US 12,447,311 B2
Position-tracking for a balloon catheter
Meir Bar-Tal, Haifa (IL); and Daniel Osadchy, Haifa (IL)
Assigned to Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed by BIOSENSE WEBSTER (ISRAEL) LTD., Yokneam (IL)
Filed on Apr. 25, 2024, as Appl. No. 18/646,315.
Claims priority of provisional application 63/521,206, filed on Jun. 15, 2023.
Prior Publication US 2024/0416076 A1, Dec. 19, 2024
Int. Cl. A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61M 25/01 (2006.01); G06T 17/00 (2006.01); A61B 34/20 (2016.01)
CPC A61M 25/0105 (2013.01) [A61B 5/062 (2013.01); A61B 5/6856 (2013.01); G06T 17/00 (2013.01); A61B 2034/2059 (2016.02)] 12 Claims
OG exemplary drawing
 
1. A system, comprising:
a secondary catheter;
a primary catheter, comprising:
a shaft for insertion into an organ of a patient;
a first position sensor disposed on a distal end of the shaft;
an expandable assembly coupled at the distal end of the shaft, the expandable assembly comprising a hollow channel that is straight and rigid to allow passage of the secondary catheter distally via the expandable assembly; and
a plurality of second position sensors disposed along a distal end of the secondary catheter, which are configured to indicate a respective plurality of positions along the distal end of the secondary catheter; and
a processor, which is configured to:
receive the indications of the plurality of positions;
apply a model of known mechanical properties of the distal end of the secondary catheter to the plurality of positions to compute a bending profile of the secondary catheter inside the expandable assembly, wherein the model is applied based on an assumption that at least one section of the secondary catheter is located inside the hollow channel; and
based on the computed bending profile, estimate an orientation of the expandable assembly with respect to the distal end of the shaft.