Patent ID: 11877840
Assignee: BIOSENSE WEBSTER (ISRAEL) LTD.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 4:
5. A method for position sensing, comprising: exchanging signals with:
a lasso catheter, which is inserted into a body of a patient and comprises a flexible distal-end assembly, wherein the distal-end assembly comprises a base segment with a magnetic position sensor, two or more first intra-body electrodes, and a lasso guidewire including a plurality of second intra-body electrodes, wherein the base segment is attached to the lasso guidewire; and
multiple body-surface electrodes attached externally to the body of the patient;
based on the signals exchanged with the lasso catheter,
estimating a spatial displacement of the magnetic sensor between consecutive measurements including an original state of the magnetic position sensor and a displaced state of the magnetic position sensor;
estimating a position of the distal-end assembly in the body based on (i) the signals exchanged with the plurality of second intra-body electrodes and the body-surface electrodes, (ii) a-priori known spatial relationships between neighboring electrodes of the two or more first intra-body electrodes (iii) the estimated spatial displacement of the magnetic sensor,
deriving positions of the plurality of second intra-body electrodes based on a local scaling factor to obtain a spatial distribution of the plurality of second intra-body electrodes, and
correcting the derived positions using the displaced state to obtain corrected electrode positions.