SYSTEM AND METHOD FOR A CATHETER IMPEDANCE SEEKING DEVICE

• US 20100130854A1
• Filed: 11/25/2008
• Published: 05/27/2010
• Est. Priority Date: 11/25/2008
• Status: Active Grant

• Current Assignee: Neuro-Kinesis Corporation
• Original Assignee: Magnetecs Incorporated
• Inventors: Johnson, David, Gang, Eli, Shachar, Yehoshua, Farkas, Laszlo, Farkas, Leslie, Marx, Bruce
• Granted Patent: US 8,457,714 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• 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 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• 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 5/068 using impedance sensors

Abstract

A tissue-contact seeking method and apparatus is described that enhances catheter position detection and control systems in making and maintaining continuous tissue contact in a highly dynamic frame, such as under the rigors of cardiac motion. Tissue-seeking logical routines use a tissue contact sensing system to advance a catheter to relatively continuous tissue contact, or detect obstacles, in cooperation with the catheter position detection and control systems. Additional logical routines are capable of optimizing the contact direction of the catheter tip by controlling the rotation angle and chamber position of the introducer.

Claims

1. An apparatus for making and maintaining continuous tissue contact between a tool tip and moving tissue in a patient, comprising:

a controllable magnetic field source that produces a magnetic field;

a tool having a distal end responsive to said magnetic field;

one or more sensors configured to sense a current vector position of said distal end by measuring one or more impedances;

a controller for controlling said magnetic field source to control a movement of said distal end according to a feedback calculation wherein said system controller is configured to compute a position error comprising a difference between a desired vector position of said distal end and said current vector position of said distal end; and

an operator control that provides tactile feedback to an operator when said position error exceeds a predetermined amount, wherein said tactile feedback is computed by said controller at least in part according to said vector position error, wherein a correction input to said desired vector position is computed based on a position of a heart relative to a frame of reference, such that said system controller compensates for a dynamic position of a wall of a heart chamber such that said distal end maintains contact with said wall of said heart chamber at least in part by measuring at least one impedance between said distal end and said wall.

2. The apparatus of claim 1, wherein said tool comprises a Lorenz sheath.

3. The apparatus of claim 1, further comprising one or more patches provided to said patient, wherein said apparatus measures a position and orientation of a Lorenz sheath at least in part by measuring one or more impedances between said Lorenz sheath and said conductive patches.

4. The apparatus of claim 1, wherein said controller is configured to control said magnetic field source to maintain said distal end in a desired vector orientation relative to said wall.

5. The apparatus of claim 1, wherein said controller is configured to control said magnetic field source to maintain said distal end substantially normal to said wall.

6. The apparatus of claim 1, wherein said controller is configured to differentiate between contact with said wall and contact with an obstruction by analyzing differences between a measured impedance and an expected impedance.

7. The apparatus of claim 6, wherein said controller is configured to compute a path around said obstruction.

8. The apparatus of claim 1, wherein said controller is configured to control said magnetic field source to maintain said distal end in a desired orientation relative to said wall.

9. The apparatus of claim 1, wherein said controller is configured to differentiate between contact with said wall and contact with other tissue by analyzing differences between a measured impedance and an expected impedance, said expected impedance corresponding to said wall.

10. The apparatus of claim 1, wherein said other tissue comprises a blood pool.

11. The apparatus of claim 1, wherein said controller is configured to seek contact with said wall by calculating a target manifold, monitoring a distal end-to-target vector with respect to said target manifold, calculating a new tool length, and adjusting a length of said tool according to said new tool length.

12. The apparatus of claim 1, wherein said tool comprises an introducer.

13. The apparatus of claim 12, wherein said controller controls a rotation and translation of said introducer.

14. A method for positioning a surgical tool and maintaining relatively continuous contact between a distal end of said tool and a desired tissue location, comprising:

controlling a position and orientation of a distal end of a surgical tool by adjusting currents in a plurality of electromagnets;

measuring a plurality of impedance values between said distal end and a plurality of tissue locations;

constructing an impedance map at least in part form said plurality of impedance values;

determining a first impedance value corresponding to an impedance measured when said distal end touches said desired tissue location; and

using a feedback controller to control said currents to maintain contact between said distal end and said desired tissue such that said distal end is oriented relatively normal to said desired tissue location in the presence of motion of said desired tissue location, wherein feedback information to said feedback controller comprises periodic impedance measurements between said distal end and said desired tissue location.

15. The method of claim 14, further comprising:

computing a position error comprising a difference between a desired vector position of said distal end and said current vector position of said distal end; and

providing tactile feedback to an operator control when said position error exceeds a predetermined amount, wherein said tactile feedback is computed at least in part according to said position error.

16. The method of claim 14, wherein said tool comprises a Lorenz sheath.

17. The method of claim 14, further comprising locating said distal end by measuring impedances between a plurality of patches provided to said patient and said surgical tool.

18. The method of claim 14, further comprising differentiating between contact with said desired tissue location and contact with an obstruction by analyzing differences between a measured impedance and an expected impedance.

19. The method of claim 15, further comprising computing a path around said obstruction.

20. The method of claim 14, further comprising distinguishing between contact with said desired tissue location and contact with other tissue by analyzing differences between a measured impedance and an expected impedance, said expected impedance corresponding to an impedance at said desired tissue location.

21. The method of claim 20, wherein said other tissue comprises a blood pool.

22. The method of claim 14, further comprising seeking contact with said desired tissue location by:

calculating a target manifold;

monitoring a distal end-to-target vector with respect to said target manifold;

calculating a new tool length; and

adjusting a length of said tool according to said new tool length.

23. The method of claim 14, wherein said tool comprises an introducer.

24. The method of claim 14, further comprising controlling a rotation and translation of said tool.