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Prolapse detection and tool dislodgement detection

  • US 9,675,302 B2
  • Filed: 12/31/2009
  • Issued: 06/13/2017
  • Est. Priority Date: 12/31/2009
  • Status: Active Grant
First Claim
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1. An apparatus for detecting dislodgement of a medical tool from a reference location within a patient'"'"'s body, comprising:

  • a localization system configured to output a location reading indicative of a location of the medical tool in a coordinate system based on a signal from a location sensor included in the medical tool, wherein said location reading comprises at least one of a position and orientation (P&

    O); and

    a control configured to determine a motion of the medical tool as a function of a plurality of said location readings, said control being further configured to determine when said determined medical tool motion satisfies predetermined tool motion conditions indicative of dislodgement based on at least one of said plurality of location readings of said medical tool and generating an alarm signal, wherein said predetermined motion conditions comprise at least a predetermined threshold distance beyond which the medical tool must move away from the reference location wherein the reference location within the patient'"'"'s body has a reference coordinate in said coordinate system, and wherein the reference location comprises an initial one of said medical tool location readings according to an initialization event, and wherein said control compares a medical tool coordinate and said reference coordinate with respect to said predetermined threshold distance to determine when said predetermined motion conditions are satisfied, said predetermined motion conditions are determined according to at least one factor selected from the group comprising a type of medical procedure, a type of medical tool, a parking position of the medical tool, and a preference of a physician.

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