Endovascular navigation system and method
First Claim
1. A positioning or navigation system, comprising:
- an acoustic transducer mounted on a distal end of an endovascular instrument;
a control system in communication with the acoustic transducer, the control system being configured to generate and receive an acoustic signal using the acoustic transducer;
a pre-processor configured to receive the acoustic signal as an acoustic input, and configured to extract one or more acoustic features from the acoustic input;
a processor configured to receive the one or more extracted acoustic features from the pre-processor, and to;
retrieve a first set of predefined membership functions corresponding to a first positional or navigational state of the endovascular instrument;
retrieve a second set of predefined membership functions corresponding to a second positional or navigational state of the endovascular instrument, wherein the second set of predefined membership functions is different from the first set of predefined membership functions, and wherein the second positional or navigational state is different from the first second or navigational state;
input each of the extracted acoustic features into a corresponding membership function in the first set of predefined membership functions to determine a first contribution value for each extracted acoustic feature;
sum the first contribution values for the extracted acoustic features to generate a first score for the first positional or navigational state, wherein the first score indicates a likelihood that the endovascular instrument is in the first positional or navigational state;
input each of the extracted acoustic features into a corresponding membership function in the second set of predefined membership functions to determine a second contribution value for each extracted acoustic feature;
sum the second contribution values for the extracted acoustic features to generate a second score for the second positional or navigational state, wherein the second score indicates a likelihood that the endovascular instrument is in the second positional or navigational state;
compare the first score to the second score to determine whether the endovascular instrument is in the first positional or navigational state or the second positional or navigational state; and
generate positional or navigational guidance information for the endovascular instrument based on the determined first or second positional or navigational state; and
an output device configured to display an indication of the positional or navigational guidance information generated by the processor.
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Accused Products
Abstract
An endovascular navigation and positioning system including a transducer on a distal end of an endovascular instrument, a control system connected to the transducer, the control system being configured to generate and receive at least one acoustic signal using the transducer, a pre-processor containing computer-readable instructions for manipulating the acoustic signal input to extract information related to desired parameters, a processor configured to evaluate the parameters to generate an output related to guidance of the instrument, and an output device for displaying an indication of the output generated by the processor. The processor may evaluate the information using artificial intelligence including inference rules related to navigation state, comparisons to information in a database, and probabilities, among others. The system may use an electrical signal as a confirmation input. Further disclosed is a method of navigating and positioning an endovascular device in a vasculature.
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Citations
46 Claims
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1. A positioning or navigation system, comprising:
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an acoustic transducer mounted on a distal end of an endovascular instrument; a control system in communication with the acoustic transducer, the control system being configured to generate and receive an acoustic signal using the acoustic transducer; a pre-processor configured to receive the acoustic signal as an acoustic input, and configured to extract one or more acoustic features from the acoustic input; a processor configured to receive the one or more extracted acoustic features from the pre-processor, and to; retrieve a first set of predefined membership functions corresponding to a first positional or navigational state of the endovascular instrument; retrieve a second set of predefined membership functions corresponding to a second positional or navigational state of the endovascular instrument, wherein the second set of predefined membership functions is different from the first set of predefined membership functions, and wherein the second positional or navigational state is different from the first second or navigational state; input each of the extracted acoustic features into a corresponding membership function in the first set of predefined membership functions to determine a first contribution value for each extracted acoustic feature; sum the first contribution values for the extracted acoustic features to generate a first score for the first positional or navigational state, wherein the first score indicates a likelihood that the endovascular instrument is in the first positional or navigational state; input each of the extracted acoustic features into a corresponding membership function in the second set of predefined membership functions to determine a second contribution value for each extracted acoustic feature; sum the second contribution values for the extracted acoustic features to generate a second score for the second positional or navigational state, wherein the second score indicates a likelihood that the endovascular instrument is in the second positional or navigational state; compare the first score to the second score to determine whether the endovascular instrument is in the first positional or navigational state or the second positional or navigational state; and generate positional or navigational guidance information for the endovascular instrument based on the determined first or second positional or navigational state; and an output device configured to display an indication of the positional or navigational guidance information generated by the processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 44, 45, 46)
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42. A positioning or navigation system, comprising:
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an acoustic transducer mounted on a distal end of an endovascular instrument; a sensing electrode mounted on the endovascular instrument; a control system in communication with the acoustic transducer and the sensing electrode, the control system being configured to generate and receive an acoustic signal using the acoustic transducer, and the control system being further configured to receive an electrical signal from the sensing electrode; a pre-processor configured to receive the acoustic signal as an acoustic input and the electrical signal as an electrical input, and configured to extract one or more acoustic features from the acoustic input and to extract one or more electrical features from the electrical input; a processor configured to receive the one or more extracted acoustic and electrical features from the pre-processor, and to; retrieve a first set of predefined membership functions corresponding to a first positional or navigational state of the endovascular instrument; retrieve a second set of predefined membership functions corresponding to a second positional or navigational state of the endovascular instrument, wherein the second set of predefined membership functions is different from the first set of predefined membership functions, and wherein the second positional or navigational state is different from the first second or navigational state; input each of the extracted acoustic and electrical features into a corresponding membership function in the first set of predefined membership functions to determine a first contribution value for each extracted acoustic and electrical feature; sum the first contribution values for the extracted acoustic and electrical features to generate a first score for the first positional or navigational state, wherein the first score indicates a likelihood that the endovascular instrument is in the first positional or navigational state; input each of the extracted acoustic and electrical features into a corresponding membership function in the second set of predefined membership functions to determine a second contribution value for each extracted acoustic and electrical feature; sum the second contribution values for the extracted acoustic and electrical features to generate a second score for the second positional or navigational state, wherein the second score indicates a likelihood that the endovascular instrument is in the second positional or navigational state; compare the first score to the second score to determine first score to the second score the endovascular instrument is in the first positional or navigational state or the second positional or navigational state; and generate positional or navigational guidance information for the endovascular instrument based on the determined first or second positional or navigational state; and an output device configured to display an indication of the positional or navigational guidance information generated by the processor.
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43. A positioning or navigation system, comprising:
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a sensing electrode mounted on an endovascular instrument; a control system in communication with the sensing electrode, the control system being configured to receive an electrical signal from the sensing electrode; a pre-processor configured to receive the electrical signal as an electrical input, and configured to extract one or more electrical features from the electrical input; a processor configured to receive the one or more extracted electrical features from the pre-processor, and to; retrieve a first set of predefined membership functions corresponding to a first positional or navigational state of the endovascular instrument; retrieve a second set of predefined membership functions corresponding to a second positional or navigational state of the endovascular instrument, wherein the second set of predefined membership functions is different from the first set of predefined membership functions, and wherein the second positional or navigational state is different from the first second or navigational state; input each of the extracted electrical features into a corresponding membership function in the first set of predefined membership functions to determine a first contribution value for each extracted electrical feature; sum the first contribution values for the extracted electrical features to generate a first score for the first positional or navigational state, wherein the first score indicates a likelihood that the endovascular instrument is in the first positional or navigational state; input each of the extracted electrical features into a corresponding membership function in the second set of predefined membership functions to determine a second contribution value for each extracted electrical feature; sum the second contribution values for the extracted electrical features to generate a second score for the second positional or navigational state, wherein the second score indicates a likelihood that the endovascular instrument is in the second positional or navigational state; compare the first score to the second score to determine whether the endovascular instrument is in the first positional or navigational state or the second positional or navigational state; and generate positional or navigational guidance information for the endovascular instrument based on the determined first or second positional or navigational state; and an output device configured to display an indication of the positional or navigational guidance information generated by the processor.
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Specification