Patent ID: 8926528
Filing Date: 2015-01-06
Classification: A61B,A61M,G01R,Y10T

Abstract:
1. An invasive medical probe apparatus, comprising: at least one field generator for generating an externally applied magnetic field and for establishing a frame of reference; an elongate flexible probe, having a distal end for insertion into a body of a subject and within the frame of reference; a flexible backbone formed of a solid longitudinally non-perforated material at the distal end of the probe, wherein the flexible backbone is made of a ferromagnetic material, and wherein the flexible backbone lacks a longitudinal lumen; a plurality of sensors comprising single-axis coils spirally disposed around said flexible backbone and carried by said flexible backbone, each single-axis coil being formed of wire, said single-axis coils being fixed at different, respective points about said flexible backbone, said single-axis coils being located on said flexible backbone in a known relation to a reference location on said probe, and when subjected to the externally applied magnetic field, said single-axis coils generate respective signals to determine, six-dimensional translational and orientation coordinates of the single-axis coils, wherein the ferromagnetic material of the flexible backbone increases the gain of the single-axis coils; wherein the elongate flexible probe comprises electrodes positioned on the probe at known fixed locations with respect to at least one of said single-axis coils, the location of said electrodes being derived from the six-dimensional translational and orientation coordinates of the single-axis coils; and signal processing circuitry, which receives and processes said signals to determine respective locations of said points along a portion of said probe and determines six-dimensional translational and orientational coordinates of the single-axis coils in relation to the frame of reference.