Patent ID: 6626832
Filing Date: 2003-09-30
Classification: A61B,G01S

Abstract:
A method for detecting the bending of an medical invasive tool during its insertion in a body, the method comprising the steps of:scanning said body by an ultrasound transducer so a to view at least a portion of said medical invasive tool; calculating the position of said medical invasive tool with respect to said ultrasound transducer by means of a position measuring system comprising at least one of position measuring components or articulated arms being at known positions with respect to both of said medical invasive tool and said ultrasound transducer; identifying at least one of echo points or echo segments of said medical invasive tool according to the image produced by said ultrasound; comparing the position of said identified at least one of said echo points or said echo segments with an expected position; and calculating the position of said at least one of said echo points or said echo segments with respect to a position measuring component attached to said invasive tool and evaluating the shape of said invasive tool based on said calculation.