Systems and methods for guiding a multi-pole sensor catheter to locate cardiac arrhythmia sources

1. A method for guiding a sensor to a location of a propagating wave source, comprising:

receiving, by a computing device, a plurality of signals generated by a plurality of electrodes of the sensor while the sensor resides at the first location in the object;

processing, by the computing device, the plurality of signals to determine coordinates of an estimated location of the propagating wave source relative to the first location at which the sensor resides; and

providing a visual aid facilitating sensor movement by plotting a mark on a grid overlaid on top of an object image displayed by the computing device, wherein the mark (1) indicates an estimated location of the propagating wave source in the object and (2) is defined by a probability distribution based on a mean of (a) a given point in a point cloud generated based on principle wave direction values and (b) a centroid of a plurality of cluster centroids that is closest to the given point in the point cloud.

2. The method according to claim 1 , further comprising guiding the sensor movement to a second location in the object based on an anatomy until a pre-defined criteria is met.

3. The method according to claim 2 , wherein the pre-defined criteria comprises at least one of a number of iterations performed and a number of points in a cluster.

4. The method according to claim 1 , further comprising stopping operations when a stop condition is met, where the stop condition is based on at least one of a Total Conduction Delay (“TCD”) divided by a Cycle Length (“CL”), a Cycle Width (“CW”) divided by CL, TCD/CW, patterns of previous mark locations on the grid, the source's distance from a current sensor location, and a source's distance from a previous sensor location.

5. The method according to claim 4 , wherein the stop condition is selected based on at least one of an amplitude of the plurality of signals and a target type.

6. A method for guiding a sensor to a location of a propagating wave source, comprising:

receiving, by a computing device, a plurality of signals generated by a plurality of electrodes of the sensor while the sensor resides at the first location in the object;

processing, by the computing device, the plurality of signals to determine coordinates of an estimated location of the propagating wave source relative to the first location at which the sensor resides; and

providing a visual aid facilitating sensor movement by plotting a mark on a grid overlaid on top of an object image displayed by the computing device;

wherein the processing comprises:

using the plurality of signals to determine a Principle Wave Direction (“PWD”) to the propagating wave source; and

using the PWD to determine if there are enough points to generate a point cloud.

7. The method according to claim 6 , further comprising guiding the sensor to a next location in the object based on an anatomy if it is determined that there are not enough points to generate the point cloud.

8. The method according to claim 6 , further comprising generating the point cloud if it is determined that there are enough points to generate the point cloud.

9. The method according to claim 8 , further comprising grouping the points of the point cloud into at least one cluster.

10. The method according to claim 9 , further comprising using the point cloud and the at least one cluster to determine coordinates of the mark.

11. The method according to claim 9 , wherein the coordinates are determined by:

identifying a cluster with a maximum density;

determining a weighted average of the identified cluster's points; and

performing a Bayesian filter algorithm using the weighted average to determine a next location in the object to where the sensor should be moved.

12. A system, comprising:

a processor; and

a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for guiding a sensor to a location of a propagating wave source, wherein the programming instructions comprise instructions to:

receive a plurality of signals generated by a plurality of electrodes of the sensor while the sensor resides at the first location in the object;

process the plurality of signals to determine coordinates of an estimated location of the propagating wave source relative to the first location at which the sensor resides; and

provide a visual aid facilitating sensor movement by plotting a mark on a grid overlaid on top of an object image displayed by the system, where the mark (1) indicates an estimated location of the propagating wave source in the object and (2) is defined by a probability distribution based on a mean of (a) a given point in a point cloud generated based on principle wave direction values and (b) a centroid of a plurality of cluster centroids that is closest to the given point in the point cloud.

13. The system according to claim 12 , wherein the programming instructions further comprise instructions to guide the sensor movement to a second location in the object based on an anatomy until a pre-defined criteria is met.

14. The system according to claim 13 , wherein the pre-defined criteria comprises at least one of a number of iterations performed and a number of points in a cluster.

15. The system according to claim 12 , wherein the programming instructions further comprise instructions to stop operations when a stop condition is met, where the stop condition is based on at least one of a Total Conduction Delay (“TCD”) divided by a Cycle Length (“CL”), a Cycle Width (“CW”) divided by CL, TCD/CW, patterns of previous mark locations on the grid, the source's distance from a current sensor location, and a source's distance from a previous sensor location.

16. The system according to claim 15 , wherein the stop condition is selected based on at least one of an amplitude of the plurality of signals and a target type.

17. A system, comprising:

a processor; and

a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for guiding a sensor to a location of a propagating wave source, wherein the programming instructions comprise instructions to:

receive a plurality of signals generated by a plurality of electrodes of the sensor while the sensor resides at the first location in the object;

process the plurality of signals to determine coordinates of an estimated location of the propagating wave source relative to the first location at which the sensor resides; and

provide a visual aid facilitating sensor movement by plotting a mark on a grid overlaid on top of an object image displayed by the system;

wherein the plurality of signals are processed by:

using the plurality of signals to determine a Principle Wave Direction (“PWD”) to the propagating wave source; and

using the PWD to determine if there are enough points to generate a point cloud.

18. The system according to claim 17 , wherein the programming instructions further comprise instructions to guide the sensor to a next location in the object based on an anatomy if it is determined that there are not enough points to generate the point cloud.

19. The system according to claim 17 , wherein the programming instructions further comprise instructions to generate the point cloud if it is determined that there are enough points to generate the point cloud.

20. The system according to claim 19 , wherein the programming instructions further comprise instructions to group the points of the point cloud into at least one cluster.

21. The system according to claim 20 , wherein the programming instructions further comprise instructions to use the point cloud and the at least one cluster to determine coordinates of the mark.

22. The system according to claim 21 , wherein the coordinates are determined by:

identifying a cluster with a maximum density;

determining a weighted average of the identified cluster's points; and

performing a Bayesian filter algorithm using the weighted average to determine a next location in the object to where the sensor should be moved.