Abstract: An intrabody probe with a flexible portion is configured with one or more integrated EM loops of electrically-conductive elements wherein the EM loops when exposed to one or more external magnetic fields are configured to generate voltage signals that are indicative of position of the EM loops, such as when the EM loops are subjected to an external force that results in deformation. With multiple EM loops at different locations on the flexible portion of the probe, a collection of such voltage signals from each EM loop enables a system configured to receive and process the voltage signals to determine coordinates of the EM loops in a local coordinate system and track a shape in space representative of probe deformation in real time.

Abstract: A system includes secondary and primary catheters, and a processor. The primary catheter includes shaft for insertion into an organ of a patient, first position sensor disposed on a distal end of the shaft, expandable assembly coupled at the distal end of the shaft, the assembly comprising hollow channel to allow passage of the secondary catheter distally via the assembly, and plurality of second position sensors disposed along a distal end of the secondary catheter, which are configured to indicate a respective plurality of positions along its distal end. The processor is configured to receive the indications of the positions, apply a model of known mechanical properties of the distal end of the secondary catheter to the positions to compute bending profile of the secondary catheter inside the assembly, and based on the computed bending profile, estimate orientation of the assembly relative to the distal end of the shaft.

Abstract: A method for calibrating a medical device is provided. The method implemented by a calibration engine executed by one or more processors. The method includes capturing one or more voltage measurements by one or more components of a catheter, estimating calibration data based on the one or more voltage measurements, and outputting the calibration data to the catheter.

Abstract: Described embodiments include an apparatus that includes an expandable structure, configured for insertion into a body of a subject, and a plurality of conducting elements coupled to the expandable structure. Each of the conducting elements comprises a respective coil and has an insulated portion that is electrically insulated from tissue of the subject, and an uninsulated portion configured to exchange signals with the tissue, while in contact with the tissue. Other embodiments are also described.

Abstract: Methods, apparatus, and systems for medical procedures are disclosed herein for receiving an input of a plurality of measured coordinates of a respective plurality of position transducers of a probe inside a body of a subject, receiving a measured voltage measurement output by the probe, determining a cost function based on a model of known mechanical properties of the probe compared to the measured coordinates with respect to shapes that can be assumed by the probe in the body and further based on an expected voltage value compared to the measured voltage measurement, selecting a shape based on the cost function, generating corrected coordinates of the points along the probe based on the shape and displaying a representation of the probe using the corrected coordinates.

Abstract: A method for calibrating a medical device is provided. The method implemented by a calibration engine executed by one or more processors. The method includes capturing one or more voltage measurements by one or more components of a catheter, estimating calibration data based on the one or more voltage measurements, and outputting the calibration data to the catheter.

Abstract: Described embodiments include an apparatus that includes an expandable structure, configured for insertion into a body of a subject, and a plurality of conducting elements coupled to the expandable structure. Each of the conducting elements comprises a respective coil and has an insulated portion that is electrically insulated from tissue of the subject, and an uninsulated portion configured to exchange signals with the tissue, while in contact with the tissue. Other embodiments are also described.

Abstract: A method, consisting of modeling physical parameters representative of a probe in proximity to body tissue during an ablation procedure performed by the probe. The method also includes measuring a subgroup of the physical parameters during a non-ablation stage of the ablation procedure so as to generate measured non-ablative values of the subgroup, and measuring the subgroup of the physical parameters during an ablation stage of the ablation procedure so as to generate measured ablative values of the subgroup. In response to the modeling, the method includes generating calculated non-ablative values of the subgroup for the non-ablation stage, and generating calculated ablative values of the subgroup for the ablation stage. The method compares the measured non-ablative values with the calculated non-ablative values, and compares the measured ablative values with the calculated ablative values, so as generate optimal values of the physical parameters.

Abstract: An apparatus includes an interface and a processor. The interface is configured for exchanging signals with: (i) a probe, which is inserted into a body of a patient and includes a flexible distal-end assembly, wherein the distal-end assembly comprises a magnetic position sensor and two or more intra-body electrodes, and, (ii) multiple body-surface electrodes attached externally to the body of the patient. The processor is configured to estimate, based on the signals exchanged with the probe, a spatial displacement of the magnetic sensor between consecutive measurements, and to estimate a position of the distal-end assembly in the body based on (i) the signals exchanged with the intra-body electrodes and the body-surface electrodes, (ii) a-priori known spatial relationships between two or more of the intra-body electrodes of the probe and (iii) the estimated spatial displacement of the magnetic sensor.

Abstract: A system includes multiple electrically-conductive channels and a processor. The processor is configured to receive, over the electrically-conductive channels, (i) respective first electric currents from a probe, which is within a body of a patient, via a plurality of first electrodes, which are attached to skin of the patient at a region of the body, and (ii) a second electric current from the probe via a second electrode, which is attached to the skin and is connected to one of the channels. The processor is further configured to ascertain respective first electric-current values of the first electric currents and a second electric-current value of the second electric current, and to calculate a position of the probe between the region and the second electrode, based on the first electric-current values and the second electric-current value. Other embodiments are also described.

Abstract: An ablation system includes multiple electrodes configured to contact body tissue of a patient, including two or more ablation electrodes for contacting respective locations in a target organ and a return electrode. A signal-generating unit includes multiple signal generators, which are configured to apply respective composite signals to respective ones of the ablation electrodes. The composite signals include multiple, respective signal components, including respective ablation signals, having different, respective ablation-signal amplitudes and phases at a common ablation-signal frequency, and respective probe signals having respective probe-signal amplitudes and different respective probe-signal frequencies. A processor is coupled to measure the probe signals received by each of the multiple electrodes, and responsively to the measured probe signals, to control the ablation-signal amplitudes and phases.

Abstract: A method for calibrating a medical device is provided. The method implemented by a calibration engine executed by one or more processors. The method includes capturing one or more voltage measurements by one or more components of a catheter, estimating calibration data based on the one or more voltage measurements, and outputting the calibration data to the catheter.

Abstract: A method includes receiving (i) a plurality of electrocardiogram (ECG) signals acquired by a mapping catheter at a plurality of locations on a surface of a heart of a patient, (ii) a reference ECG signal from a reference catheter positioned at a nominal location in a coronary sinus (CS) of the patient, and (iii) position signals indicative of a position of the reference catheter in the CS. An electrophysiological (EP) map of at least part of the heart is calculated by time-referencing the ECG signals relative to the reference ECG signal. Based on the position signals, a displacement of the reference catheter from the nominal location in the CS, which distorts the time-referencing, is estimated. The distortion in the EP map is mitigated using the estimated displacement.

Abstract: Methods, apparatus, and systems for medical procedures are disclosed herein for receiving an input of a plurality of measured coordinates of a respective plurality of position transducers of a probe inside a body of a subject, receiving a measured voltage measurement output by the probe, determining a cost function based on a model of known mechanical properties of the probe compared to the measured coordinates with respect to shapes that can be assumed by the probe in the body and further based on an expected voltage value compared to the measured voltage measurement, selecting a shape based on the cost function, generating corrected coordinates of the points along the probe based on the shape and displaying a representation of the probe using the corrected coordinates.

Abstract: A method, consisting of modeling physical parameters representative of a probe in proximity to body tissue during an ablation procedure performed by the probe. The method also includes measuring a subgroup of the physical parameters during a non-ablation stage of the ablation procedure so as to generate measured non-ablative values of the subgroup, and measuring the subgroup of the physical parameters during an ablation stage of the ablation procedure so as to generate measured ablative values of the subgroup. In response to the modeling, the method includes generating calculated non-ablative values of the subgroup for the non-ablation stage, and generating calculated ablative values of the subgroup for the ablation stage. The method compares the measured non-ablative values with the calculated non-ablative values, and compares the measured ablative values with the calculated ablative values, so as generate optimal values of the physical parameters.

Abstract: A method, consisting of modeling physical parameters representative of a probe in proximity to body tissue during an ablation procedure performed by the probe. The method also includes measuring a subgroup of the physical parameters during a non-ablation stage of the ablation procedure so as to generate measured non-ablative values of the subgroup, and measuring the subgroup of the physical parameters during an ablation stage of the ablation procedure so as to generate measured ablative values of the subgroup. In response to the modeling, the method includes generating calculated non-ablative values of the subgroup for the non-ablation stage, and generating calculated ablative values of the subgroup for the ablation stage. The method compares the measured non-ablative values with the calculated non-ablative values, and compares the measured ablative values with the calculated ablative values, so as generate optimal values of the physical parameters.

Abstract: A method, including calculating locations of first sensors attached to a probe that has been inserted into a human patient, and calculating positions of second sensors attached to a sheath via which the probe is inserted. The method also includes calculating respective shapes of the probe and the sheath, to achieve a best fit to the calculated probe sensor locations and sheath sensor positions, while restricting the probe to pass through the sheath. The calculated respective shapes of the probe and the sheath are used to present an image of the sheath aligned with the probe.

Abstract: Described embodiments include an apparatus that includes an expandable structure, configured for insertion into a body of a subject, and a plurality of conducting elements coupled to the expandable structure. Each of the conducting elements comprises a respective coil and has an insulated portion that is electrically insulated from tissue of the subject, and an uninsulated portion configured to exchange signals with the tissue, while in contact with the tissue. Other embodiments are also described.

Abstract: Described embodiments include an apparatus, including a display and a processor. The processor is configured to navigate a catheter to a particular location within a body of a subject, using each one of a plurality of electrodes coupled to the body of the subject. The processor is further configured to identify, subsequently, from a signal that represents an impedance between a given pair of the electrodes, that a phrenic nerve of the subject was stimulated by a pacing current passed from the catheter into tissue of the subject at the particular location, and to generate an output on the display, in response to the identifying. Other embodiments are also described.

Abstract: Described embodiments include apparatus for use with a catheter. The apparatus includes a sheath configured for insertion into a body of a subject, and a sensor, coupled to the sheath, configured to detect an electric current passing through the catheter, when the catheter passes through the sheath and into the body of the subject. Other embodiments are also described.