Patent ID: 8055327
Filing Date: 2011-11-08
Classification: A61B,A61M

Abstract:
1. Method for guiding a catheter within a lumen system of the body of a patient, the method comprising the procedures of: receiving at least three consecutive position inputs from a user, to automatically guide said catheter, in real time, within said lumen system; determining, using a controller having a processor, a user defined position for the tip of said catheter, for each of said received consecutive position inputs, said user defined positions defining a trail for said catheter tip within said lumen system; constantly detecting, using a medical positioning system, the real time position of the tip of said catheter within said lumen system, based on a signal respective of the three-dimensional position of a position detector located at a distal portion of said catheter; determining continuously, using said controller having said processor, successive incremental paths along said trail each one of said incremental paths passing between said real time position and the adjacent proceeding user defined position, according to a topological representation of said lumen system, said topological representation being a three-dimensional mapping of said lumen system; and automatically directing a moving mechanism to incrementally move said catheter within said lumen system along each of said incremental paths, from each of a plurality of real time positions, toward said adjacent proceeding user defined position.