US 12,144,602 B2
Six degrees of freedom from a single inductive pickup coil sensor
Nathan J. Knutson, Long Lake, MN (US); and Evan M. Gustafson, Minneapolis, MN (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jan. 26, 2022, as Appl. No. 17/585,289.
Claims priority of provisional application 63/154,407, filed on Feb. 26, 2021.
Prior Publication US 2022/0273189 A1, Sep. 1, 2022
Int. Cl. A61B 5/06 (2006.01); A61B 10/04 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61M 25/01 (2006.01)
CPC A61B 5/062 (2013.01) [A61B 10/04 (2013.01); A61B 34/71 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61M 25/0147 (2013.01)] 20 Claims
OG exemplary drawing
 
11. A method for detecting a position and orientation of a catheter in six degrees of freedom (6DOF), the method comprising:
detecting a position and orientation of the catheter in five degrees of freedom (5DOF) in a first location, the detected position and orientation at the first location defining a first vector;
signaling a drive mechanism to move the catheter;
detecting a position and orientation of the catheter in 5DOF in a second location, the detected position and orientation at the second location defining a second vector;
defining a plane of articulation between the first and second vector;
determining a third vector perpendicular to the plane of articulation;
comparing the third vector to an expected third vector; and
calculating a roll of the catheter at the second location based on a difference between the third vector and the expected third vector wherein the calculated roll resolves the detected position and orientation of a distal portion of the catheter at the second location in 6DOF.