Method and apparatus for mapping a structure

• US 8,532,734 B2
• Filed: 04/09/2009
• Issued: 09/10/2013
• Est. Priority Date: 04/18/2008
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc), Regents of The University of Minnesota (University of Minnesota)
• Original Assignee: Medtronic Incorporated (Medtronic Plc), Regents of The University of Minnesota (University of Minnesota)
• Inventors: Markowitz, H. Toby, Campbell-Massa, Sean, Falkner, Phillip, Fleming, Ioana, Giese, Chad, Karamanoglu, Mustafa, Kryger, Michael, Nowak, Karl Evan, Mehta, Pooja, Steeves, James, Phillips, Lane A., Zhang, Shangqian Peter, Waldhauser, Steven L., Scanlon, David, Craig, Brian Houston, Warman, Eduardo N., Michels, Koen, Smith, Marie P., Hurtig, Noelle Christine, Eick, Olaf, Receveur, Rogier, Larik, Vincent, Chelgren, Brent, Interrante, Victoria
• Primary Examiner(s): Gedeon, Brian T
• Application Number:
  US12/421,332
• Publication Number:
  US 20090264727A1
• Time in Patent Office: 1,615 Days
• Field of Search: 600/374, 600/407, 600/523, 600/547, 606/41, 607/101, 607/111, 607/122
• US Class Current: 600/374
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00053 Mapping
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2017/22051 with an inflatable part, e.g. balloon, for positioning, blocking, or immobilisation A61B2017/22048, A61B2017/3486 take precedence
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/063 for measuring volume
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/05 Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/053 Measuring electrical impedance or conductance of a portion of the body
• CPC Class Codes: A61B 5/0538 : invasively, e.g. using a catheter
• CPC Class Codes: A61B 5/063 : using impedance measurements
• CPC Class Codes: A61B 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/068 : using impedance sensors
• CPC Class Codes: A61B 5/287 : Holders for multiple electrodes, e.g. electrode catheters for electrophysiological study [EPS]
• 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: G06T 19/003 : Navigation within 3D models or images

Abstract

An volume of a patient can be mapped with a system operable to identify a plurality of locations and save a plurality of locations of a mapping instrument. The mapping instrument can include one or more electrodes that can sense a voltage that can be correlated to a three dimensional location of the electrode at the time of the sensing or measurement. Therefore, a map of a volume can be determined based upon the sensing of the plurality of points without the use of other imaging devices. An implantable medical device can then be navigated relative to the mapping data.

Claims

1. A method of correcting for distortion in an electro-potential position sensing system, comprising;

injecting a current into a volume between at least two electrodes of a set of axis generation electrodes;

positioning an instrument into the volume;

determining a first position of a first electrode on the instrument;

determining a second position of a second electrode on the instrument;

determining a vector from the first electrode on the instrument to the second electrode on the instrument based on the determined first position and second position;

selecting a distance value from the first electrode;

plotting a corrected map data point as a point at the selected distance from the first position; and

collecting a plurality of first positions.

2. The method of claim 1, wherein selecting a distance value from the first electrode includes determining a distance between the first position and the second position of the first electrode and second electrode, respectively, on the instrument.

3. The method of claim 1, wherein selecting a distance value from the first electrode includes predetermining a distance between the first electrode and the second electrode at fixed positions on the instrument.

4. The method of claim 1, wherein determining a first position of the first electrode includes sensing an electrical property based on the injected current into the volume and determining a second position of a second electrode includes determining the electrical property at the second electrode based on the injected current;

wherein determining a vector from the first electrode to the second electrode includes determining a vector based upon the determined first and second positions of the first and second electrodes upon determining the electrical property at the first and second electrodes due to the injected current.

5. The method of claim 4, further comprising:

wherein plotting a corrected map data point includes plotting a plurality of corrected map data points based on the plurality of collected first positions; and

rendering a map based on the collected plurality of first positions and plotted plurality of corrected map data points.

6. The method of claim 5, further comprising:

rendering a surface based on the collected plurality of first positions and plotted plurality of corrected map data points.

7. The method of claim 5, further comprising:

collecting a plurality of determined second positions;

generating an uncorrected map based on only the collected plurality of determined first positions and collected plurality of second positions; and

generating a corrected map based only on the collected plurality of determined first positions and the plotted plurality of corrected map data.

8. The method of claim 7, further comprising:

selecting for display on a display device the generated uncorrected map or the generated corrected map.

9. The method of claim 1, wherein injecting a current into a volume between at least two electrodes includes injecting a current into a volume between at least three pairs of electrodes;

wherein the current injected between any two pair of electrodes defines an axis;

wherein determining a first position of a first electrode on the instrument includes sensing an electrical property based on the injected current along each of the three axes;

wherein determining a second position of a second electrode on the instrument includes evaluating an electrical property based on the injected current along each of the three axes.

10. The method of claim 9, wherein collecting a plurality of first positions and plotting corrected map data points includes collecting a plurality of first positions in three dimensions and collecting a plurality of corrected map data in three dimensions.

11. A method of correcting for distortion in an electro-potential position sensing system, comprising;

injecting a current into a volume between at least two electrodes of a set of axis generation electrodes;

positioning an instrument into the volume;

determining a first initial position of a first electrode on the instrument;

determining a second initial position of a second electrode on the instrument;

determining a vector from the first electrode on the instrument to the second electrode on the instrument based on the determined first initial position and second initial position;

determine a distance value from the first electrode to the second electrode based on the first initial position and second initial position;

storing the determined distance value;

collecting map data by determining a first map data position of the first electrode based on a sensed electrical property due to the injected current and a second map data position based on a point that is the determined distance along the vector from the first map data point.

12. The method of claim 11, wherein injecting a current into a volume between at least two electrodes includes injecting a current into a volume of a heart between at least three pairs of electrodes, wherein the current injected between any of the pairs of electrodes defines an axis;

wherein determining the first initial position and determining the second initial position includes determining a first initial position in three dimensions and determining a second initial position in three dimensions.

13. The method of claim 12, wherein collecting map data by determining the first map data position of the first electrode based on the sensed electrical property due to the injected current and the second map data position based on a point that is the determined distance along the vector from the first map data point includes determining a plurality of first map data positions of the first electrode and collecting a plurality of second map data positions;

and

generating a corrected map based on the collected map data.

14. The method of claim 13, further comprising:

determining the vector for each of the determined first map data positions of the first electrode.

15. The method of claim 11, further comprising:

collecting a plurality of uncorrected positions of the first electrode and a plurality of uncorrected positions of the second electrode;

generating an uncorrected map based on the uncorrected positions of the first electrode and the uncorrected positions of the second electrode.

16. The method of claim 15, further comprising:

generating a corrected map based on the collected map data;

changing a display of a display device between the corrected map and the uncorrected map.

17. The method of claim 11, wherein determining the vector includes determining a three dimensional position of the first initial position and determining a three dimensional position of the second initial position and identifying the vector from the first initial position to the second initial position in three dimensional space.

18. A method of correcting for distortion in an electro-potential position sensing system, comprising;

determining an initial first position of a first electrode on the instrument;

determining an initial second position of a second electrode on the instrument;

determining a vector including a distance value from the first electrode on the instrument to the second electrode on the instrument based on the determined initial first position and initial second position;

collecting a map data point subsequent to determining the vector; and

collecting map data by determining a first map data position of the first electrode and a second map data position based on a point that is the determined vector from the first map data point.

19. The method of claim 18, further comprising:

plotting a corrected map data point as a point at the distance value from the first map data position.

20. The method of claim 19, further comprising:

collecting a plurality of first map data positions;

wherein plotting the corrected map data point includes plotting at least a selected sub-plurality of first map data positions of the collected plurality of first map data positions.

21. The method of claim 18, further comprising:

positioning at least a first electrode and a second electrode relative to a volume; and

injecting a current between the positioned at least first electrode and second electrode;

wherein the collected map data is based on a sensed electrical property due to an injected current.

22. The method of claim 18, further comprising:

placing the two electrodes on a surface defining a volume;

measuring an electrical characteristic for position determination within the volume with an instrument;

collecting locations of the instrument;

measuring a rhythmic feature of a volume;

wherein the tracking the mapping instrument, includes at least one of;

inflating a portion of the mapping instrument;

fixing a location of a first position element relative to a second position element;

moving a flexible member with a flexible member position element relative to a fixed position element and measuring the position of the flexible member position element relative to the fixed position element;

measuring a temperature within the volume at the mapping instrument; and

positioning a guidewire through a catheter and measuring the location of the guidewire within the volume; and

displaying on a display device at least one of;

a pseudo location of an axis electrode relative to the map;

a location of a reference electrode relative to the map;

a location of a feature determined by generating a filled volume and determining points to be removed with the mapping instrument from the filled volume to form an augmented volume;

a map point determined by generating a virtual point based on a known position of a physical portion of the mapping instrument relative to a position element of the mapping instrument;

a determined location of the mapping instrument or the procedure instrument based on measurements and a previous state location of the mapping instrument or the procedure instrument;

the map based on locations categorized relative to the measured rhythmic feature; and

a location of an introducer through which the mapping instrument or the procedure instrument is past.

23. The method of claim 22, further comprising:

positioning the instrument in a catheter including an opening in a sidewall of the catheter operable to allow a fluid into an interior of the catheter;

wherein the instrument is operable to be moved within the catheter.