Title of Invention	APPARATUS FOR POSITION SENSING USING IMPEDANCE CALIBRATION
Abstract	A method for position sensing includes placing at a known position within a body of a subject a reference probe including at least one reference electrode. Electrical currents are passed through the body between the reference electrode and body surface electrodes. Characteristics of the electrical currents are measured and are used to generate an approximation of the known position of the reference probe. A correction factor is determined based on a relationship between the approximation and the known position. A target probe including at least one target electrode is placed within the body of the subject and second electrical currents are passed through the body between the target electrode and the body surface electrodes. Characteristics of the second electrical currents are measured and used to generate a calculated position of the target probe. The correction factor is applied to correct the calculated position.

Title of Invention

APPARATUS FOR POSITION SENSING USING IMPEDANCE CALIBRATION

Abstract

A method for position sensing includes placing at a known position within a body of a subject a reference probe including at least one reference electrode. Electrical currents are passed through the body between the reference electrode and body surface electrodes. Characteristics of the electrical currents are measured and are used to generate an approximation of the known position of the reference probe. A correction factor is determined based on a relationship between the approximation and the known position. A target probe including at least one target electrode is placed within the body of the subject and second electrical currents are passed through the body between the target electrode and the body surface electrodes. Characteristics of the second electrical currents are measured and used to generate a calculated position of the target probe. The correction factor is applied to correct the calculated position.

Full Text	REFERENCE CATHETER FOR IMPEDANCE CALIBRATION CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation-in-part of U.S. Patent Application No. 11/030,934 filed January 7, 2005, which is assigned to the assignee of the present patent application and whose disclosure is incorporated herein by reference. FIELD OF THE INVENTION The present invention relates generally to sensing the position of an object placed within a living body, and specifically to position sensing using impedance measurements. BACKGROUND OF THE INVENTION Tracking the position of intrabody objects, such as sensors, tubes, catheters, dispensing devices, and implants, is required for many medical procedures. Systems have been developed that determine the position of an intrabody object by measuring voltage differentials between electrodes on an intrabody object and on the surface of the body. The voltage differentials correspond to the impedance between the electrodes. Methods for impedance-based position sensing are disclosed, for example, in U.S. Patent 5,983,126 to Wittkampf and in U.S. Patent 6,456,864 to Swanson, both of whose disclosures are incorporated herein by reference. Wittkampf also describes a method for calibrating the position sensing apparatus using two electrodes spaced from each other on a catheter by a known distance. BIO5066USCIP1 Measuring the voltages between each of the catheter electrodes and each of three body surface electrodes x, y, and z, permits a correlation between intrabody position and voltages in the x, y and z directions. Similar methods for sensing voltage differentials between electrodes are disclosed by U.S. Patent 5,899,860 to Pfeiffer; U.S. Patent 6,095,150 to Panescu; and U.S. Patents 6,050,267 and 5,944,022 to Nardella, all of whose disclosures are incorporated herein by reference. SUMMARY OF THE INVENTION Embodiments of the present invention provide efficient apparatus and methods for determining in real- time the position of a target probe placed within a living body. In these embodiments, electric currents are driven between one or more electrodes on the target probe and electrodes placed on the body surface. The impedance between the target probe and each of the body surface electrodes is measured and is used to calculate an estimated position of the target probe. A reference probe is also placed within the body, at a known location, and the impedance between the reference probe and each of the body surface electrodes is also measured. The impedance measurement for the reference probe is used to generate an impedance-based position estimate, which is compared with the known location of the reference probe. The difference between the estimated position and the known location is used to determine correction factors, which are applied to the estimated position of the target probe, thereby enhancing the accuracy of the estimate. 2 BIO5066USCIP1 The process of determining correction factors and applying the correction factors to the estimated position of the target probe may be performed in real-time. In an alternative embodiment, the correction factors may be determined prior to performing the target probe impedance measurements. In the alternative embodiment, a single probe may be used initially as the reference probe to determine correction factors and may subsequently be used as the target probe. When correction is performed in real-time, measurement errors due to impedance deviations are incorporated in real-time into the correction factors. This aspect of the invention may be used, for example, to compensate for changes of impedance of the body-surface electrodes. Such apparatus and methods are useful, inter alia, in medical procedures, such as mapping the heart or performing ablation to treat cardiac arrhythmias. There is therefore provided, in accordance with an embodiment of the present invention, a method for position sensing, including: placing at a known position within a body of a subject a reference probe including at least one reference electrode; passing electrical currents through the body between the reference electrode and a plurality of body surface electrodes while the reference probe is in the known 3 BIO5066USCIP1 position and measuring first characteristics of the electrical currents; using the first characteristics to generate an approximation of the known position of the reference probe; determining a correction factor based on a relationship between the approximation and the known position; placing a target probe including at least one target electrode within the body of the subject; passing electrical currents through the body between the target electrode and the plurality of body surface electrodes and measuring respective second characteristics of the electrical currents; using the second characteristics to generate a calculated position of the target probe; and applying the correction factor to correct the calculated position. In typical embodiments, measuring the first characteristics includes measuring an impedance between the reference electrode and the plurality of body surface electrodes, and measuring the second characteristics includes measuring an impedance between the target electrode and the plurality of body surface electrodes. Generating the calculated position of the target probe typically includes generating coordinates of position and orientation. 4 BIO5066USCIP1 The relationship between the approximation and the known position may be a difference between the approximation and the known position. The relationship may also include a ratio of the approximation and the known position. In some embodiments, the target electrode includes multiple target electrodes, and passing the electrical currents between the target electrode and the plurality of body surface electrodes includes passing each of the electrical currents between the multiple target electrodes and one of the plurality of body surface electrodes. Also in some embodiments, the reference electrode includes multiple reference electrodes, and passing the electrical currents between the reference electrode and the plurality of body surface electrodes includes passing each of the electrical currents between the multiple reference electrodes and one of the plurality of body surface electrodes. Determining the correction factor may include periodically repeating a measurement of the first characteristics and updating the correction factor responsively to the repeated measurement. In some embodiments, placing the target probe may include performing a medical procedure using the target probe. In such embodiments, the target probe may be a catheter, and performing the medical procedure may 5 BIO5066USCIP1 include mapping a heart of the subject. Additionally or alternatively, performing the medical procedure may include performing a therapeutic procedure. There is further provided a method for position sensing, including: placing at a known position within a body of a subject a probe including at least one electrode; passing first electrical currents through the body between the at least one electrode and a plurality of body surface electrodes while the probe is in the known position; measuring respective first characteristics of the first electrical currents; using the first characteristics to generate an approximation of the known position; determining a correction factor based on a relationship between the approximation and the known position; moving the probe from the known position to a new position; passing second electrical currents through the body between the at least one electrode and the plurality of body surface electrodes while the probe is in the new position; measuring respective second characteristics of the second electrical currents; using the characteristics of the second electrical currents to generate a calculated position of the probe; and applying the correction factor to correct the calculated position of the probe. 6 BIO5066USCIP1 Typically, measuring the first characteristics includes measuring a first impedance between the electrode and the plurality of body surface electrodes, and measuring the second characteristics includes measuring a second impedance between the electrode and the plurality of body surface electrodes. There is further provided apparatus for position sensing, including: a reference probe that includes at least one reference electrode and which is adapted to be placed at a known position within a body of a subject; a target probe that includes at least one target electrode and which is adapted to be placed within the body of the subject; and a control unit, which is operative to pass first electrical currents through the body between the at least one reference electrode and a plurality of body surface electrodes while the reference probe is in the known position, to measure first characteristics of the first electrical currents, to use the first characteristics to generate an approximation of the known position, and to determine a correction factor based on a relationship between the approximation and the known position, and which is further operative to pass second electrical currents through the body between the at least one target electrode and the plurality of body surface electrodes, to measure respective second characteristics of the second electrical currents, to use the second characteristics to generate a calculated position of the 7 BIO5066USCIP1 target probe, and to apply the correction factor to correct the calculated position. Typically, the control unit is adapted to measure a first impedance between the reference electrode and the plurality of body surface electrodes, and to measure a second impedance between the at least one target electrode and the plurality of body surface electrodes. In some embodiments, the control unit is adapted to generate coordinates of position and orientation. The target electrode may include multiple electrodes, and the control unit may be adapted to pass each of the second electrical currents between one of the multiple electrodes and one of the plurality of body surface electrodes. The reference electrode may include multiple electrodes, and the control unit is adapted to pass each of the first electrical currents between one of the multiple electrodes and one of the plurality of body surface electrodes. In some embodiments, the control unit is adapted to determine the correction factor periodically and to use the correction factor to periodically correct the calculated position of the target probe. There is further provided apparatus for position sensing, including: 8 BIO5066USCIP1 a probe that includes at least one electrode and which is adapted to be placed within a body of a subject; and a control unit, which is operative to pass first electrical currents through the body between the at least one electrode and a plurality of body surface electrodes while the probe is in a known position, to measure first characteristics of the first electrical currents, to use the first characteristics to generate an approximation of the known position, and to determine a correction factor based on a relationship between the approximation and the known position, and which is further operative to pass second electrical currents through the body between the at least one electrode and the plurality of body surface electrodes while the probe is in an unknown position, to measure respective second characteristics of the second electrical currents, to use the second characteristics to generate a calculated position of the probe, and to apply the correction factor to correct the calculated position. Typically, the control unit is adapted to measure the first characteristics by measuring a first impedance between the at least one electrode and the plurality of body surface electrodes while the probe is in the known position, and to measure the second characteristics by measuring a second impedance between the at least one electrode and the plurality of body surface electrodes while the probe is in an unknown position. The present invention will be more fully understood from the following detailed description of the 9 BIO5066USCIP1 embodiments thereof, taken together with the drawings in which: BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic, pictorial illustration of a position sensing system used in cardiac catheterization, in accordance with an embodiment of the present invention; and Fig. 2 is a schematic detail view illustrating the determination of correction factors based on the distance between calculated coordinates of a reference probe and actual coordinates, in accordance with an embodiment of the present invention. 10 BIO5066USCIP1 DETAILED DESCRIPTION OF EMBODIMENTS Fig. 1 is an illustration of a position sensing system 20, in accordance with an embodiment of the present invention. System 20 is used in determining the position of a target probe, such as a target catheter 22, which is inserted into an internal body cavity, such as a chamber of a heart 24 of a subject 26. Typically, the target catheter is used for diagnostic or therapeutic treatment, such as mapping electrical potentials in the heart or performing ablation of heart tissue. Target catheter 22 or other target intrabody device may alternatively be used for other purposes, by itself or in conjunction with other treatment devices. (The term "target" is used in the present patent application and in the claims to denote a probe or other device whose position is to be determined by a position sensing system. The term "target" is used solely for the sake of convenience and clarity, in order to distinguish the target probe from a reference probe, and should not be construed as limiting in any way the form or function of elements to which the term is applied.) The distal tip of target catheter 22 comprises at least one target electrode 44. Target electrode 44 is connected by wires through the insertion tube of target catheter 22 to driver circuitry in a control unit 28. Target electrode 44 may be of any suitable shape and size to implement a position sensing function described hereinbelow, and may be used for other purposes, as well, such as for electrophysiological sensing or ablation. Impedance-based position sensing is typically performed 11 BIO5066USCIP1 using a catheter with three electrodes, but fewer or more electrodes may also be used, as in the example provided herein. A reference probe 42, which may be essentially identical to target catheter 22, is also inserted into the body of subject 26 and positioned at a known reference location. By way of example, for cardiac procedures, the reference location may be in the coronary sinus, or any other known location in the region of the chest cavity. The coronary sinus is a convenient choice, because invasive cardiologists are generally capable of introducing a catheter into the coronary sinus with relative ease and high reliability. Optionally, the coordinates of the reference location may be determined using a pre-acquired or real-time image, such as a MR I, x-ray, or ultrasound image. Reference probe 42 comprises at least one reference electrode 46. Like target electrode 44, electrode 46 is connected by wires to driver circuitry in control unit 28. Similarly, electrode 44 may be of any suitable shape and size, and may be used for other purposes, as well. The control unit is connected by wires through a cable 30 to body surface electrodes, which typically comprise adhesive skin patches 32, 34, and 36. In alternative embodiments of the invention, the electrodes on the body surface may vary in number and may take other forms, such as subcutaneous probes or a handheld device operated by a medical practitioner 38. 12 BIO5066USCIP1 Patches 32, 34 and 36 may be placed at any convenient locations on the body surface in the vicinity of the target catheter and reference probe. For example, for cardiac applications, patches 32, 34, and 36 are placed around the chest of subject 26. There is no special requirement regarding the orientation of the patches relative to each other or to the coordinates of the body. In particular, there is no requirement that the placement of the patches be along fixed axes. Consequently, patch placement can be determined so as to interfere as little as possible with the medical procedure being performed. Control unit 28 may also drive a display 40, which shows the positions of target catheter 22 and reference catheter 42 inside the body. A process for calculating position coordinates based on impedance measurements is described in the aforementioned U.S. Patent Application No. 11/030,934. A related process is described in U.S. Patent Application No. 11/177,861 filed on July 8, 2005 which is also assigned to the assignee of the present patent application and whose disclosure is incorporated herein by reference. Methods described in the aforementioned patent applications or other methods for impedance-based position sensing may be applied by control unit 28 to measure the impedance between target electrode 44 and patches 32, 34 and 36 and to derive from the measured impedance a point, PT1, representing the position of 13 BIO5066USCIP1 target catheter 22. The three-dimensional coordinates of PT1, represented as (xT1, yT1, zT1) , are an approximation to the actual position of target electrode 44. Impedance-based position sensing methods are also employed by control unit 28 to calculate a point representing the position of reference electrode 46. The difference between the calculated position of the reference probe and the known position is used to derive correction factors to improve the accuracy with which the position of the target probe is determined. Fig. 2 is a schematic detail view illustrating how correction factors may be derived and used, in accordance with an embodiment of the present invention. Using the impedance-based position sensing methods described above, a point 48, referred to hereinbelow as PRI, is calculated as the raw location of reference electrode 46. Point PRl = (XR1, yR1, ZR1) , is an uncorrected approximation for the location of reference electrode 46. A more precise location of the reference electrode, PR2, comprising coordinates (xR2, yR2, zR2) , may be obtained using the imaging methods described above. Alternatively, this more precise location may be determined a priori based on anatomical considerations (for example, the known location of the coronary sinus relative to other anatomical features), without the use of imaging. It may be understood that in embodiments of the present invention, any convenient location may be used as the origin for the coordinate system. A typical coordinate 14 BIO5066USCIP1 origin is an external reference point, or one of patches 32, 34, and 36, or one of points PR1 and PR2. A difference vector, [dx, dy, dz], representing the distance between point PR1 and the more precise location PR2 may obtained by subtracting from the PR1 coordinates (XR1, yR1, zR1) the respective PR2 coordinates (xR2, yR2, zR2) , such that dx = (xR1 - xR2) , dy = (yR1 - yR2) , and dz = (ZRI - ZR2) . The factors dx, dy, and dz of the difference vector may be used as correction factors to determine with greater accuracy the position of target probe 22. Using the impedance-based position sensing methods described above, the location of target electrode 46 is calculated as being at the point PT1 = (xT1, yT1, zT1) . A more accurate determination of the target electrode position may be obtained by subtracting from PT1 the difference vector, [dx, dy, dz] , thereby giving a point PT2 = (xT2, yT2, zT2) , wherein xT2 = (xT1 - dx) , yT2 = (yT1 - dy) , and zT2 = (zT1 - dz) . Correction factors may alternatively or additionally be derived from a ratio vector, rather than from the difference vector. A ratio vector, [rx, ry, rz], representing the ratio of coordinates of PR1 to the coordinates of the more precise location PR2 may obtained by dividing the PR1 coordinates by the respective coordinates of PR2, such that rx = (xR1/xR2) , ry = (yR1/ yR2) , and rz = (zR1/zR2) . The more accurate estimate, PT1, of the target electrode position may then be obtained by 15 BIO5066USCIP1 dividing PT1 by the ratio vector, [rx, ry, rz] , thereby giving a point PT2 = (xT2, yT2, ZT2) , wherein xT2 = (xT1/rx) , yT2 = (yT1/ry) , and ZT2 = (zT1/rz). Optionally, the position of the target probe may be corrected using a combination of multiplicative and additive factors. The impedance measured between the target probe and patches 32, 34 and 36 may be affected over time by factors such as the lifting of a patch or increased moisture on the skin. Such factors may consequently introduce errors into the position measurements. For example, a patch may partially lift from the skin, thereby increasing the impedance at that patch. Compensation for such impedance changes is provided by generating and applying the correction factors on a real- time basis, whereby the reference impedance measurements are repeated periodically. Correction factors from the reference measurement may then be applied to the target measurement. Changes in the calculated value of PTi due to changing factors of impedance will also be reflected in changes to the calculated value of PRi. Consequently, the derived correction factors will provide compensation for changing factors of impedance. Continual measurement of the reference impedance may also be used to detect and compensate for organ motion, due to patient breathing, for example. In an alternative embodiment, target probe 22 also serves as reference probe 42.Target probe 22 is positioned at the known location and used to generate correction factors. Subsequently, the target probe is 16 BIO5066USCIP1 moved to perform the desired medical procedure, and impedance-based position measurements of the target probe are corrected using the measured correction factors. In this embodiment, a correction protocol may be established, whereby the target probe is returned to the known reference location, or to a new reference location, at regular intervals, in order to generate up-to-date correction factors. Alternatively, impedance variations may be corrected by methods such as those described in the abovementioned U.S. Patent Application No. 11/177,861 filed on July 8, 2005. The methods described hereinabove provide a means of determining a point location of target probe 22. In further embodiments of the present invention, additional target electrodes may be employed so as to provide a means for determining the complete three-dimensional orientation of target probe 22. System 20 represents an embodiment of the invention as it may be used in a catheter-based procedure for diagnosis or treatment of conditions of the heart, such as arrhythmias. The system may be used in generating a map of the heart (for example, an electrical map, wherein the electrodes on the catheter are used alternately for position sensing and for measuring electrical potentials generated in the heart tissue). The catheter position may be superimposed on this map or on another image of the heart. System 20 can be used, as well, in the diagnosis or treatment of intravascular ailments, which may involve angioplasty or atherectomy. The principles of 17 BIO5066USCIP1 system 20 may also be applied, mutatis mutandis, in position-sensing systems for the diagnosis or treatment of other body structures, such as the brain, spine, skeletal joints, urinary bladder, gastrointestinal tract, prostrate, and uterus. It will thus be appreciated that the embodiments described above are cited by way of example, and that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes both combinations and subcombinations of the various features described hereinabove, as well as variations and modifications thereof which would occur to persons skilled in the art upon reading the foregoing description and which are not disclosed in the prior art. 18 BIO5066USCIP1 CLAIMS 1. A method for position sensing, comprising: placing at a known position within a body of a subject a reference probe comprising at least one reference electrode; passing first electrical currents through the body between the at least one reference electrode and a plurality of body surface electrodes while the reference probe is in the known position; measuring first characteristics of the first electrical currents; using the first characteristics to generate an approximation of the known position of the reference probe; determining a correction factor based on a relationship between the approximation and the known position; placing a target probe comprising at least one target electrode within the body of the subject; passing second electrical currents through the body between the at least one target electrode and the plurality of body surface electrodes; measuring respective second characteristics of the second electrical currents; using the second characteristics to generate a calculated position of the target probe; and applying the correction factor to correct the calculated position. 2. The method according to claim 1, wherein measuring the first characteristics comprises measuring a first 19 BIO5066USCIP1 impedance between the at least one reference electrode and the plurality of body surface electrodes, and wherein measuring the second characteristics comprises measuring a second impedance between the at least one target electrode and the plurality of body surface electrodes. 3. The method according to claim 1, wherein generating the calculated position of the target probe comprises generating coordinates of position and orientation. 4. The method according to claim 1, wherein the relationship comprises a difference between the approximation and the known position. 5. The method according to claim 1, wherein the relationship comprises a ratio of the approximation and the known position. 6. The method according to claim 1, wherein the at least one target electrode comprises multiple target electrodes, and wherein passing the second electrical currents comprises passing each of the second electrical currents between one of the multiple target electrodes and one of the plurality of body surface electrodes. 7. The method according to claim 1, wherein the at least one reference electrode comprises multiple reference electrodes, and wherein passing the first 20 BIO5066USCIP1 electrical currents comprises passing each of the first electrical currents between one of the multiple reference electrodes and one of the plurality of body surface electrodes. 8. The method according to claim 1, wherein determining the correction factor comprises periodically repeating a measurement of the first characteristics and updating the correction factor responsively to the repeated measurement. 9. The method according to claim 1, wherein placing the target probe comprises performing a medical procedure using the target probe. 10. The method according to claim 9, wherein the target probe comprises a catheter, and wherein performing the medical procedure comprises mapping a heart of the subj ect. 11. The method according to claim 9, wherein performing the medical procedure comprises performing a therapeutic procedure. 21 BIO5066USCIP1 12. A method for position sensing, comprising: placing at a known position within a body of a subject a probe comprising at least one electrode; passing first electrical currents through the body between the at least one electrode and a plurality of body surface electrodes while the probe is in the known position; measuring respective first characteristics of the first electrical currents; using the first characteristics to generate an approximation of the known position; determining a correction factor based on a relationship between the approximation and the known position; moving the probe from the known position to a new position; passing second electrical currents through the body between the at least one electrode and the plurality of body surface electrodes while the probe is in the new position; measuring respective second characteristics of the second electrical currents; using the second characteristics to generate a calculated position of the probe; and applying the correction factor to correct the calculated position of the probe. 13. The method according to claim 12, wherein measuring the first characteristics comprises measuring a first impedance between the at least one electrode and the 22 BIO5066USCIP1 plurality of body surface electrodes, and wherein measuring the second characteristics comprises measuring a second impedance between the at least one electrode and the plurality of body surface electrodes. 14. Apparatus for position sensing, comprising: a reference probe that comprises at least one reference electrode and which is adapted to be placed at a known position within a body of a subject; a target probe that comprises at least one target electrode and which is adapted to be placed within the body of the subject; and a control unit, which is operative to pass first electrical currents through the body between the at least one reference electrode and a plurality of body surface electrodes while the reference probe is in the known position, to measure first characteristics of the first electrical currents, to use the first characteristics to generate an approximation of the known position, and to determine a correction factor based on a relationship between the approximation and the known position, and which is further operative to pass second electrical currents through the body between the at least one target electrode and the plurality of body surface electrodes, to measure respective second characteristics of the second electrical currents, to use the second characteristics to generate a calculated position of the target probe, and to apply the correction factor to correct the calculated position. 23 BIO5066USCIP1 15. The apparatus according to claim 14, wherein the control unit is adapted to measure the first characteristics by measuring a first impedance between the at least one reference electrode and the plurality of body surface electrodes, and to measure the second characteristics by measuring a second impedance between the at least one target electrode and the plurality of body surface electrodes. 16. The apparatus according to claim 14, wherein the control unit is adapted to generate the calculated position of the target probe by generating coordinates of position and orientation. 17. The apparatus according to claim 14, wherein the relationship comprises a difference between the approximation and the known position. 18. The apparatus according to claim 14, wherein the relationship comprises a ratio of the approximation and the known position. 19. The apparatus according to claim 14, wherein the at least one target electrode comprises multiple electrodes, and wherein the control unit is adapted to pass the second electrical currents by passing each of the second electrical currents between one of the multiple electrodes and one of the plurality of body surface electrodes. 24 BIO5066USCIP1 20. The apparatus according to claim 14, wherein the at least one reference electrode comprises multiple electrodes, and wherein the control unit is adapted to pass the first electrical currents by passing each of the first electrical currents between one of the multiple electrodes and one of the plurality of body surface electrodes. 21. The apparatus according to claim 14, wherein the control unit is adapted to determine the correction factor periodically and to use the correction factor to periodically correct the calculated position of the target probe. 22. Apparatus for position sensing, comprising: a probe that comprises at least one electrode and which is adapted to be placed within a body of a subject; and a control unit, which is operative to pass first electrical currents through the body between the at least one electrode and a plurality of body surface electrodes while the probe is in a known position, to measure first characteristics of the first electrical currents, to use the first characteristics to generate an approximation of the known position, and to determine a correction factor based on a relationship between the approximation and the known position, and which is further operative to pass second electrical currents through the body between the at least one electrode and the plurality of body surface 25 BIO5066USCIP1 electrodes while the probe is in an unknown position, to measure respective second characteristics of the second electrical currents, to use the second characteristics to generate a calculated position of the probe, and to apply 26 BIO5066USCIP1 23. The apparatus according to claim 22, wherein the control unit is adapted to measure the first characteristics by measuring a first impedance between the at least one electrode and the plurality of body surface electrodes while the probe is in the known position, and to measure the second characteristics by measuring a second impedance between the at least one electrode and the plurality of body surface electrodes while the probe is in an unknown position. A method for position sensing includes placing at a known position within a body of a subject a reference probe including at least one reference electrode. Electrical currents are passed through the body between the reference electrode and body surface electrodes. Characteristics of the electrical currents are measured and are used to generate an approximation of the known position of the reference probe. A correction factor is determined based on a relationship between the approximation and the known position. A target probe including at least one target electrode is placed within the body of the subject and second electrical currents are passed through the body between the target electrode and the body surface electrodes. Characteristics of the second electrical currents are measured and used to generate a calculated position of the target probe. The correction factor is applied to correct the calculated position.

Full Text

REFERENCE CATHETER FOR IMPEDANCE CALIBRATION
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a continuation-in-part of U.S.
Patent Application No. 11/030,934 filed January 7, 2005,
which is assigned to the assignee of the present patent
application and whose disclosure is incorporated herein
by reference.
FIELD OF THE INVENTION
The present invention relates generally to sensing
the position of an object placed within a living body,
and specifically to position sensing using impedance
measurements.
BACKGROUND OF THE INVENTION
Tracking the position of intrabody objects, such as
sensors, tubes, catheters, dispensing devices, and
implants, is required for many medical procedures.
Systems have been developed that determine the position
of an intrabody object by measuring voltage differentials
between electrodes on an intrabody object and on the
surface of the body. The voltage differentials correspond
to the impedance between the electrodes. Methods for
impedance-based position sensing are disclosed, for
example, in U.S. Patent 5,983,126 to Wittkampf and in
U.S. Patent 6,456,864 to Swanson, both of whose
disclosures are incorporated herein by reference.
Wittkampf also describes a method for calibrating
the position sensing apparatus using two electrodes
spaced from each other on a catheter by a known distance.
BIO5066USCIP1

Measuring the voltages between each of the catheter
electrodes and each of three body surface electrodes x,
y, and z, permits a correlation between intrabody
position and voltages in the x, y and z directions.
Similar methods for sensing voltage differentials
between electrodes are disclosed by U.S. Patent 5,899,860
to Pfeiffer; U.S. Patent 6,095,150 to Panescu; and U.S.
Patents 6,050,267 and 5,944,022 to Nardella, all of whose
disclosures are incorporated herein by reference.
SUMMARY OF THE INVENTION
Embodiments of the present invention provide
efficient apparatus and methods for determining in real-
time the position of a target probe placed within a
living body. In these embodiments, electric currents are
driven between one or more electrodes on the target probe
and electrodes placed on the body surface. The impedance
between the target probe and each of the body surface
electrodes is measured and is used to calculate an
estimated position of the target probe. A reference probe
is also placed within the body, at a known location, and
the impedance between the reference probe and each of the
body surface electrodes is also measured. The impedance
measurement for the reference probe is used to generate
an impedance-based position estimate, which is compared
with the known location of the reference probe. The
difference between the estimated position and the known
location is used to determine correction factors, which
are applied to the estimated position of the target
probe, thereby enhancing the accuracy of the estimate.
2
BIO5066USCIP1

The process of determining correction factors and
applying the correction factors to the estimated position
of the target probe may be performed in real-time. In an
alternative embodiment, the correction factors may be
determined prior to performing the target probe impedance
measurements. In the alternative embodiment, a single
probe may be used initially as the reference probe to
determine correction factors and may subsequently be used
as the target probe.
When correction is performed in real-time,
measurement errors due to impedance deviations are
incorporated in real-time into the correction factors.
This aspect of the invention may be used, for example, to
compensate for changes of impedance of the body-surface
electrodes.
Such apparatus and methods are useful, inter alia,
in medical procedures, such as mapping the heart or
performing ablation to treat cardiac arrhythmias.
There is therefore provided, in accordance with an
embodiment of the present invention, a method for
position sensing, including:
placing at a known position within a body of a
subject a reference probe including at least one
reference electrode;
passing electrical currents through the body between
the reference electrode and a plurality of body surface
electrodes while the reference probe is in the known
3
BIO5066USCIP1

position and measuring first characteristics of the
electrical currents;
using the first characteristics to generate an
approximation of the known position of the reference
probe;
determining a correction factor based on a
relationship between the approximation and the known
position;
placing a target probe including at least one target
electrode within the body of the subject;
passing electrical currents through the body between
the target electrode and the plurality of body surface
electrodes and measuring respective second
characteristics of the electrical currents;
using the second characteristics to generate a
calculated position of the target probe; and
applying the correction factor to correct the
calculated position.
In typical embodiments, measuring the first
characteristics includes measuring an impedance between
the reference electrode and the plurality of body surface
electrodes, and measuring the second characteristics
includes measuring an impedance between the target
electrode and the plurality of body surface electrodes.
Generating the calculated position of the target
probe typically includes generating coordinates of
position and orientation.
4
BIO5066USCIP1

The relationship between the approximation and the
known position may be a difference between the
approximation and the known position. The relationship
may also include a ratio of the approximation and the
known position.
In some embodiments, the target electrode includes
multiple target electrodes, and passing the electrical
currents between the target electrode and the plurality
of body surface electrodes includes passing each of the
electrical currents between the multiple target
electrodes and one of the plurality of body surface
electrodes.
Also in some embodiments, the reference electrode
includes multiple reference electrodes, and passing the
electrical currents between the reference electrode and
the plurality of body surface electrodes includes passing
each of the electrical currents between the multiple
reference electrodes and one of the plurality of body
surface electrodes.
Determining the correction factor may include
periodically repeating a measurement of the first
characteristics and updating the correction factor
responsively to the repeated measurement.
In some embodiments, placing the target probe may
include performing a medical procedure using the target
probe. In such embodiments, the target probe may be a
catheter, and performing the medical procedure may
5
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include mapping a heart of the subject. Additionally or
alternatively, performing the medical procedure may
include performing a therapeutic procedure.
There is further provided a method for position
sensing, including:
placing at a known position within a body of a
subject a probe including at least one electrode;
passing first electrical currents through the body
between the at least one electrode and a plurality of
body surface electrodes while the probe is in the known
position;
measuring respective first characteristics of the
first electrical currents;
using the first characteristics to generate an
approximation of the known position;
determining a correction factor based on a
relationship between the approximation and the known
position;
moving the probe from the known position to a new
position;
passing second electrical currents through the body
between the at least one electrode and the plurality of
body surface electrodes while the probe is in the new
position;
measuring respective second characteristics of the
second electrical currents;
using the characteristics of the second electrical
currents to generate a calculated position of the probe;
and
applying the correction factor to correct the
calculated position of the probe.
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Typically, measuring the first characteristics
includes measuring a first impedance between the
electrode and the plurality of body surface electrodes,
and measuring the second characteristics includes
measuring a second impedance between the electrode and
the plurality of body surface electrodes.
There is further provided apparatus for position
sensing, including:
a reference probe that includes at least one
reference electrode and which is adapted to be placed at
a known position within a body of a subject;
a target probe that includes at least one target
electrode and which is adapted to be placed within the
body of the subject; and
a control unit, which is operative to pass first
electrical currents through the body between the at least
one reference electrode and a plurality of body surface
electrodes while the reference probe is in the known
position, to measure first characteristics of the first
electrical currents, to use the first characteristics to
generate an approximation of the known position, and to
determine a correction factor based on a relationship
between the approximation and the known position, and
which is further operative to pass second electrical
currents through the body between the at least one target
electrode and the plurality of body surface electrodes,
to measure respective second characteristics of the
second electrical currents, to use the second
characteristics to generate a calculated position of the
7
BIO5066USCIP1

target probe, and to apply the correction factor to
correct the calculated position.
Typically, the control unit is adapted to measure a
first impedance between the reference electrode and the
plurality of body surface electrodes, and to measure a
second impedance between the at least one target
electrode and the plurality of body surface electrodes.
In some embodiments, the control unit is adapted to
generate coordinates of position and orientation.
The target electrode may include multiple
electrodes, and the control unit may be adapted to pass
each of the second electrical currents between one of the
multiple electrodes and one of the plurality of body
surface electrodes.
The reference electrode may include multiple
electrodes, and the control unit is adapted to pass each
of the first electrical currents between one of the
multiple electrodes and one of the plurality of body
surface electrodes.
In some embodiments, the control unit is adapted to
determine the correction factor periodically and to use
the correction factor to periodically correct the
calculated position of the target probe.
There is further provided apparatus for position
sensing, including:
8
BIO5066USCIP1

a probe that includes at least one electrode and
which is adapted to be placed within a body of a
subject; and
a control unit, which is operative to pass first
electrical currents through the body between the at least
one electrode and a plurality of body surface electrodes
while the probe is in a known position, to measure first
characteristics of the first electrical currents, to use
the first characteristics to generate an approximation of
the known position, and to determine a correction factor
based on a relationship between the approximation and the
known position, and which is further operative to pass
second electrical currents through the body between the
at least one electrode and the plurality of body surface
electrodes while the probe is in an unknown position, to
measure respective second characteristics of the second
electrical currents, to use the second characteristics to
generate a calculated position of the probe, and to apply
the correction factor to correct the calculated position.
Typically, the control unit is adapted to measure
the first characteristics by measuring a first impedance
between the at least one electrode and the plurality of
body surface electrodes while the probe is in the known
position, and to measure the second characteristics by
measuring a second impedance between the at least one
electrode and the plurality of body surface electrodes
while the probe is in an unknown position.
The present invention will be more fully understood
from the following detailed description of the
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BIO5066USCIP1

embodiments thereof, taken together with the drawings in
which:
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is a schematic, pictorial illustration of a
position sensing system used in cardiac catheterization,
in accordance with an embodiment of the present
invention; and
Fig. 2 is a schematic detail view illustrating the
determination of correction factors based on the distance
between calculated coordinates of a reference probe and
actual coordinates, in accordance with an embodiment of
the present invention.
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BIO5066USCIP1

DETAILED DESCRIPTION OF EMBODIMENTS
Fig. 1 is an illustration of a position sensing
system 20, in accordance with an embodiment of the
present invention. System 20 is used in determining the
position of a target probe, such as a target catheter 22,
which is inserted into an internal body cavity, such as a
chamber of a heart 24 of a subject 26. Typically, the
target catheter is used for diagnostic or therapeutic
treatment, such as mapping electrical potentials in the
heart or performing ablation of heart tissue. Target
catheter 22 or other target intrabody device may
alternatively be used for other purposes, by itself or in
conjunction with other treatment devices. (The term
"target" is used in the present patent application and in
the claims to denote a probe or other device whose
position is to be determined by a position sensing
system. The term "target" is used solely for the sake of
convenience and clarity, in order to distinguish the
target probe from a reference probe, and should not be
construed as limiting in any way the form or function of
elements to which the term is applied.)
The distal tip of target catheter 22 comprises at
least one target electrode 44. Target electrode 44 is
connected by wires through the insertion tube of target
catheter 22 to driver circuitry in a control unit 28.
Target electrode 44 may be of any suitable shape and size
to implement a position sensing function described
hereinbelow, and may be used for other purposes, as well,
such as for electrophysiological sensing or ablation.
Impedance-based position sensing is typically performed
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BIO5066USCIP1

using a catheter with three electrodes, but fewer or more
electrodes may also be used, as in the example provided
herein.
A reference probe 42, which may be essentially
identical to target catheter 22, is also inserted into
the body of subject 26 and positioned at a known
reference location. By way of example, for cardiac
procedures, the reference location may be in the coronary
sinus, or any other known location in the region of the
chest cavity. The coronary sinus is a convenient choice,
because invasive cardiologists are generally capable of
introducing a catheter into the coronary sinus with
relative ease and high reliability. Optionally, the
coordinates of the reference location may be determined
using a pre-acquired or real-time image, such as a MR I,
x-ray, or ultrasound image.
Reference probe 42 comprises at least one reference
electrode 46. Like target electrode 44, electrode 46 is
connected by wires to driver circuitry in control unit
28. Similarly, electrode 44 may be of any suitable shape
and size, and may be used for other purposes, as well.
The control unit is connected by wires through a
cable 30 to body surface electrodes, which typically
comprise adhesive skin patches 32, 34, and 36. In
alternative embodiments of the invention, the electrodes
on the body surface may vary in number and may take other
forms, such as subcutaneous probes or a handheld device
operated by a medical practitioner 38.
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BIO5066USCIP1

Patches 32, 34 and 36 may be placed at any
convenient locations on the body surface in the vicinity
of the target catheter and reference probe. For example,
for cardiac applications, patches 32, 34, and 36 are
placed around the chest of subject 26. There is no
special requirement regarding the orientation of the
patches relative to each other or to the coordinates of
the body. In particular, there is no requirement that the
placement of the patches be along fixed axes.
Consequently, patch placement can be determined so as to
interfere as little as possible with the medical
procedure being performed.
Control unit 28 may also drive a display 40, which
shows the positions of target catheter 22 and reference
catheter 42 inside the body.
A process for calculating position coordinates based
on impedance measurements is described in the
aforementioned U.S. Patent Application No. 11/030,934. A
related process is described in U.S. Patent Application
No. 11/177,861 filed on July 8, 2005 which is also
assigned to the assignee of the present patent
application and whose disclosure is incorporated herein
by reference. Methods described in the aforementioned
patent applications or other methods for impedance-based
position sensing may be applied by control unit 28 to
measure the impedance between target electrode 44 and
patches 32, 34 and 36 and to derive from the measured
impedance a point, PT1, representing the position of
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BIO5066USCIP1

target catheter 22. The three-dimensional coordinates of
PT1, represented as (xT1, yT1, zT1) , are an approximation to
the actual position of target electrode 44.
Impedance-based position sensing methods are also
employed by control unit 28 to calculate a point
representing the position of reference electrode 46. The
difference between the calculated position of the
reference probe and the known position is used to derive
correction factors to improve the accuracy with which the
position of the target probe is determined.
Fig. 2 is a schematic detail view illustrating how
correction factors may be derived and used, in accordance
with an embodiment of the present invention. Using the
impedance-based position sensing methods described above,
a point 48, referred to hereinbelow as PRI, is calculated
as the raw location of reference electrode 46. Point PRl =
(XR1, yR1, ZR1) , is an uncorrected approximation for the
location of reference electrode 46. A more precise
location of the reference electrode, PR2, comprising
coordinates (xR2, yR2, zR2) , may be obtained using the
imaging methods described above. Alternatively, this more
precise location may be determined a priori based on
anatomical considerations (for example, the known
location of the coronary sinus relative to other
anatomical features), without the use of imaging. It may
be understood that in embodiments of the present
invention, any convenient location may be used as the
origin for the coordinate system. A typical coordinate
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BIO5066USCIP1

origin is an external reference point, or one of patches
32, 34, and 36, or one of points PR1 and PR2.
A difference vector, [dx, dy, dz], representing the
distance between point PR1 and the more precise location
PR2 may obtained by subtracting from the PR1 coordinates
(XR1, yR1, zR1) the respective PR2 coordinates (xR2, yR2,
zR2) , such that dx = (xR1 - xR2) , dy = (yR1 - yR2) , and dz =
(ZRI - ZR2) .
The factors dx, dy, and dz of the difference vector
may be used as correction factors to determine with
greater accuracy the position of target probe 22. Using
the impedance-based position sensing methods described
above, the location of target electrode 46 is calculated
as being at the point PT1 = (xT1, yT1, zT1) . A more accurate
determination of the target electrode position may be
obtained by subtracting from PT1 the difference vector,
[dx, dy, dz] , thereby giving a point PT2 = (xT2, yT2, zT2) ,
wherein xT2 = (xT1 - dx) , yT2 = (yT1 - dy) , and zT2 = (zT1 -
dz) .
Correction factors may alternatively or additionally
be derived from a ratio vector, rather than from the
difference vector. A ratio vector, [rx, ry, rz],
representing the ratio of coordinates of PR1 to the
coordinates of the more precise location PR2 may obtained
by dividing the PR1 coordinates by the respective
coordinates of PR2, such that rx = (xR1/xR2) , ry = (yR1/
yR2) , and rz = (zR1/zR2) . The more accurate estimate, PT1,
of the target electrode position may then be obtained by
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BIO5066USCIP1

dividing PT1 by the ratio vector, [rx, ry, rz] , thereby
giving a point PT2 = (xT2, yT2, ZT2) , wherein xT2 = (xT1/rx) ,
yT2 = (yT1/ry) , and ZT2 = (zT1/rz). Optionally, the
position of the target probe may be corrected using a
combination of multiplicative and additive factors.
The impedance measured between the target probe and
patches 32, 34 and 36 may be affected over time by
factors such as the lifting of a patch or increased
moisture on the skin. Such factors may consequently
introduce errors into the position measurements. For
example, a patch may partially lift from the skin,
thereby increasing the impedance at that patch.
Compensation for such impedance changes is provided by
generating and applying the correction factors on a real-
time basis, whereby the reference impedance measurements
are repeated periodically. Correction factors from the
reference measurement may then be applied to the target
measurement. Changes in the calculated value of PTi due to
changing factors of impedance will also be reflected in
changes to the calculated value of PRi. Consequently, the
derived correction factors will provide compensation for
changing factors of impedance. Continual measurement of
the reference impedance may also be used to detect and
compensate for organ motion, due to patient breathing,
for example.
In an alternative embodiment, target probe 22 also
serves as reference probe 42.Target probe 22 is
positioned at the known location and used to generate
correction factors. Subsequently, the target probe is
16
BIO5066USCIP1

moved to perform the desired medical procedure, and
impedance-based position measurements of the target probe
are corrected using the measured correction factors. In
this embodiment, a correction protocol may be
established, whereby the target probe is returned to the
known reference location, or to a new reference location,
at regular intervals, in order to generate up-to-date
correction factors. Alternatively, impedance variations
may be corrected by methods such as those described in
the abovementioned U.S. Patent Application No. 11/177,861
filed on July 8, 2005.
The methods described hereinabove provide a means of
determining a point location of target probe 22. In
further embodiments of the present invention, additional
target electrodes may be employed so as to provide a
means for determining the complete three-dimensional
orientation of target probe 22.
System 20 represents an embodiment of the invention
as it may be used in a catheter-based procedure for
diagnosis or treatment of conditions of the heart, such
as arrhythmias. The system may be used in generating a
map of the heart (for example, an electrical map, wherein
the electrodes on the catheter are used alternately for
position sensing and for measuring electrical potentials
generated in the heart tissue). The catheter position
may be superimposed on this map or on another image of
the heart. System 20 can be used, as well, in the
diagnosis or treatment of intravascular ailments, which
may involve angioplasty or atherectomy. The principles of
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BIO5066USCIP1

system 20 may also be applied, mutatis mutandis, in
position-sensing systems for the diagnosis or treatment
of other body structures, such as the brain, spine,
skeletal joints, urinary bladder, gastrointestinal tract,
prostrate, and uterus.
It will thus be appreciated that the embodiments
described above are cited by way of example, and that the
present invention is not limited to what has been
particularly shown and described hereinabove. Rather,
the scope of the present invention includes both
combinations and subcombinations of the various features
described hereinabove, as well as variations and
modifications thereof which would occur to persons
skilled in the art upon reading the foregoing description
and which are not disclosed in the prior art.
18
BIO5066USCIP1

CLAIMS
1. A method for position sensing, comprising:
placing at a known position within a body of a
subject a reference probe comprising at least one
reference electrode;
passing first electrical currents through the body
between the at least one reference electrode and a
plurality of body surface electrodes while the reference
probe is in the known position;
measuring first characteristics of the first
electrical currents;
using the first characteristics to generate an
approximation of the known position of the reference
probe;
determining a correction factor based on a
relationship between the approximation and the known
position;
placing a target probe comprising at least one
target electrode within the body of the subject;
passing second electrical currents through the body
between the at least one target electrode and the
plurality of body surface electrodes;
measuring respective second characteristics of the
second electrical currents;
using the second characteristics to generate a
calculated position of the target probe; and
applying the correction factor to correct the
calculated position.
2. The method according to claim 1, wherein measuring
the first characteristics comprises measuring a first
19
BIO5066USCIP1

impedance between the at least one reference electrode
and the plurality of body surface electrodes, and wherein
measuring the second characteristics comprises measuring
a second impedance between the at least one target
electrode and the plurality of body surface electrodes.
3. The method according to claim 1, wherein generating
the calculated position of the target probe comprises
generating coordinates of position and orientation.
4. The method according to claim 1, wherein the
relationship comprises a difference between the
approximation and the known position.
5. The method according to claim 1, wherein the
relationship comprises a ratio of the approximation and
the known position.
6. The method according to claim 1, wherein the at
least one target electrode comprises multiple target
electrodes, and wherein passing the second electrical
currents comprises passing each of the second electrical
currents between one of the multiple target electrodes
and one of the plurality of body surface electrodes.
7. The method according to claim 1, wherein the at
least one reference electrode comprises multiple
reference electrodes, and wherein passing the first
20
BIO5066USCIP1

electrical currents comprises passing each of the first
electrical currents between one of the multiple reference
electrodes and one of the plurality of body surface
electrodes.
8. The method according to claim 1, wherein determining
the correction factor comprises periodically repeating a
measurement of the first characteristics and updating the
correction factor responsively to the repeated
measurement.
9. The method according to claim 1, wherein placing the
target probe comprises performing a medical procedure
using the target probe.
10. The method according to claim 9, wherein the target
probe comprises a catheter, and wherein performing the
medical procedure comprises mapping a heart of the
subj ect.
11. The method according to claim 9, wherein performing
the medical procedure comprises performing a therapeutic
procedure.
21
BIO5066USCIP1

12. A method for position sensing, comprising:
placing at a known position within a body of a
subject a probe comprising at least one electrode;
passing first electrical currents through the body
between the at least one electrode and a plurality of
body surface electrodes while the probe is in the known
position;
measuring respective first characteristics of the
first electrical currents;
using the first characteristics to generate an
approximation of the known position;
determining a correction factor based on a
relationship between the approximation and the known
position;
moving the probe from the known position to a new
position;
passing second electrical currents through the body
between the at least one electrode and the plurality of
body surface electrodes while the probe is in the new
position;
measuring respective second characteristics of the
second electrical currents;
using the second characteristics to generate a
calculated position of the probe; and
applying the correction factor to correct the
calculated position of the probe.
13. The method according to claim 12, wherein measuring
the first characteristics comprises measuring a first
impedance between the at least one electrode and the
22
BIO5066USCIP1

plurality of body surface electrodes, and wherein
measuring the second characteristics comprises measuring
a second impedance between the at least one electrode and
the plurality of body surface electrodes.
14. Apparatus for position sensing, comprising:
a reference probe that comprises at least one
reference electrode and which is adapted to be placed at
a known position within a body of a subject;
a target probe that comprises at least one target
electrode and which is adapted to be placed within the
body of the subject; and
a control unit, which is operative to pass first
electrical currents through the body between the at least
one reference electrode and a plurality of body surface
electrodes while the reference probe is in the known
position, to measure first characteristics of the first
electrical currents, to use the first characteristics to
generate an approximation of the known position, and to
determine a correction factor based on a relationship
between the approximation and the known position, and
which is further operative to pass second electrical
currents through the body between the at least one target
electrode and the plurality of body surface electrodes,
to measure respective second characteristics of the
second electrical currents, to use the second
characteristics to generate a calculated position of the
target probe, and to apply the correction factor to
correct the calculated position.
23
BIO5066USCIP1

15. The apparatus according to claim 14, wherein the
control unit is adapted to measure the first
characteristics by measuring a first impedance between
the at least one reference electrode and the plurality of
body surface electrodes, and to measure the second
characteristics by measuring a second impedance between
the at least one target electrode and the plurality of
body surface electrodes.
16. The apparatus according to claim 14, wherein the
control unit is adapted to generate the calculated
position of the target probe by generating coordinates of
position and orientation.
17. The apparatus according to claim 14, wherein the
relationship comprises a difference between the
approximation and the known position.
18. The apparatus according to claim 14, wherein the
relationship comprises a ratio of the approximation and
the known position.
19. The apparatus according to claim 14, wherein the at
least one target electrode comprises multiple electrodes,
and wherein the control unit is adapted to pass the
second electrical currents by passing each of the second
electrical currents between one of the multiple
electrodes and one of the plurality of body surface
electrodes.
24
BIO5066USCIP1

20. The apparatus according to claim 14, wherein the at
least one reference electrode comprises multiple
electrodes, and wherein the control unit is adapted to
pass the first electrical currents by passing each of the
first electrical currents between one of the multiple
electrodes and one of the plurality of body surface
electrodes.
21. The apparatus according to claim 14, wherein the
control unit is adapted to determine the correction
factor periodically and to use the correction factor to
periodically correct the calculated position of the
target probe.
22. Apparatus for position sensing, comprising:
a probe that comprises at least one electrode and
which is adapted to be placed within a body of a
subject; and
a control unit, which is operative to pass first
electrical currents through the body between the at least
one electrode and a plurality of body surface electrodes
while the probe is in a known position, to measure first
characteristics of the first electrical currents, to use
the first characteristics to generate an approximation of
the known position, and to determine a correction factor
based on a relationship between the approximation and the
known position, and which is further operative to pass
second electrical currents through the body between the
at least one electrode and the plurality of body surface
25
BIO5066USCIP1

electrodes while the probe is in an unknown position, to
measure respective second characteristics of the second
electrical currents, to use the second characteristics to
generate a calculated position of the probe, and to apply
26
BIO5066USCIP1
23. The apparatus according to claim 22, wherein the
control unit is adapted to measure the first
characteristics by measuring a first impedance between
the at least one electrode and the plurality of body
surface electrodes while the probe is in the known
position, and to measure the second characteristics by
measuring a second impedance between the at least one
electrode and the plurality of body surface electrodes
while the probe is in an unknown position.

A method for position sensing includes placing at a
known position within a body of a subject a reference
probe including at least one reference electrode.
Electrical currents are passed through the body between
the reference electrode and body surface electrodes.
Characteristics of the electrical currents are measured
and are used to generate an approximation of the known
position of the reference probe. A correction factor is
determined based on a relationship between the
approximation and the known position. A target probe
including at least one target electrode is placed within
the body of the subject and second electrical currents
are passed through the body between the target electrode
and the body surface electrodes. Characteristics of the
second electrical currents are measured and used to
generate a calculated position of the target probe. The
correction factor is applied to correct the calculated
position.

Documents:

http://ipindiaonline.gov.in/patentsearch/GrantedSearch/viewdoc.aspx?id=N7FT0DQUka0p0nN0z0/P3w==&loc=wDBSZCsAt7zoiVrqcFJsRw==

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Patent Number

277931

Indian Patent Application Number

851/KOL/2007

PG Journal Number

51/2016

Publication Date

09-Dec-2016

Grant Date

06-Dec-2016

Date of Filing

06-Jun-2007

Name of Patentee

BIOSENSE WEBSTER, INC

Applicant Address

3333 DIAMOND CANYON ROAD, DIAMOND BAR CA

Inventors:

#	Inventor's Name	Inventor's Address
1	ANDRES CLAUDIO ALTMANN	SHIMSHON 13/9, HAIFA, 34614
2	ASSAF GOVARI	VITZO 1, HAIFA, 34400
3	YARON EPHRATH	HA'BRACHA 138, KARKUR, 37501

PCT International Classification Number

A61B5/05; A61B5/05

PCT International Application Number

N/A

PCT International Filing date

PCT Conventions:

#	PCT Application Number	Date of Convention	Priority Country
1	11/424,105	2006-06-14	U.S.A.