Patent ID: 8340751
Filing Date: 2012-12-25
Classification: A61B,G06K

Abstract:
1. A method of determining map data of a surface of a cavity within a patient with an instrument, comprising: positioning the instrument within the cavity; expanding a portion of the instrument to form an expanded surface having a substantially non-compressible contour; determining a position of a first position element and a second position element, both spaced apart from the expanded surface; determining a geometry of the expanded surface relative to the first position element; identifying at least one virtual position element relative to the first position element based on the geometry of the expanded surface; moving the instrument within the cavity so as to engage a wall of the cavity with the at least one virtual position element, wherein the contour of the expanded surface is maintained as the instrument is moved to a plurality of wall locations; determining a position within the cavity of the at least one virtual position element based on only the determined positions of the first and second position elements and the geometry of the expanded surface; and collecting the determined positions of the first and second position elements and the determined positions of the at least one virtual position element.