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/316 Modalities, i.e. specific diagnostic methods
• CPC Class Codes: A61B 5/341 Vectorcardiography [VCG]
• CPC Class Codes: A61B 5/367 Electrophysiological study [EPS], e.g. electrical activation mapping or electro-anatomical mapping
• CPC Class Codes: A61B 8/06 Measuring blood flow measuring volume flow in general G01F, e.g. G01F1/66, G01F1/72; measuring speed of fluids in general G01P5/00
• 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 90/06 Measuring instruments not otherwise provided for

Abstract

A method for controlling a remote navigation system to navigate a medical device in an operating region in a subject is provided, comprising operating the remote navigation system to bring a sensor carried on a medical device successively into a plurality of locations in a predetermined pattern, and using the sensor to sense a physiological property of the subject in each location. At least once thereafter, the method operates the remote navigation system to bring a sensor carried on a medical device successively into a series of locations in a predetermined pattern relative to at least one location selected from the predetermined pattern in the immediately preceding step based upon the sensed physiological property value, and uses the sensor to sense the physiological property in each location. The method automatically determines the location of a local extreme value of the sensed physiological property, and may be selectively used to locate a maximum value of the sensed physiological property or a minimum of the sensed physiological property. The method may be utilized for sensing one or more physiological properties such as a magnitude of an electrical signal, a conductivity, a temperature, a fluid flow rate or a fluid velocity, or a range of motion of a surface.

Claims

1. A method of controlling a remote navigation system to navigate a medical device in an operating region in a subject, the method comprising:

operating the remote navigation system to bring a sensor carried on a medical device successively into a plurality of locations in a predetermined pattern, and using the sensor to sense a physiological property of the subject in each location;

at least once thereafter, operating the remote navigation system to bring a sensor carried on a medical device successively into a series of locations in a predetermined pattern relative to at least one location selected from the predetermined pattern in the immediately preceding step based upon the sensed physiological property, and using the sensor to sense the physiological property in each location.

3. The method according to claim 1 wherein the sensed physiological property is the magnitude of an electrical signal.

4. The method according to claim 1 wherein the sensed physiological property is the timing of an electrical signal.

5. The method according to claim 1 wherein the sensed physiological property is temperature.

6. The method according to claim 1 wherein the sensed physiological property is range of motion of a surface.

7. The method according to claim 1 wherein the sensed physiological property is conductivity.

8. The method according to claim 1 wherein the sensed physiological property is a flow rate.

9. The method according to claim 1 wherein the sensed physiological property is a fluid velocity.

2. A method of controlling a remote navigation system to navigate a medical device in an operating region in a subject, the method comprising:

automatically successively operating the navigation system to bring a sensor carried on a medical device to a position determined by an algorithm using at least one previously sensed physiological value and corresponding location as an input, and sensing the physiological property in the location.

10. A method of automatically finding the location of a local extreme of a sensed physiological property, the method comprising:

operating a remote navigation system to bring a sensor carried on a medical device successively into a plurality of locations in a predetermined pattern, and using the sensor to sense a physiological property of the subject in each location;

at least once thereafter, operating the remote navigation system to bring a sensor carried on a medical device successively into a series of locations in a predetermined pattern relative to at least one location selected from the predetermined pattern in the immediately preceding step based upon the sensed value physiological property, and using the sensor to sense the physiological property in each location to identify the local extreme of the sensed physiological property.

11. The method according to claim 10 wherein the local extreme of the sensed physiological property is a maximum of the sensed physiological property.

12. The method according to claim 10 wherein the local extreme of the sensed physiological property is a minimum of the sensed physiological property.

13. A method of automatically finding the location of a local extreme of a sensed physiological property in an operating region in a subject, the method comprising:

automatically successively operating a remote navigation system to bring a sensor carried on a medical device to a position determined by an algorithm using at least one previously sensed physiological value and corresponding location as an input, and sensing the physiological property in the location.

14. The method according to claim 13 wherein the local extreme of the sensed physiological property is a maximum of the sensed physiological property.

15. The method according to claim 13 wherein the local extreme of the sensed physiological property is a minimum of the sensed physiological property.

16. A method of controlling a remote navigation system capable of remotely navigating the distal end of a medical device to a selected location