Abstract: A transmitting element for generating a magnetic field for tracking of an object includes a first spiral trace that extends from a first outer origin inward to a central origin in a first direction. A second spiral trace can extend from the central origin outward to a second outer origin in the first direction. The second spiral trace can extend from the central origin to the second outer origin in the first direction. The first spiral trace and the second spiral trace can be physically connected at the central origin to form the fluorolucent magnetic transmitting element and at least a portion of the first spiral trace overlaps at least a portion of the second spiral trace.

Abstract: An impedance location of an electrode in an impedance based coordinate system and a magnetic location of a magnetic position sensor in a magnetic based coordinate system can be received. A transformed impedance location of the magnetic position sensor can be computed. A difference between the transformed impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be determined. A magnitude of the difference between the impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be computed. A statistical significance of the difference between the transformed impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be computed. A determination can be made that an impedance shift exists if the magnitude of the difference exceeds a threshold and a statistical significance of the difference exceeds a threshold.

Abstract: Systems and methods are described herein for use in predicting impedance values or responses in a three-dimensional space. Broadly, an impedance potential field and its measurement characteristics is modeled in an impedance model such that an impedance measurement may be estimated for any location within the impedance potential field. The impedance model may evolve over time based on actual impedance measurements of electrodes located in the three-dimensional space. Initially a plurality of patch electrodes to provide an impedance field to a three-dimensional space while electrodes disposed in the impedance field measure impedances. While each patch is driven, a number of independent impedance fields exist between the non-driven patches. These independent impedance potential fields may be estimated and mapped to impedance measurements of the electrode(s) at locations(s) within the impedance field to model the impedance field.

Abstract: A transmitting element for generating a magnetic field for tracking of an object includes a first spiral trace that extends from a first outer origin inward to a central origin in a first direction. A second spiral trace can extend from the central origin outward to a second outer origin in the first direction. The second spiral trace can extend from the central origin to the second outer origin in the first direction. The first spiral trace and the second spiral trace can be physically connected at the central origin to form the fluorolucent magnetic transmitting element and at least a portion of the first spiral trace overlaps at least a portion of the second spiral trace.

Abstract: A location of a number of fiducial points can be computed. The fiducial points can include impedance locations of an electrode disposed on a catheter in an impedance based coordinate system and magnetic locations of a magnetic position sensor disposed on the catheter in a magnetic based coordinate system. The impedance location of the electrode in the impedance based coordinate system can be transformed into a transformed impedance location of the electrode in the magnetic based coordinate system. A magnetic location of the electrode in the magnetic based coordinate system can be determined. A determination of whether an impedance shift exists between the transformed impedance location of the electrode in the magnetic based system and the magnetic location of the electrode in the magnetic based system can be made. An electromagnetic dynamic registration can be generated between the impedance based coordinate system and the magnetic based coordinate system based on the impedance shift.

Abstract: A location of a number of fiducial points can be computed. The fiducial points can include impedance locations of an electrode disposed on a catheter in an impedance based coordinate system and magnetic locations of a magnetic position sensor disposed on the catheter in a magnetic based coordinate system. The impedance location of the electrode in the impedance based coordinate system can be transformed into a transformed impedance location of the electrode in the magnetic based coordinate system. A magnetic location of the electrode in the magnetic based coordinate system can be determined. A determination of whether an impedance shift exists between the transformed impedance location of the electrode in the magnetic based system and the magnetic location of the electrode in the magnetic based system can be made. An electromagnetic dynamic registration can be generated between the impedance based coordinate system and the magnetic based coordinate system based on the impedance shift.

Abstract: A transmitting element for generating a magnetic field for tracking of an object includes a first spiral trace that extends from a first outer origin inward to a central origin in a first direction. A second spiral trace can extend from the central origin outward to a second outer origin in the first direction. The second spiral trace can extend from the central origin to the second outer origin in the first direction. The first spiral trace and the second spiral trace can be physically connected at the central origin to form the fluorolucent magnetic transmitting element and at least a portion of the first spiral trace overlaps at least a portion of the second spiral trace.

Abstract: Systems and methods are described for implementing a catheter model to estimate shape of a deformable catheter in a three-dimensional space. The catheter model includes two or more model segments that correspond to two or more segments of the deformable catheter. Each model segment includes a length and location of model electrode(s) and/or model magnetic sensor(s) corresponding electrodes and/or magnetic sensors of the deformable catheter. Variable shape parameter define a curvature of the segment. Varying the shape parameters generates a plurality of potential catheter shapes. In conjunction with generating the potential catheter shapes, impedance and/or magnetic responses (e.g., measured responses) are obtained for the physical electrodes and/or physical magnetic sensors of the deformable catheter. Using a selected one (e.g., most likely) of the potential catheter shapes and the measured responses, the shape parameters are updated and a catheter shape is generated and displayed.

Abstract: A method of detecting a localization element/sheath state change with a localization system includes establishing a localization field using a plurality of localization field generators, obtaining first and second localization signals from first and second catheter-borne localization elements within the localization field, respectively, comparing the quadrature components of the first and second localization signals, and detecting a localization element/sheath state change for one of the catheter-borne localization elements based on the comparison between quadrature components. For example, withdrawal of a localization element into an introducer sheath can be detected when the comparison between quadrature components exceeds a preset amount. Conversely, re-emergence of the localization element from the introducer sheath can be detected when the comparison between quadrature components returns below the preset amount.

Abstract: The present disclosure provides systems and methods for generating smoothed images of an elongate medical device including a plurality of position sensors. The system includes a model construction system configured to be coupled to the medical device and acquire data points corresponding to positions of the position sensors. The computer-based model construction system is further configured to establish a coordinate system, calculate a coordinate for each position sensor, estimate a set of true parameters describing the medical device including a curvature term and a torsion term, calculate a measurement error for each position sensor based on a stiffness parameter, compute smoothed data points for the position sensors based on (i) a function of the estimated set of true parameters and the coordinates of the position sensors, and (ii) a weighting of the measurement error, generate an image of the medical device using the smoothed data points, and display the image.

Abstract: Provided herein are systems and methods for use in identifying location of electrodes of a catheter within a three-dimensional space. The systems and methods initially predict locations of physical electrodes and/or physical magnetic sensors of the catheter in the three-dimensional space. Impedance and/or magnetic responses are predicted for the predicted locations. Actual measurements/responses (e.g., measured responses) are then obtained for the physical electrodes and/or physical sensors. Based on the predicted responses and the measured responses, the systems and methods generate calculated locations of electrodes and/or sensors in the three-dimensional space. The systems and method utilize information from both the predicted responses and the measured responses to produce the calculated locations, which may have an accuracy that is greater than locations produced by either the predicted responses or the measured responses.

Abstract: Systems and methods are described herein for use in predicting impedance values or responses in a three-dimensional space. Broadly, an impedance potential field and its measurement characteristics is modeled in an impedance model such that an impedance measurement may be estimated for any location within the impedance potential field. The impedance model may evolve over time based on actual impedance measurements of electrodes located in the three-dimensional space. Initially a plurality of patch electrodes to provide an impedance field to a three-dimensional space while electrodes disposed in the impedance field measure impedances. While each patch is driven, a number of independent impedance fields exist between the non-driven patches. These independent impedance potential fields may be estimated and mapped to impedance measurements of the electrode(s) at locations(s) within the impedance field to model the impedance field.

Abstract: Systems and methods are described for implementing a catheter model to estimate shape of a deformable catheter in a three-dimensional space. The catheter model includes two or more model segments that correspond to two or more segments of the deformable catheter. Each model segment includes a length and location of model electrode(s) and/or model magnetic sensor(s) corresponding electrodes and/or magnetic sensors of the deformable catheter. Variable shape parameter define a curvature of the segment. Varying the shape parameters generates a plurality of potential catheter shapes. In conjunction with generating the potential catheter shapes, impedance and/or magnetic responses (e.g., measured responses) are obtained for the physical electrodes and/or physical magnetic sensors of the deformable catheter. Using a selected one (e.g., most likely) of the potential catheter shapes and the measured responses, the shape parameters are updated and a catheter shape is generated and displayed.

Abstract: An impedance location of an electrode in an impedance based coordinate system and a magnetic location of a magnetic position sensor in a magnetic based coordinate system can be received. A transformed impedance location of the magnetic position sensor can be computed. A difference between the transformed impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be determined. A magnitude of the difference between the impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be computed. A statistical significance of the difference between the transformed impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be computed. A determination can be made that an impedance shift exists if the magnitude of the difference exceeds a threshold and a statistical significance of the difference exceeds a threshold.

Abstract: A transmitting element for generating a magnetic field for tracking of an object includes a first spiral trace that extends from a first outer origin inward to a central origin in a first direction. A second spiral trace can extend from the central origin outward to a second outer origin in the first direction. The second spiral trace can extend from the central origin to the second outer origin in the first direction. The first spiral trace and the second spiral trace can be physically connected at the central origin to form the fluorolucent magnetic transmitting element and at least a portion of the first spiral trace overlaps at least a portion of the second spiral trace.

Abstract: A sensing assembly for sensing contact with an object is disclosed. The contact sensing assembly may comprise an elongate tubular body. An electrode may be connected to the elongate tubular body. A vibration element is operatively connected with the electrode and configured to deliver a vibration-inducing signal to induce vibration of the electrode. A sensor is configured to monitor the electrode for a perturbation in the induced vibration. The perturbation results from contact between the electrode and the object.

Abstract: A method of refining an anatomical model includes acquiring a two-dimensional echocardiogram that has a variable intensity, relating the two-dimensional echocardiogram to a plurality of mapping points that exist in three-dimensional space, and determining a confidence value for each of two or more mapping points that corresponds to an intensity at a point on the two-dimensional echocardiogram.

Abstract: An impedance location of an electrode in an impedance based coordinate system and a magnetic location of a magnetic position sensor in a magnetic based coordinate system can be received. A transformed impedance location of the magnetic position sensor can be computed. A difference between the transformed impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be determined. A magnitude of the difference between the impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be computed. A statistical significance of the difference between the transformed impedance location of the magnetic position sensor and the magnetic location of the magnetic position sensor can be computed. A determination can be made that an impedance shift exists if the magnitude of the difference exceeds a threshold and a statistical significance of the difference exceeds a threshold.

Abstract: A pre-shift set of fiducials each including a pre-shift fiducial impedance location and a pre-shift fiducial magnetic location can be determined. The pre-shift fiducial impedance locations and the pre-shift fiducial magnetic location are associated with a medical device. A post-shift set of fiducials each including a post-shift fiducial impedance location and a post-shift fiducial magnetic location can be determined. The post-shift fiducial impedance locations and the post-shift fiducial magnetic locations are associated with the medical device. A pre-shift transformation can be fit to the pre-shift set of fiducials and a post-shift transformation can be fit to the post-shift set of fiducials. A determination can be made whether the pre-shift transformation differs from the post-shift transformation.

Abstract: A method of detecting a localization element/sheath state change with a localization system includes establishing a localization field using a plurality of localization field generators, obtaining first and second localization signals from first and second catheter-borne localization elements within the localization field, respectively, comparing the quadrature components of the first and second localization signals, and detecting a localization element/sheath state change for one of the catheter-borne localization elements based on the comparison between quadrature components. For example, withdrawal of a localization element into an introducer sheath can be detected when the comparison between quadrature components exceeds a preset amount. Conversely, re-emergence of the localization element from the introducer sheath can be detected when the comparison between quadrature components returns below the preset amount.