Robotic surgical system and method for surface modeling
First Claim
1. A method of generating a three-dimensional model of at least a portion of a heart, comprising the steps of:
- inserting an electrode within a portion of a heart;
robotically moving the electrode randomly within the portion of the heart;
periodically detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart; and
generating a three-dimensional model of the portion of the heart, the three-dimensional model comprising position information for at least some of the plurality of location points within the portion of the heart,wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart.
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Accused Products
Abstract
A method of generating a three-dimensional model of at least a portion of a heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, periodically detecting position information of the electrode to generate a plurality of location points defining a space occupied by the portion of the heart, and generating a three-dimensional model of the portion of the heart including position information for at least some of the plurality of location points within the portion of the heart. The plurality of location points includes at least some location points on the surface of the heart and at least some location points interior thereto. The model is generated by utilizing a surface construction algorithm such as a shrink-wrap algorithm to identify the surface points and isolate or eliminate the interior points.
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Citations
25 Claims
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1. A method of generating a three-dimensional model of at least a portion of a heart, comprising the steps of:
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inserting an electrode within a portion of a heart; robotically moving the electrode randomly within the portion of the heart; periodically detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart; and generating a three-dimensional model of the portion of the heart, the three-dimensional model comprising position information for at least some of the plurality of location points within the portion of the heart, wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of generating a three-dimensional model of at least a portion of a heart, comprising the steps of:
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inserting an electrode within a portion of a heart; moving the electrode within the portion of the heart using a robotic controller; periodically detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart; processing the plurality of location points using a surface construction algorithm to identify a subset of the plurality of location points, which subset of location points defines a three-dimensional surface model of the portion of the heart; and outputting the identified subset of the plurality of location points, wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15)
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16. A method of generating a three-dimensional model of at least a portion of a heart, comprising the steps of:
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inserting an electrode within a portion of a heart; using a robotic controller to move the electrode randomly within the portion of the heart; detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart; generating a plurality of triangles by connecting the plurality of location points; and generating a three-dimensional model of the portion of the heart comprising position information for a plurality of location points that describe a three-dimensional surface model of the portion of the heart wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart. - View Dependent Claims (17)
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18. A system for generating a three-dimensional model of at least a portion of a heart, comprising:
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an electrode for inserting within a portion of a heart; a robotic controller for moving the electrode within the portion of the heart; a detector for detecting position information of the electrode and for generating a plurality of location points that define a space occupied by the portion of the heart; and a modeling processor for generating a three-dimensional model of the portion of the heart comprising position information for a plurality of location points that describe a three-dimensional surface model of the portion of the heart wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart. - View Dependent Claims (19, 20)
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21. An apparatus for generating a three-dimensional model of at least a portion of a heart, comprising:
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means for inserting an electrode within a portion of a heart; means for robotically moving the electrode randomly within the portion of the heart; means for periodically detecting position information of the electrode, thereby generating a plurality of location points that define a space occupied by the portion of the heart; and means for generating a three-dimensional model of the portion of the heart, the three-dimensional model comprising position information for at least some of the plurality of location points within the portion of the heart, wherein the plurality of location points includes at least some location points on a surface of the portion of the heart and at least some location points not on the surface of the portion of the heart. - View Dependent Claims (22, 23, 24, 25)
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Specification