System and methods for correct navigation of an instrument inside a human body

Patent metadata

Field	Value
Publication number	US-12161459-B1
Application number	US-202418641254-A
Country	US
Kind code	B1
Filing date	Apr 19, 2024
Priority date	Apr 19, 2024
Publication date	Dec 10, 2024
Grant date	Dec 10, 2024

Abstract

A system for correct navigation of an instrument inside a human body, comprising a reference instrument disposed at a first region of an anatomical part, a roving instrument disposed at a second region of the anatomical part, and a control circuit coupled with the reference instrument and the roving instrument, configured to receive a plurality of magnetic locations and a plurality of first impedance locations from the reference instrument, generate a localization model as a function of the plurality of magnetic locations and the plurality of first impedance locations, receive a second impedance location from the roving instrument, and generate an updated second impedance location of the roving instrument, using the localization model, as a function of the second impedance location.

First claim

What is claimed is:

1. A system for correct navigation of an instrument inside a human body, wherein the system comprises:
a reference instrument disposed at a first region of an anatomical part, wherein the reference instrument comprises:
at least one magnetic sensor and a first impedance sensor;

a roving instrument disposed at a second region of the anatomical part, wherein the roving instrument comprises a second impedance sensor; and
a control circuit communicatively connected to the reference instrument and the roving instrument, wherein the control circuit comprises:
at least a processor and a memory communicatively connected to the at least a processor, wherein the memory contains instructions configuring the at least a processor to:
receive a plurality of magnetic locations and a plurality of first impedance locations from the reference instrument;
generate a localization model as a function of the plurality of magnetic locations and the plurality of first impedance locations; receive a
second impedance location from the roving instrument; and
generate an updated second impedance location of the roving instrument, using the localization model, as a function of the second impedance location;
wherein receiving the plurality of magnetic locations and the plurality of first impedance locations comprises periodically moving the reference instrument within the first region of the anatomical part.

2. The system of claim 1 , wherein the reference instrument and the roving instrument are simultaneously inserted into the first region and the second region of the anatomical part, respectively.

3. The system of claim 1 , wherein the memory further contains instructions configuring the at least a processor to: determine a displacement between the roving instrument and the reference instrument, when moving the reference instrument; and compare the displacement with a maximum displacement between the roving instrument and the reference instrument.

4. The system of claim 1 , wherein generating the localization model comprises training a neural network to minimize a loss function based on a difference between each magnetic location of the plurality of magnetic locations and each first impedance location of the plurality of first impedance locations.

5. The system of claim 4 , wherein the localization model comprises a transfer function generated based on the minimized loss function.

6. The system of claim 1 , wherein receiving the second impedance location comprises retrieving a plurality of second impedance locations from the roving instrument continuously and in real-time.

7. The system of claim 1 , wherein the memory further contains instructions configuring the at least a processor iteratively retrain the localization model as a function of a current magnetic location and the updated second impedance location.

8. The system of claim 1 , wherein the memory further contains instructions configuring the at least a processor to visualize the updated second impedance location of the roving instrument in real-time within a graphical user interface (GUI) at a display device communicatively connected to the control circuit.

9. The system of claim 1 , wherein the memory further contains instructions configuring the at least a processor to adjust one or more operations of the roving instrument based on the updated second impedance location.

10. A method for correct navigation of an instrument inside a human body, wherein the method comprises:
receiving, by a control circuit, a plurality of magnetic locations and a plurality of first impedance locations from a reference instrument disposed at a first region of an anatomical part, wherein the reference instrument comprises:
at least one magnetic sensor and a first impedance sensor;

generating, by the control circuit, a localization model as a function of the plurality of magnetic locations and the plurality of first impedance locations;
receiving, by the control circuit, a second impedance location from a roving instrument disposed at a second region of the anatomical part, wherein the roving instrument comprises a second impedance sensor; and
generating, by the control circuit, an updated second impedance location of the roving instrument, using the localization model, as a function of the second impedance location;
wherein receiving the plurality of magnetic locations and the plurality of first impedance locations comprises periodically moving the reference instrument within the first region of the anatomical part.

11. The method of claim 10 , wherein the reference instrument and the roving instrument are simultaneously inserted into the first region and the second region of the anatomical part, respectively.

12. The method of claim 10 , further comprising: determining, by the control circuit, a displacement between the roving instrument and the reference instrument, when moving the reference instrument; and comparing, by the control circuit, the displacement and a maximum displacement between the roving instrument and the reference instrument.

13. The method of claim 10 , wherein generating the localization model comprises training a neural network to minimize a loss function based on a difference between each magnetic location of the plurality of magnetic locations and each first impedance location of the plurality of first impedance locations.

14. The method of claim 13 , wherein the localization model comprises a transfer function generated based on the minimized loss function.

15. The method of claim 10 , wherein receiving the second impedance location comprises retrieving a plurality of second impedance locations from the roving instrument continuously and in real-time.

16. The method of claim 10 , further comprises iteratively retraining, by the control circuit, the localization model as a function of a current magnetic location and the updated second impedance location.

17. The method of claim 10 , further comprises visualizing the updated second impedance location of the roving instrument in real-time within a graphical user interface (GUI) at a display device communicatively connected to the control circuit.

18. The method of claim 10 , further comprises adjusting one or more operations of the roving instrument based on the updated second impedance location.

Assignees

• Anumana Inc

Inventors

• Agarwal Animesh

Classifications

• A61B5/7267

  involving training the classification device · CPC title

• A61B5/062

  using magnetic field · CPC title

• A61B5/068 Primary

  using impedance sensors · CPC title

• A61B2018/00351

  Heart · CPC title

• A61B2018/00577

  Ablation · CPC title