发明授权
- 专利标题: Robotically controlled catheter and method of its calibration
- 专利标题(中): 机器人控制的导管及其校准方法
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申请号: US11843589申请日: 2007-08-22
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公开(公告)号: US08155910B2公开(公告)日: 2012-04-10
- 发明人: John A. Hauck
- 申请人: John A. Hauck
- 申请人地址: US MN St. Paul
- 专利权人: St. Jude Medical, Atrial Fibrillation Divison, Inc.
- 当前专利权人: St. Jude Medical, Atrial Fibrillation Divison, Inc.
- 当前专利权人地址: US MN St. Paul
- 代理机构: Wiley Rein LLP
- 主分类号: G01C17/38
- IPC分类号: G01C17/38 ; A61B5/05
摘要:
A method of calibrating a robotic device, such as a cardiac catheter, includes oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired.