US 12,329,575 B2
Controlling and visualizing rotation and deflection of a 4D ultrasound catheter having multiple shafts
Morris Ziv-Ari, Atlit (IL); Yochai Parchak, Raanana (IL); and Avigdor Rosenberg, Kiryat Tivon (IL)
Assigned to Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed by Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed on Jan. 10, 2022, as Appl. No. 17/572,314.
Prior Publication US 2023/0218272 A1, Jul. 13, 2023
Int. Cl. A61B 8/00 (2006.01); A61B 8/08 (2006.01); A61B 8/12 (2006.01)
CPC A61B 8/445 (2013.01) [A61B 8/0883 (2013.01); A61B 8/12 (2013.01); A61B 8/4466 (2013.01); A61B 8/4494 (2013.01); A61B 8/461 (2013.01)] 21 Claims
OG exemplary drawing
 
11. A method, comprising:
inserting into an organ of a patient a catheter comprising:
a shaft comprising:
an inner shaft, which is deflectable relative to an axis of the shaft;
an outer shaft, which is: (i) coupled to a distal tip of the catheter, and is coaxially disposed around the inner shaft, and (ii) can be deflected together with the inner shaft, and rotated about the axis relative to the inner shaft;
a first position sensor, coupled to the distal tip for producing a first signal; and
a second position sensor, which is coupled to the inner shaft for producing a second signal;
moving the catheter in the organ and receiving the first and second signals, wherein moving the catheter comprises one or both of rotating the outer shaft about the axis or deflecting the inner shaft relative to the axis;
estimating, based on at least the first signal, a position and an orientation of the distal tip; and
based on the first and second signals, displaying to a user one or more parameters indicative of at least a rotation angle of the distal tip relative to the axis, wherein displaying the one or more parameters comprises displaying a cone, wherein an origin of the cone corresponds to a bending point, wherein a central axis of the cone corresponds to the axis of the shaft, and a circle of the cone is determined, at least in part, by the rotation angle.