Measurement of distal end dimension of catheters using magnetic fields
In one embodiment, a system includes generator coils to generate respective magnetic fields, a catheter including a distal end, which includes magnetic coil sensors to output electrical signals based on detection of the respective magnetic fields, and processing circuitry to receive the electrical signals from the magnetic coil sensors, select at least one of magnetic fields having a magnetic field gradient as a function of at least one of the received electrical signals, compute a difference between magnetic field magnitudes of the at least one selected magnetic field detected by the first magnetic coil sensor and the second magnetic coil sensor as a function of the electrical signals, and compute a dimension of the distal end, based on the difference between the magnetic field magnitudes of the at least one selected magnetic field and the magnetic field gradient of the at least one selected magnetic field.
1. A medical system, comprising:
generator coils configured to generate respective magnetic fields having respective different frequencies in a region of a body part of a living subject;
a catheter collapsible and expandible between a collapsed formation and a deployed formation along a longitudinal axis of the catheter and being configured to be inserted into the body part of the living subject, and comprising:
an insertion tube connected to an expandable distal end assembly, and
magnetic coil sensors configured to output electrical signals in response to the respective magnetic fields, the magnetic coil sensors comprising:
a first magnetic coil sensor having a first axis, the first magnetic coil sensor being disposed on a distal end of the insertion tube, and
a second magnetic coil sensor having a second axis, the second magnetic coil sensor being disposed on a pusher tube inside the expandable distal end assembly, the respective axes of the first and second magnetic coil sensors being substantially parallel with each other,
the first and second magnetic coil sensors being configured to move with respect to each other along the longitudinal axis of the catheter as the expandable distal end assembly is expanded and collapsed such that (i) when the expandable distal end assembly collapses towards the collapsed formation, a distance between the first and second magnetic coil sensors increases, and (ii) when the expandable distal end assembly expands towards the deployed formation, the distance between the first and second magnetic coil sensors decreases; and
processing circuitry configured to:
receive the electrical signals from the magnetic coil sensors;
select at least one of the magnetic fields having a magnetic field gradient defined by at least one of the received electrical signals;
compute a difference between magnetic field magnitudes of the at least one selected magnetic field detected by the first magnetic coil sensor and the second magnetic coil sensor based on the received electrical signals; and
compute a dimension of the expandable distal end assembly, which is a function of a distance between the magnetic coil sensors, based on the computed difference between the magnetic field magnitudes of the at least one selected magnetic field and the magnetic field gradient of the at least one selected magnetic field.
2. The medical system according to claim 1 , wherein the computed dimension is the distance between the first and second magnetic coil sensors.
3. The medical system according to claim 1 , wherein the computed dimension is a dimension of a shape of the expandable distal end assembly of the catheter.
4. The medical system according to claim 1 , wherein the processing circuitry is configured to compute the dimension of the expandable distal end assembly as a function of the computed difference between the magnetic field magnitudes of the at least one selected magnetic field divided by the magnetic field gradient of the at least one selected magnetic field.
5. The medical system according to claim 1 , wherein:
the at least one selected magnetic field includes one of the magnetic fields having a highest magnetic field gradient of the magnetic fields; and
the processing circuitry is configured to compute the dimension of the expandable distal end assembly as a function of the computed difference between the magnetic field magnitudes of the at least one selected magnetic field and the highest magnetic field gradient.
6. The medical system according to claim 1 , wherein:
the first axis and the second axis are substantially parallel in the collapsed formation.
7. The medical system according to claim 6 , wherein the first axis, the second axis, and the longitudinal axis are substantially coaxial.
8. The medical system according to claim 6 , wherein the expandable distal end assembly is a basket distal end assembly comprising a plurality of flexible strips and electrodes disposed on the flexible strips.
9. The medical system according to claim 6 , further comprising a display, and wherein the processing circuitry is configured to:
find a shape of the distal end assembly based on at least the computed dimension; and
render to the display a representation of the distal end assembly based on the found shape of the distal end assembly.
10. The medical system according to claim 9 , wherein the computed dimension is the distance between the first and second magnetic coil sensors.
11. The medical system according to claim 1 , wherein the processing circuitry is configured to:
compute a relative orientation between the first axis of the first magnetic coil sensor and the second axis of the second magnetic coil sensor; and
estimate a shape of the distal end assembly based on the computed relative orientation.
12. A medical method, comprising:
generating magnetic fields having respective different frequencies in a region of a body part of a living subject;
inserting a catheter into the body part of the living subject, the catheter being collapsible and expandible between a collapsed formation and a deployed formation along a longitudinal axis of the catheter, the catheter comprising:
an insertion tube connected to an expandable distal end assembly; and
a first magnetic coil sensor and a second magnetic coil sensor, each being configured to output electrical signals as a function of respective magnetic fields, the first and second magnetic coil sensors having respective first and second axes substantially parallel with each other, the first magnetic coil sensor being disposed on a distal end of the insertion tube, and the second magnetic coil sensor being disposed on a pusher tube inside the expandable distal end assembly,
the first and second magnetic coil sensors being configured to move with respect to each other along the longitudinal axis of the catheter as the expandable distal end assembly is expanded and collapsed such that (i) when the expandable distal end assembly collapses towards the collapsed formation, a distance between the first and second magnetic coil sensors increases, and (ii) when the expandable distal end assembly expands towards the deployed formation, the distance between the first and second magnetic coil sensors decreases;
detecting respective ones of the magnetic fields with the first and second magnetic coil sensors outputting the electrical signals as the function of the respective magnetic fields;
receiving respective electrical signals from the first and second magnetic coil sensors;
selecting at least one of the magnetic fields having a magnetic field gradient as a function of at least one of the received electrical signals;
computing a difference between magnetic field magnitudes of the at least one selected magnetic field detected by the first magnetic coil sensor and the second magnetic coil sensor as a function of the received electrical signals; and
computing a dimension of the expandable distal end assembly, which is a function of a distance between the first and second magnetic coil sensors, based on the computed difference between the magnetic field magnitudes of the at least one selected magnetic field and the magnetic field gradient of the at least one selected magnetic field.
13. The medical method according to claim 12 , wherein the computed dimension is the distance between the first and second magnetic coil sensors.
14. The medical method according to claim 12 , wherein the computed dimension is a dimension of a shape of the expandable distal end assembly of the catheter.
15. The medical method according to claim 12 , wherein the computing the dimension comprises computing the dimension of the expandable distal end assembly based on the computed difference between the magnetic field magnitudes of the at least one selected magnetic field divided by the magnetic field gradient of the at least one selected magnetic field.
16. The medical method according to claim 12 , wherein:
the at least one selected magnetic field includes one of the magnetic fields having a highest magnetic field gradient of the magnetic fields; and
the computing the dimension comprises computing the dimension of the expandable distal end assembly based on the computed difference between the magnetic field magnitudes of the at least one selected magnetic field and the highest magnetic field gradient.
17. The medical method according to claim 12 , further comprising moving the first and second magnetic coil sensors with respect to each other along the longitudinal axis of the catheter as the expandable distal end assembly of the catheter is expanded and collapsed between the collapsed formation and the deployed formation, the first and second axes of the first and second magnetic coil sensors being substantially parallel in the collapsed formation.
18. The medical method according to claim 17 , wherein the first axis, the second axis, and the longitudinal axis are substantially coaxial.
19. The medical method according to claim 17 , further comprising:
finding a shape of the distal end assembly based on at least the computed dimension; and
rendering to a display a representation of the distal end assembly based on the found shape of the distal end assembly.
20. The medical method according to claim 19 , wherein the computed dimension is the distance between the first and second magnetic coil sensors.
21. The medical method according to claim 12 , further comprising:
computing a relative orientation between the first axis of the first magnetic coil sensor and the second axis of the second magnetic coil sensor; and
estimating a shape of the distal end assembly based on the computed relative orientation.