US 12,458,452 B2
Ent tools
Assaf Govari, Haifa (IL); Vadim Gliner, Haifa (IL); Yehuda Algawi, Binyamina (IL); Andres Claudio Altmann, Haifa (IL); and Ilya Sitnitsky, Nahariya (IL)
Assigned to Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed by BIOSENSE WEBSTER (ISRAEL) LTD., Yokneam (IL)
Filed on Feb. 23, 2024, as Appl. No. 18/585,667.
Application 18/585,667 is a division of application No. 16/943,805, filed on Jul. 30, 2020, granted, now 11,937,882.
Claims priority of provisional application 62/892,105, filed on Aug. 27, 2019.
Prior Publication US 2024/0189045 A1, Jun. 13, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 1/07 (2006.01); A61B 5/06 (2006.01); A61B 17/00 (2006.01); A61B 17/24 (2006.01); A61B 18/00 (2006.01); A61B 18/14 (2006.01); A61B 18/24 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 1/000094 (2022.02); A61B 1/00097 (2022.02); A61B 1/00194 (2022.02); A61B 1/07 (2013.01); A61B 5/066 (2013.01); A61B 18/1492 (2013.01); A61B 18/24 (2013.01); A61B 2017/00296 (2013.01); A61B 2017/00323 (2013.01); A61B 17/24 (2013.01); A61B 2018/00327 (2013.01); A61B 2018/00577 (2013.01); A61B 2018/00672 (2013.01); A61B 2018/00678 (2013.01); A61B 2018/00875 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/3762 (2016.02)] 13 Claims
OG exemplary drawing
 
1. A registration device, comprising:
a wand having a distal tip;
a light guide passing through the wand and having a distal end at the distal tip of the wand and a proximal end extending proximally from the wand;
a position sensor fixed to the wand and configured to output a first signal indicative of a location of the distal tip in a sensor frame of reference;
a light source, which is coupled to output a beam of light, having an intensity that is modulated temporally at a predefined carrier frequency, into the proximal end of the light guide, whereby the light is emitted from the distal end of the light guide toward a surface in proximity to the distal tip of the wand;
a detector, configured to receive, from the proximal end of the light guide, the light that has been reflected from the surface into the distal end of the light guide, and to output a second signal that is indicative of the intensity of the reflected light; and
a processor, configured to compute a maximum and a minimum of the second signal in response to moving the wand distal tip in relation to the surface, to acquire a given signal from the detector when the surface is at the distance from the wand distal tip and to compute a distance from the distal tip of the wand to the surface by operating together with an interferometry model for extracting a phase difference between the output beam and the reflected light from the second signal based on interferometry, and to compute a position of the surface in the sensor frame of reference responsively to the computed distance and the location of the distal tip that is indicated by the first signal.