Reducing incremental measurement sensor error

• US 9,057,600 B2
• Filed: 03/13/2014
• Issued: 06/16/2015
• Est. Priority Date: 03/13/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Walker, Sean P., Wong, Serena H., Park, June, Tanner, Neal A.
• Primary Examiner(s): TANINGCO, MARCUS H
• Application Number:
  US14/208,514
• Publication Number:
  US 20140264081A1
• Time in Patent Office: 460 Days
• Field of Search: 250/459.1
• US Class Current: 1/1
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/485 involving fluorescence X-ray imaging
• CPC Class Codes: A61B 6/586 Detection of faults or malfunction of the device
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 2205/702 automatically during use
• CPC Class Codes: A61M 25/0108 using radio-opaque or ultrasound markers
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 21/045 Correction of measurements G01B9/02055 takes precedence

Abstract

For position sensors, e.g., a fiber-based system, that build a shape of an elongated member such as a catheter using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Claims

1. A method of determining a position of an elongated member, comprising:

providing an incremental measurement sensor at a distal position on an elongated member;

applying registration data at one or more proximal locations along the elongated member; and

determining a position of the incremental measurement sensor based at least upon the registration data from the one or more proximal locations.

2. The method of claim 1, further comprising establishing a first one of the one or more locations along the elongated member as including a proximal attachment of the elongated member, the proximal attachment generally fixing a portion of the elongated member at the first one of the locations.

3. The method of claim 1, wherein applying the registration data at the one or more proximal locations includes determining a proximal position of the one or more proximal locations.

4. The method of claim 3, further comprising determining the proximal position of the one or more proximal locations with an electromagnetic sensor.

5. The method of claim 3, further comprising determining the proximal position of the one or more proximal locations using a fluoroscopy image of the one or more proximal locations.

6. The method of claim 1, wherein applying the registration data at the one or more proximal locations includes constraining a lateral position of the one or more proximal locations.

7. The method of claim 1, further comprising selectively filtering a proximal signal of the elongated member.

8. The method of claim 7, further comprising determining the position of the incremental measurement sensor based at least upon the filtered proximal signal, thereby reducing a fluctuation of the determined position of incremental measurement sensor.

9. The method of claim 7, further comprising filtering a distal signal of the elongated member.

10. The method of claim 9, further comprising establishing the filtering of the proximal signal at a different rate than the filtering of the distal signal.

11. The method of claim 7, further comprising establishing the selective filtering as including averaging an incremental orientation change in the proximal signal.

12. The method of claim 1, further comprising establishing the elongated member as a fiber.

13. A method of determining a position of an elongated member, comprising:

providing an incremental measurement sensor at a distal position on an elongated member;

selectively filtering a proximal signal of the elongated member; and

determining a position of the incremental measurement sensor based at least upon the filtered proximal signal, thereby reducing a fluctuation of the determined position of incremental measurement sensor.

14. The method of claim 13, further comprising determining the position of the incremental measurement sensor based at least upon the filtered proximal signal, thereby reducing a fluctuation of the determined position of incremental measurement sensor.

15. The method of claim 13, further comprising filtering a distal signal of the elongated member.

16. The method of claim 15, further comprising establishing the filtering of the proximal signal at a different rate than the filtering of the distal signal.

17. The method of claim 13, further comprising applying registration data at one or more proximal locations along the elongated member, and determining the position of the incremental measurement sensor based at least upon the registration data.

18. The method of claim 13, further comprising establishing the elongated member as a fiber.

19. A measurement system, comprising:

an incremental measurement sensor positioned at a distal position on an elongated member; and

a processor configured to apply registration data at one or more proximal locations along the elongated member, wherein the processor is configured to determine a position of the incremental measurement sensor based at least upon the registration data from the one or more proximal locations.

20. The system of claim 19, wherein the processor is configured to selectively filter a proximal signal of the elongated member, the processor configured to determine a position of the incremental measurement sensor based at least upon the filtered proximal signal, thereby reducing a fluctuation of the determined position of incremental measurement sensor.