Patent ID: 8369934
Filing Date: 2013-02-05
Classification: A61B

Abstract:
1. A method for establishing contact of a magnetically navigable medical device against a three-dimensional target surface geometry within a subject body, the method comprising: obtaining a three dimensional geometry of a tissue surface of an anatomical region within a subject body; identifying a desired target location on the tissue surface geometry and a local plane tangent to the target location; defining at least two points within the local tangent plane which are spaced a predetermined distance from the desired target location; incrementally stepping a minimum distance from the at least two points in a direction opposite the outward normal to the tangent plane, to determine whether a surface threshold has been crossed so as to indicate a curvature of a target surface local to the target location; using the indicated curvature, determining a rotation of a magnetic field vector for providing an over-torque magnetic field for improving the contact of a medical device with the target surface; suitably registering the tissue surface geometry with the subject body; and applying the determined rotation of a magnetic field vector to force the medical device against the target surface.