Tracking system using field mapping

• US 8,568,406 B2
• Filed: 02/09/2012
• Issued: 10/29/2013
• Est. Priority Date: 10/27/2008
• Status: Active Grant

• Current Assignee: Boston Scientific Scimed, Inc. (Boston Scientific Corporation)
• Original Assignee: Rhythmia Medical, Inc. (Boston Scientific Corporation)
• Inventors: Harlev, Doron, Eldar, Rotem
• Primary Examiner(s): BOUCHELLE, LAURA A
• Application Number:
  US13/369,787
• Publication Number:
  US 20120143030A1
• Time in Patent Office: 628 Days
• Field of Search: 607/115, 607/119, 607/122, 607/127, 600/509, 600/508, 606/41
• US Class Current: 606/41
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 5/053 Measuring electrical impedance or conductance of a portion of the body
• CPC Class Codes: A61B 5/0536 Impedance imaging, e.g. by tomography
• CPC Class Codes: A61B 5/063 using impedance measurements
• 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 5/7285 for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence

Abstract

In some aspects, a method includes (i) securing multiple sets of current injecting electrodes to an organ in a patient'"'"'s body, (ii) causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ, (iii) in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes, (iv) determining expected signal measurements of the field inside the organ using a pre-determined model of the field, and (v) determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field.

Claims

1. A method comprising:

securing multiple sets of current injecting electrodes to one or more stable locations relative to an organ in a patient'"'"'s body;

causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;

in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes,

determining expected signal measurements of the field inside the organ using a pre-determined model of the field, the pre-determined model of the field correlating field measurements with position coordinates; and

determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field.

2. The method of claim 1, wherein:

measuring the field comprises measuring potentials;

the pre-determined model of the field correlates expected potentials with position coordinates; and

determining the position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field comprises solving an optimization problem that minimizes collective difference between each of the measured potentials and an estimate for each of the respective expected potentials as a function of the position of the measurement.

3. The method of claim 1, wherein the one or more additional electrodes comprise one or more electrodes used for delivering ablation energy for ablating tissue of the organ.

4. The method of claim 1, wherein the one or more additional electrodes comprise one or more electrodes used for measuring the electrical activity of the organ.

5. The method of claim 1, further comprising generating the pre-determined model of the field.

6. The method of claim 5, wherein generating the pre-determined model of the field comprises:

causing current to flow among the multiple sets of current injecting electrodes to generate a field in an organ;

obtaining the positions of one or more measuring electrodes;

in response to the current flow, measuring the field at multiple locations in the organ using the one or more measuring electrodes;

modeling the field using the measurements of the field measured by the one or more measuring electrodes and the positions of the one or more measuring electrodes.

7. The method of claim 6, wherein modeling the field comprises modeling the field based on physical characteristics.

8. The method of claim 7, wherein modeling the field based on physical characteristics comprises using Laplace'"'"'s equation.

9. The method of claim 7, wherein modeling the field based on physical characteristics comprises using Poisson'"'"'s equation.

10. The method of claim 7, wherein modeling the field based on physical characteristics comprises modeling a homogeneous medium.

11. The method of claim 7, wherein modeling the field based on physical characteristics comprises modeling an inhomogeneous medium.

12. The method of claim 6, wherein modeling of the field further comprises representing the model using a function that correlates field measurements with position coordinates.

13. The method of claim 1, wherein the pre-determined model of the field comprises a field map.

14. The method of claim 13, wherein the field map is a function that correlates the expected signal measurements with position coordinates within the organ.

15. The method of claim 14, wherein the function is a differentiable function.

16. The method of claim 1, wherein measuring the field comprises measuring potentials.

17. The method of claim 1, wherein the current-injecting electrodes operate at a frequency different from the frequency of normal electrical activity in the organ.

18. The method of claim 1, wherein the organ is a patient'"'"'s heart.

19. A system comprising:

multiple sets of current injecting electrodes configured to be secured to one or more stable locations relative to an organ in a patient'"'"'s body;

one or more additional electrodes configured to be positioned within the organ in the patient'"'"'s body;

an electronic control system coupled to the multiple sets of current injecting electrodes and the one or more additional electrodes, the electronic control system being configured to;

cause current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;

in response to current flow caused by the multiple sets of current injecting electrodes, measure the field at each of one or more additional electrodes,

a processing system coupled to the electronic system and configured to;

determine expected signal measurements of the field inside the organ using a pre-determined model of the field, the pre-determined model of the field correlating field measurements with position coordinates; and

determine a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field.

20. The system of claim 19, wherein the one or more additional electrodes comprise one or more electrodes used for delivering ablation energy for ablating tissue of the organ.

21. The system of claim 19, wherein the one or more additional electrodes comprise one or more electrodes used for measuring the electrical activity of the organ.

22. The system of claim 19, wherein the processing system is further configured to generate the pre-determined model of the field.

23. A method comprising:

securing at least three sets of current injecting electrodes to one or more stable locations relative to an organ in a patient'"'"'s body;

causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;

using a multi-electrode array located on a multi-electrode array catheter in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes;

measuring the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;

modeling the field using the measurements and the positions;

determining expected signal measurements of the field at additional locations within the organ based on the model of the field, the model of the field correlating field measurements with position coordinates; and

determining a position of one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field.

24. The method of claim 23, further comprising removing multi-electrode array catheter from the organ prior to determining the position of one or more additional electrodes in the organ.

25. The method of claim 23, wherein the one or more additional electrodes comprise one or more electrodes mounted on one of more additional catheters.

26. The method of claim 23, wherein the one or more additional electrodes comprise one or more electrodes of the multi-electrode array.

27. The method of claim 23, wherein modeling the field based on physical characteristics comprises using Laplace'"'"'s equation.

28. The method of claim 23, wherein modeling the field comprises modeling the field based on physical characteristics.

29. The method of claim 28, wherein modeling the field based on physical characteristics comprises using Poisson'"'"'s equation.

30. The method of claim 28, wherein modeling the field based on physical characteristics comprises modeling a homogeneous medium.

31. The method of claim 28, wherein modeling the field based on physical characteristics comprises modeling an inhomogeneous medium.

32. The method of claim 23, wherein the additional locations within the organ comprise positions within the organ where the field was not measured.

33. The method of claim 23, wherein determining a position of one or more additional electrodes in the field based on measurements made by the additional electrodes and the determined expected signal measurements of the field comprises solving an optimization problem that minimizes collective difference between each of the measured signals and an estimate for each of the respective measured signals as a function of the position of the measurement.

34. The method of claim 23, wherein the measuring of the field at the multiple locations comprises moving a catheter having one or more measuring electrodes to multiple locations within the organ, and using the measuring electrodes to measure the field for each of the multiple locations of the catheter.

35. The method of claim 23, wherein the multiple sets of current-injecting electrodes comprise at least three sets of current injecting electrodes, and wherein the causing of the current flow comprises causing current to flow between each set of current injecting electrodes, and wherein the field measured in response to the current flow comprise a field measurement for each set of the current injecting electrodes for each of the multiple positions.

36. The method of claim 23, wherein modeling the field comprises generating a field map.

37. The method of claim 23, further comprising displaying the determined location of the measuring electrode relative to a surface of the organ.

38. A system comprising:

at least three sets of current injecting electrodes configured to be secured to an organ in a patient'"'"'s body;

a multi-electrode array catheter comprising a multi-electrode array configured to be inserted in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes;

one or more additional electrodes configured to be inserted in the organ;

an electronic control system coupled to the at least three sets of current injecting electrodes, to the multi-electrode array catheter, and to the one or more additional electrodes, the electronic control system being configured to;

cause current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;

measure the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array;

a processing system coupled to the electronic system and configured to;

model the field using the measurements and the positions;

determine expected signal measurements of the field at additional locations within the organ based on the model of the field, the model of the field correlating field measurements with position coordinates; and

determine a position of the one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field.

39. The system of claim 38, wherein the one or more additional electrodes comprise one or more electrodes mounted on one of more additional catheters.

40. The system of claim 38, wherein the one or more additional electrodes comprise one or more electrodes of the multi-electrode array.

41. The system of claim 38, wherein the multiple sets of current-injecting electrodes comprise at least three sets of current injecting electrodes.