| CPC A61B 5/6858 (2013.01) [A61B 5/062 (2013.01); A61B 5/065 (2013.01)] | 20 Claims |
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1. A system comprising:
a catheter configured to be inserted into a body-part of a living subject, and comprising:
an insertion tube including a distal end, and a first coil-based position sensor disposed at the distal end;
a pusher including a second coil-based position sensor disposed thereon and a distal portion, and being configured to be advanced and retracted through the insertion tube; and
an expandable assembly comprising a plurality of flexible strips disposed circumferentially around the distal portion of the pusher, with first ends of the flexible strips connected to the distal end of the insertion tube and second ends of the flexible strips connected to the distal portion of the pusher, the flexible strips being configured to bow radially outward when the pusher is retracted;
at least one magnetic field radiator configured to transmit alternating magnetic fields into a region where the body-part is located, the first and second coil-based position sensors being configured to output respective first and second position signals in response to the transmitted alternating magnetic fields; and
processing circuitry configured to:
receive the first and second position signals from the first and second coil-based position sensors;
compute a distance and a relative orientation angle between the first and second coil-based position sensors responsively to the received first and second position signals; and
estimate respective positions of the flexible strips responsively to at least the computed distance and relative orientation angle, while accounting for a distortion of one or more of the flexible strips from a symmetrical disposition when the relative orientation angle has a value greater than zero.
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