Patent ID: 11903656
Assignee: BIOSENSE WEBSTER (ISRAEL) LTD.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 4:
5. A system, comprising:
a 2D array of ultrasound transducers in a catheter in an organ of a patient, the array configured to emit an ultrasound beam, having a predefined field of view (FOV), and to receive echo signals in response to the ultrasound beam; and
a processor, which is configured to:
estimate a position of a target object within the FOV;
when the estimated position of the target object violates a centering condition, automatically modify the FOV of the ultrasound beam to re-meet the centering condition, wherein modifying the FOV comprises electronically steering the 2D array of ultrasound transducers by adjusting phases of one or more driving signals to the 2D array of ultrasound transducers;
determining, based on the estimated position of the target object, that electronically steering the 2D array of ultrasound transducers is insufficient to meet the centering condition, and
automatically control a handle of the catheter using a robotic arm configured to manipulate the handle to meet the centering condition.