US 12,076,131 B2
Catheter shape and position detection using flexible magnetic sensor
Daniel Osadchy, Haifa (IL); and Meir Bar-Tal, Haifa (IL)
Assigned to Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed by Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed on May 5, 2020, as Appl. No. 16/866,883.
Prior Publication US 2021/0345902 A1, Nov. 11, 2021
Int. Cl. A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 5/287 (2021.01); G16H 50/20 (2018.01)
CPC A61B 5/062 (2013.01) [A61B 5/066 (2013.01); A61B 5/287 (2021.01); A61B 5/7235 (2013.01); A61B 5/742 (2013.01); G16H 50/20 (2018.01)] 20 Claims
OG exemplary drawing
 
11. A system for visualization of a probe inside a body of a subject, the system comprising:
the probe comprising a plurality of position transducers and a voltage contact;
a processor, the processor configured to:
receive a plurality of measured coordinates from the plurality of position transducers;
generate a voltage measurement generated and output by the probe based on a generated magnetic field detected around the probe;
calculate magnetic vector potentials of the generated magnetic field;
determine a cost function based on a model of known mechanical properties of the probe compared to the measured coordinates with respect to shapes that can be assumed by the probe in the body and on an expected voltage value compared to the voltage measurement;
select a shape based on the cost function;
calculating a voltage measurement error between the expected voltage value and the voltage measurement;
and generate corrected coordinates of the plurality of position transducers of the probe based on the shape and the voltage measurement error between the expected voltage value and the voltage measurement,
wherein the expected voltage value is determined using the magnetic vector potentials at the plurality of measured coordinates and points along an estimated shape of the probe.