Contact over-torque with three-dimensional anatomical data
First Claim
1. A method for establishing contact of a magnetically navigable medical device against a three-dimensional target surface geometry within a subject body, the method comprising:
- obtaining a three dimensional geometry of a tissue surface of an anatomical region within a subject body;
identifying a desired target location on the tissue surface geometry and a local plane tangent to the target location;
defining at least two points within the local tangent plane which are spaced a predetermined distance from the desired target location;
incrementally stepping a minimum distance from the at least two points in a direction opposite the outward normal to the tangent plane, to determine whether a surface threshold has been crossed so as to indicate a curvature of a target surface local to the target location;
using the indicated curvature, determining a rotation of a magnetic field vector for providing an over-torque magnetic field for improving the contact of a medical device with the target surface;
suitably registering the tissue surface geometry with the subject body; and
applying the determined rotation of a magnetic field vector to force the medical device against the target surface.
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Abstract
A method is provided for establishing contact of a medical device against a three-dimensional surface geometry within a subject body, the method comprising obtaining a three-dimensional tissue surface geometry of an anatomical region within the subject body, obtaining a target location on the surface for the device to contact, determining local surface geometry information in a neighborhood of the target location, and using this information to determine a change of at least one control variable for effecting an over-torque of the medical device to enhance contact of the device with the target surface.
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Citations
17 Claims
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1. A method for establishing contact of a magnetically navigable medical device against a three-dimensional target surface geometry within a subject body, the method comprising:
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obtaining a three dimensional geometry of a tissue surface of an anatomical region within a subject body; identifying a desired target location on the tissue surface geometry and a local plane tangent to the target location; defining at least two points within the local tangent plane which are spaced a predetermined distance from the desired target location; incrementally stepping a minimum distance from the at least two points in a direction opposite the outward normal to the tangent plane, to determine whether a surface threshold has been crossed so as to indicate a curvature of a target surface local to the target location; using the indicated curvature, determining a rotation of a magnetic field vector for providing an over-torque magnetic field for improving the contact of a medical device with the target surface; suitably registering the tissue surface geometry with the subject body; and applying the determined rotation of a magnetic field vector to force the medical device against the target surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for determining a control variable for establishing over-torque of a medical device against a three-dimensional tissue surface geometry within a subject body, the method comprising:
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obtaining local surface geometry information in an anatomical region of a subject body; identifying a desired target location on the surface; defining at least one point spaced from the desired target; evaluating an image model of the surface at the at least one point for the presence of an image threshold crossing; determining a change of at least one control variable, based on the evaluation, for effecting an over-torque of a medical device to improve contact of the device against the surface; and configuring a navigation system to effect the over-torque based on the change of the at least one control variable and based on a suitable registration of the surface with the subject body.
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Specification