US 12,336,767 B2
Finding roll angle of distal end of deflectable or non-deflectable invasive medical instrument
Assaf Govari, Haifa (IL); and Vadim Gliner, Haifa (IL)
Assigned to Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed by BIOSENSE WEBSTER (ISRAEL) LTD., Yokneam (IL)
Filed on Mar. 9, 2020, as Appl. No. 16/812,928.
Prior Publication US 2021/0275255 A1, Sep. 9, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 17/24 (2006.01); A61B 17/32 (2006.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/24 (2013.01); A61B 17/320016 (2013.01); A61B 90/37 (2016.02); A61B 2017/00738 (2013.01); A61B 2034/2051 (2016.02); A61B 2217/005 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system, comprising:
(a) a medical instrument comprising a handle and a head, the head being configured for insertion into an anatomical passageway of a patient and having a feature that is rotationally-asymmetric about a longitudinal axis of the medical instrument, the head of the medical instrument comprising an elongate shaft having a distal end with a bend;
(b) a position sensor, which is disposed exteriorly to an external surface of the head and is configured to generate signals in response to an externally-applied magnetic field, the position sensor being located on a section of the distal end that is proximal relative to the bend such that the position sensor is located on a portion of the head that is coaxial with the longitudinal axis of the medical instrument;
(c) a securing tape disposed exteriorly to an external surface of the head and located proximal to the position sensor, the securing tape being configured to secure a position sensor wire extending proximally from the position sensor to the elongate shaft of the head; and
(d) a processor configured to:
(i) receive the signals generated by the position sensor on the head, and
(ii) estimate, based on the received signals, a roll angle of the rotationally-asymmetric feature of the head about the longitudinal axis of the medical instrument.