Abstract: The present invention is directed to a method of ablation. The method includes the steps of inserting a probe having an ablation electrode into a body of a living subject and urging the ablation electrode into a contacting relationship with a target tissue. A measurement of a contact force is made between the ablation electrode and the target tissue, and the measurement is haptically communicated to an operator. The probe is adjusted responsively to the communicated measurement, to achieve a desired value of the contact force while ablating the target tissue using the ablation electrode.

Abstract: The present invention is directed to a method of ablation. The method includes the steps of inserting a probe having an ablation electrode into a body of a living subject and urging the ablation electrode into a contacting relationship with a target tissue. A measurement of at least one electroanatomic parameter is made between the ablation electrode and the target tissue, and the measurement is haptically communicated to an operator. Responsively to the communicated measurement, ablating the target tissue using the ablation electrode.

Abstract: Apparatus, consisting of a probe, having a proximal end and a distal end, which is deflectable in first and second directions. The apparatus includes a probe manipulator, which is coupled to the proximal end of the probe and has first and second tactile control elements. The elements are operable by a user of the probe to deflect the distal end in the first and second directions, respectively, and are tactilely distinguishable one from the other.

Abstract: A method for performing a medical procedure, includes coupling a tip of a probe to tissue in an organ of a patient in order to apply the medical procedure using the probe. A force exerted by the tip on the tissue and a displacement of the tip created by the force are measured. A dependence of the force on the displacement is calculated. Based on the calculated dependence, a risk level of perforation of the tissue is estimated.

Abstract: A method for performing a medical procedure, includes coupling a tip of a probe to tissue in an organ of a patient in order to apply the medical procedure using the probe. A force exerted by the tip on the tissue and a displacement of the tip created by the force are measured. A dependence of the force on the displacement is calculated. Based on the calculated dependence, a risk level of perforation of the tissue is estimated.

Abstract: In a flexible catheterization probe a resilient member couples the tip to the distal portion of the probe and is configured to deform in response to pressure exerted on the tip when engaging tissue. A position sensor in the distal portion of the probe senses the position of the tip relative to the distal portion of the probe. The relative position changes in response to deformation of the resilient member. The position sensor generates a signal indicative of the position of the tip responsively to a magnetic field produced by a magnetic field generator located in the position sensor. The position sensor has a first coil of conductive wire having first windings, and three second coils of conductive wire having respective second windings. The second coils are symmetrically distributed about the longitudinal axis of the first coil.

Abstract: The present invention is directed to a method of ablation. The method includes the steps of inserting a probe having an ablation electrode into a body of a living subject and urging the ablation electrode into a contacting relationship with a target tissue. A measurement of at least one electroanatomic parameter is made between the ablation electrode and the target tissue, and the measurement is haptically communicated to an operator. Responsively to the communicated measurement, ablating the target tissue using the ablation electrode.

Abstract: The present invention is directed to a method of ablation. The method includes the steps of inserting a probe having an ablation electrode into a body of a living subject and urging the ablation electrode into a contacting relationship with a target tissue. A measurement of a contact force is made between the ablation electrode and the target tissue, and the measurement is haptically communicated to an operator. The probe is adjusted responsively to the communicated measurement, to achieve a desired value of the contact force while ablating the target tissue using the ablation electrode.

Abstract: Methods and systems of catheterization include a flexible catheter adapted for insertion into a heart of a living subject. The catheter has a lumen for passing an electrically conductive fluid therethrough with the fluid exiting the catheter at the distal portion. The lumen is connectable to an irrigation pump to form a fluid communication therewith. A fluid reservoir connected to the lumen supplies the fluid to the catheter. Electrocardiogram circuitry is connectable to the subject for monitoring electrical activity in the heart. An electrically conductive cable diverts induced charges in the fluid from the catheter electrodes, for example by connection to an isolated ground of the electrocardiogram.

Abstract: An ablation apparatus includes a flexible probe adapted for insertion into a heart of a living subject. The probe has a distally disposed ablation electrode to be brought into contact with a target tissue in the heart, and has facilities for measuring contact force with the target tissue. The apparatus includes a transmitter, operative to transmit an indication of the contact force to a wearable device having an actuator operative to haptically stimulate the operator responsively to the indication.

Abstract: Apparatus and method for detecting metal disturbance during a medical procedure includes a probe having an insertion tube, a joint, and a joint sensor for sensing a position of the insertion tube. The joint sensor comprises first and second subassemblies having coils. A processor is used for measuring force using the joint sensor, and having a pre-established baseline value stored therein. The processor detects changes in a position of the insertion tube by applying current to one coil and measures a signal output by a remainder of the other coils. The signal output by a remainder of the coils defines a pickup value, wherein the processor compares the pickup value to the pre-established baseline value and identifies presence of metal when the pickup value is outside of a range of the pre-established baseline value.

Abstract: A method for performing a medical procedure, includes coupling a tip of a probe to tissue in an organ of a patient in order to apply the medical procedure using the probe. A force exerted by the tip on the tissue and a displacement of the tip created by the force are measured. A dependence of the force on the displacement is calculated. Based on the calculated dependence, a risk level of perforation of the tissue is estimated.

Abstract: Methods and systems of catheterization include a flexible catheter adapted for insertion into a heart of a living subject. The catheter has a lumen for passing an electrically conductive fluid therethrough with the fluid exiting the catheter at the distal portion. The lumen is connectable to an irrigation pump to form a fluid communication therewith. A fluid reservoir connected to the lumen supplies the fluid to the catheter. Electrocardiogram circuitry is connectable to the subject for monitoring electrical activity in the heart. An electrically conductive cable diverts induced charges in the fluid from the catheter electrodes, for example by connection to an isolated ground of the electrocardiogram.

Abstract: An ablation apparatus includes a flexible probe adapted for insertion into a heart of a living subject. The probe has a distally disposed ablation electrode to be brought into contact with a target tissue in the heart, and has facilities for measuring contact force with the target tissue. The apparatus includes a transmitter, operative to transmit an indication of the contact force to a wearable device having an actuator operative to haptically stimulate the operator responsively to the indication.

Abstract: An apparatus, consisting of a rolling element, which is resting on a surface, and a force-sensing device, which is coupled to the surface. The force-sensing device is configured to make a first measurement indicative of a force exerted in a direction perpendicular to the surface. The force is exerted by a force-sensing probe pressing against the rolling element so as to hold the rolling element stationary. The apparatus further includes a calibration processor, which is configured to collect the first measurement from the sensing device, to collect a second measurement indicative of the force from the force-sensing probe, and to calibrate the force-sensing probe based on the first and second measurements.

Abstract: A method for calibrating a force measuring probe comprises providing a probe having an insertion tube with a distal tip, a joint comprising a resilient member, a joint sensor in conjunction with a processor coupled to the probe wherein the processor has a memory of an axial displacement threshold for the joint stored therein; applying force to the distal tip; measuring the displacement and deflection of the distal tip; correlating the measured displacement and deflection of the distal tip to the applied force and storing the correlation in the memory until reaching the axial displacement threshold; applying force greater than the axial displacement threshold to the distal tip to define a new force value; measuring the position of the distal tip in a plane transverse to the direction of force exerted on the distal tip; correlating the measured position of the distal tip in the plane transverse to the direction of force to the new force value and storing the correlation in the memory until reaching a pre-establ

Abstract: A method for calibrating a force measuring probe comprises providing a probe having an insertion tube with a distal tip, a joint comprising a resilient member, a joint sensor in conjunction with a processor coupled to the probe wherein the processor has a memory of an axial displacement threshold for the joint stored therein; applying force to the distal tip; measuring the displacement and deflection of the distal tip; correlating the measured displacement and deflection of the distal tip to the applied force and storing the correlation in the memory until reaching the axial displacement threshold; applying force greater than the axial displacement threshold to the distal tip to define a new force value; measuring the position of the distal tip in a plane transverse to the direction of force exerted on the distal tip; correlating the measured position of the distal tip in the plane transverse to the direction of force to the new force value and storing the correlation in the memory until reaching a pre-establ

Abstract: Apparatus and method for detecting metal disturbance during a medical procedure includes a probe having an insertion tube, a joint and a joint sensor, contained within the probe, for sensing a position of the insertion tube. The joint sensor has first and second subassemblies that are magnetic transducers. A processor is used for measuring force using the joint sensor, and has a threshold field value stored therein. The processor compares a sensed field value to the threshold field value and identifies a presence metal when the sensed field value is greater than the threshold field value.

Abstract: Apparatus and method for detecting metal disturbance during a medical procedure includes a probe having an insertion tube, a joint, and a joint sensor for sensing a position of the insertion tube. The joint sensor comprises first and second subassemblies having coils. A processor is used for measuring force using the joint sensor, and having a pre-established baseline value stored therein. The processor detects changes in a position of the insertion tube by applying current to one coil and measures a signal output by a remainder of the other coils. The signal output by a remainder of the coils defines a pickup value, wherein the processor compares the pickup value to the pre-established baseline value and identifies presence of metal when the pickup value is outside of a range of the pre-established baseline value.

Abstract: An apparatus, consisting of a rolling element, which is resting on a surface, and a force-sensing device, which is coupled to the surface. The force-sensing device is configured to make a first measurement indicative of a force exerted in a direction perpendicular to the surface. The force is exerted by a force-sensing probe pressing against the rolling element so as to hold the rolling element stationary. The apparatus further includes a calibration processor, which is configured to collect the first measurement from the sensing device, to collect a second measurement indicative of the force from the force-sensing probe, and to calibrate the force-sensing probe based on the first and second measurements.