US20080097476A1 - Precision control systems for tissue visualization and manipulation assemblies - Google Patents

Abstract

Precision control systems for tissue visualization and manipulation assemblies are described herein where such devices may utilise a variety of apparatus and methods for facilitating advancement, articulation, control, navigation, etc. of systems which may be used to visual and/or treat tissue regions. Additionally, methods and devices for enhancing navigation of the device through a patient body are also described.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS
• This application claims the benefit of priority to U.S. Prov. Pat. App. 60/824,421 filed Sep. 1, 2006 and to U.S. Prov. Pat. App. 60/916,640 filed. May 8, 2007, each of which is incorporated herein by reference in its entirety.
FIELD OF THE INVENTION
• The present invention relates generally to medical devices used for accessing, visualizing, and/or treating regions of tissue within a body. More particularly, the present invention relates to systems for controlling and navigating devices used to directly visualize and/or manipulate tissue regions within a body lumen which are generally difficult to access and/or image.
BACKGROUND OF THE INVENTION
• Conventional devices for visualizing interior regions of a body lumen are known. For example, ultrasound devices have been used to produce images from within a body in vivo. Ultrasound has been used both with, and without contrast agents, which typically enhance ultrasound-derived images.
• Other conventional methods have utilized catheters or probes having position sensors deployed within the body lumen, such as the interior of a cardiac chamber. These types of positional sensors are typically used to determine the movement of a cardiac tissue surface or the electrical activity within the cardiac tissue. When a sufficient number of points have been sampled by the sensors, a “map” of the cardiac tissue may be generated.
• Another conventional device utilizes an inflatable balloon which is typically introduced intravascularly in a deflated state and then inflated against the tissue region to be examined. Imaging is typically accomplished by an optical fiber or other apparatus such as electronic chips for viewing the tissue through the membrane(s) of the inflated balloon. Moreover, the balloon must generally be inflated for imaging. Other conventional balloons utilize a cavity, or depression formed at a distal end of the inflated balloon. This cavity or depression is pressed against the tissue to be examined and is flushed with a clear fluid to provide a clear pathway through the blood.
• However, such imaging balloons have many inherent disadvantages. For instance, such balloons generally require that the balloon be inflated to a relatively large size which may undesirably displace surrounding tissue and interfere with fine positioning of the imaging system against the tissue. Moreover, the working area created by such inflatable balloons are generally cramped and limited in size. Furthermore, inflated balloons may be susceptible to pressure changes in the surrounding fluid. For example, if the environment surrounding the inflated balloon undergoes pressure changes, e.g., during systolic and diastolic pressure cycles; in a beating heart, the constant pressure change may affect, the inflated balloon volume and its positioning to produce unsteady or undesirable conditions for optimal tissue imaging.
• Accordingly, these types of imaging modalities are generally unable to provide desirable images useful for sufficient diagnosis and therapy of the endoluminal structure, due in part to factors such as dynamic forces generated by the natural movement of the heart. Moreover, anatomic structures within, the body can occlude or obstruct the image acquisition process. Also, the presence and movement of opaque bodily fluids such as blood generally make in vivo imaging of tissue regions within the heart difficult.
• Other external imaging modalities are also conventionally utilized. For example, computed tomography (CT) and magnetic resonance imaging (MRI) are typical modalities which are widely used to obtain images of body lumens such as the interior chambers of the heart. However, such imaging modalities fail to provide real-time imaging for infra-operative therapeutic procedures. Fluoroscopic imaging, for instance, is widely used to identify anatomic landmarks within the heart and other regions of fire body. However, fluoroscopy fails to provide an accurate image of the tissue quality or surface and also fails to provide for instrumentation for performing tissue manipulation or other therapeutic procedures upon the visualized tissue regions. In addition, fluoroscopy provides a shadow of tire intervening tissue onto a plate or sensor when it may be desirable to view the intraluminal surface of the tissue to diagnose pathologies or to perform some form of therapy on it.
• Thus, a tissue imaging system which is able to provide real-time in vivo images of tissue regions within body lumens such as the heart through opaque media such as blood and which also provide instruments for therapeutic procedures upon the visualized tissue are desirable.
BRIEF SUMMARY OF THE INVENTION
• A tissue imaging and manipulation apparatus that may be utilized for procedures within a body lumen, such as the heart, in which visualization of the surrounding tissue is made difficult, if not impossible, by medium contained within the lumen such as blood, is described below. Generally, such a tissue imaging and manipulation apparatus comprises ah optional delivery catheter or sheath through which a deployment catheter and imaging hood may be advanced for placement against or adjacent to the tissue to be imaged.
• The deployment catheter may define a fluid delivery lumen therethrough as well as an imaging lumen within which an optical imaging fiber or assembly may be disposed for imaging tissue. When deployed, the imaging hood may be expanded into any number of shapes, e.g., cylindrical, conical as shown, semi-spherical, etc., provided that an open area or field is defined by the imaging hood. The open area is the area within which the tissue region of interest may be imaged. The imaging hood may also define an atraumatic contact lip or edge for placement or abutment against the tissue region of interest. Moreover, the distal end of the deployment catheter or separate manipulatable catheters may be articulated through various controlling mechanisms such as push-pull wires manually or via computer control
• The deployment catheter may also be stabilized relative to the tissue surface through various methods. For instance, inflatable stabilizing balloons positioned along a length of the catheter may be utilized, or tissue engagement anchors may be passed through or along the deployment catheter for temporary engagement of the underlying tissue.
• In operation, after the imaging hood has been deployed, fluid may be pumped at a positive pressure through the fluid delivery lumen until the fluid fills the open area completely and displaces any blood from within the open area. The fluid may comprise any biocompatible fluid, e.g., saline, water, plasma, Fluorinert™, etc., which is sufficiently transparent to allow for relatively undistorted visualization through the fluid. The fluid may be pumped continuously or intermittently to allow for image capture by an optional processor which may be in communication with the assembly.
• In an exemplary variation for imaging tissue surfaces within a heart chamber containing blood, the tissue imaging and treatment system may generally comprise a catheter body having a lumen defined therethrough, a visualization element disposed adjacent the catheter body, the visualization element having a field of view, a transparent fluid source in fluid communication with the lumen, and a barrier or membrane extendable from the catheter body to localize, between the visualization element and the field of view, displacement of blood by transparent fluid that flows from the lumen, and a piercing instrument translatable through the displaced blood for piercing into the tissue surface within the field of view.
• The imaging hood may be formed into any number of configurations and the imaging assembly may also be utilized with any number of therapeutic tools which may be deployed through the deployment catheter.
• Moreover, the imaging hood may be utilized with various catheter control assemblies to provide for precise catheter motion. For instance, robotically-controlled catheter systems may be utilized with, the imaging hood and various instruments delivered through the hood. Alternatively, magnetic navigational systems may also be utilized to control and/or locate a hood within the patient body.
BRIEF DESCRIPTION OF THE DRAWINGS
• FIG. 1A shows a side view of one variation of a tissue imaging apparatus during deployment from a sheath or delivery catheter.
• FIG. 1B shows the deployed tissue imaging apparatus ofFIG. 1A having an optionally expandable hood or sheath attached to an imaging and/or diagnostic catheter.
• FIG. 1C shows an end view of a deployed imaging apparatus.
• FIGS. 1D to1F show the apparatus ofFIGS. 1A to1C with an additional lumen, e.g. for passage of a guidewire therethrough.
• FIGS. 2A and 2B show one example of a deployed tissue imager positioned against or adjacent to the tissue to be imaged and a flow of fluid, such as saline, displacing blood from within the expandable hood.
• FIG. 3A shows an articulatable imaging assembly which may be manipulated, via push-pull wires or by computer control.
• FIGS. 3B and 3C show steerable instruments, respectively, where an articulatable delivery catheter may be steered within the imaging hood or a distal portion of the deployment catheter itself may be steered.
• FIGS. 4A to4C show side and cross-sectional end views, respectively, of another variation having an off-axis imaging capability.
• FIG. 5 shows an illustrative view of an example of a tissue imager advanced intravascularly within a heart for imaging tissue regions within an atrial chamber.
• FIGS. 6A to6C illustrate deployment catheters having one or more optional inflatable balloons or anchors for stabilizing the device during a procedure.
• FIGS. 7A and 7B illustrate a variation of an anchoring mechanism such as a helical tissue piercing device for temporarily stabilizing the imaging hood relative to a tissue surface.
• FIG. 7C shows another variation for anchoring the imaging hood having one or more tubular support members integrated with the imaging hood; each support members may define a lumen therethrough for advancing a helical tissue anchor within.
• FIG. 8A shows an illustrative example of one variation of how a tissue imager may be utilized with an imaging device.
• FIG. 8B shows a further illustration of a hand-held variation of the fluid delivery and tissue manipulation system.
• FIGS. 9A to9C illustrate an example of capturing several images of the tissue at multiple regions.
• FIGS. 10A and 10B show charts illustrating how fluid pressure within the imaging hood may be coordinated with the surrounding blood pressure; the fluid pressure in the imaging hood may be coordinated with the blood pressure or it may be regulated based, upon pressure feedback from the blood.
• FIG. 11A shows a side view of another variation of a tissue imager having an imaging balloon within an expandable hood.
• FIG. 11B shows another variation of a tissue imager utilizing a translucent or transparent imaging balloon.
• FIG. 12A shows another variation in which a flexible expandable or distensible membrane may be incorporated within the imaging hood to alter the volume of fluid dispensed.
• FIGS. 12B and 12C show another variation in which, the imaging hood may be partially or selectively deployed from the catheter to alter the area of the tissue being visualized as well as the volume of the dispensed fluid.
• FIGS. 13A and 13B show exemplary side and cross-sectional views, respectively, of another variation, in which the injected fluid may be drawn back into the device for minimizing fluid input into a body being treated.
• FIGS. 14A to14D show various configurations and methods for configuring an imaging hood into a low-profile for delivery and/or deployment.
• FIGS. 15A and 15B show an imaging hood having an helically expanding frame or support.
• FIGS. 16A and 16B show another imaging hood having one or more hood support members, which, are pivotably attached at their proximal ends to deployment catheter, integrated with a hood membrane.
• FIGS. 17A and 17B show yet another variation of the imaging hood having at least two or more longitudinally positioned support members supporting the imaging hood membrane where the support members are movable relative to one another via a torquing or pulling or pushing force.
• FIGS. 18A and 18B show another variation where a distal portion of the deployment catheter may have several pivoting members which form a tubular shape in its low profile configuration.
• FIGS. 19A and 19B show another variation where the distal portion, of deployment catheter may be fabricated from a flexible metallic or polymeric material to form a radially expanding hood.
• FIGS. 20A and 20B show another variation where the imaging hood may be formed from a plurality of overlapping hood members which overlie one another in an overlapping pattern.
• FIGS. 21A and 21B show another example of an expandable hood which is highly conformable against tissue anatomy with varying geography.
• FIG. 22A shows yet another example of an expandable hood having a number of optional electrodes placed about the contact edge or lip of the hood for sensing tissue contact or detecting arrhythmias.
• FIG. 22B shows another variation for conforming the imaging hood against the underlying tissue where an inflatable contact edge may be disposed around the circumference of the imaging hood.
• FIG. 23 shows a variation of the system which may be instrumented with a transducer for detecting the presence of blood seeping back into the imaging hood.
• FIGS. 24A and 24B show variations of the imaging hood instrumented with sensors for detecting, various physical parameters; the sensors may be instrumented around the outer surface of the imaging hood and also within the imaging hood.
• FIGS. 25A and 25B show a variation where the imaging hood may have one or more LEDs over the hood itself for providing illumination of the tissue to be visualized.
• FIGS. 26A and 26B show another variation in which a separate illumination tool having one or more LEDs mounted thereon may be utilized within the imaging hood.
• FIG. 27 shows one example of how a therapeutic tool may be advanced through the tissue imager for treating a tissue region of interest.
• FIG. 28 shows another example of a helical therapeutic tool for treating the tissue region of interest.
• FIG. 29 shows a variation, of how a therapeutic tool may be utilized with an expandable imaging balloon.
• FIGS. 30A and 30B show alternative configurations for therapeutic instruments which may be utilized; one variation is shown having an angled instrument arm and another variation is shown with an off-axis instrument arm.
• FIGS. 31A to31C show side and end views, respectively, of an imaging system which may be utilized with an ablation probe.
• FIGS. 32A and 32B show side and end views, respectively, of another variation of the imaging hood with an ablation probe, where the imaging hood may be enclosed, for regulating a temperature of the underlying tissue.
• FIGS. 33A and 33B show an example in which the imaging fluid itself may be altered in temperature to facilitate various procedures upon the underlying tissue.
• FIGS. 34A and 34B show an example of a laser ring generator which may be utilized with the imaging system and an example for applying the laser ring generator within the left, atrium of a heart for treating atrial fibrillation.
• FIGS. 35A to35C show an example of an extendible cannula generally comprising an elongate tubular member which may be positioned within the deployment catheter during delivery and then projected distally through the imaging hood and optionally beyond.
• FIGS. 36A and 36B show side and end views, respectively, of an imaging hood having one or more tubular support members integrated with the hood for passing instruments or tools therethrough for treatment upon the underlying tissue.
• FIGS. 37A and 37B illustrate how an imaging device may be guided within a heart chamber to a region, of interest utilizing a lighted probe positioned temporarily within, e.g., a lumen of the coronary sinus.
• FIGS. 38A and 38B show an imaging hood having a removable disk-shaped member for implantation upon the tissue surface.
• FIGS. 39A to39C show one method for implanting the removable disk ofFIGS. 38A and 38B.
• FIGS. 40A and 40B illustrate an imaging hood having a deployable anchor assembly attached to the tissue contact edge and an assembly view of the anchors and the suture or wire connected to the anchors, respectively
• FIGS. 41A to41D show one method for deploying the anchor assembly ofFIGS. 40A and 40B for closing an opening or wound.
• FIG. 42 shows another variation in which the imaging system may be fluidly coupled to a dialysis unit for filtering a patient's blood.
• FIGS. 43A and 43B show a variation of the deployment catheter having a first deployable hood and a second deployable hood positioned distal to the first hood: the deployment catheter may also have a side-viewing imaging element positioned between the first and second hoods for imaging tissue between the expanded hoods.
• FIGS. 44A and 44B show side and end views, respectively, of a deployment catheter having a side-imaging balloon in an un-inflated low-profile configuration.
• FIGS. 45A to45C show side, top, and end views, respectively, of the inflated balloon, ofFIGS. 44A and 44B defining a visualization field in the inflated balloon.
• FIGS. 46A and 46B show side and cross-sectional end views, respectively, for one method of use in visualizing a lesion upon a vessel wall within the visualisation field of the inflated balloon fromFIGS. 45A to45C.
• FIGS. 47A and 47B show assembly views of examples of a robotically-controlled guide instrument for precisely controlling a position of a hood.
• FIG. 47C illustrates an example of how a robotic guide instrument may be utilized with a visualization system.
• FIGS. 48A and 48B show perspective views of a variation of a robotic control assembly showing base having four proximal drive assemblies and the imaging hood positioned at a distal end of the catheter.
• FIG. 48C illustrates a perspective view of another variation of a robotic control assembly having an inflatable imaging balloon assembly.
• FIG. 49 shows a partially disassembled perspective view of the precision control driver.
• FIG. 50 shows a perspective assembly view of the guide instrument mounted upon an instrument driver.
• FIG. 51 shows the partially disassembled perspective view of the catheter instrument driver.
• FIGS. 52A and 52B show perspective views of another variation of the tissue visualization catheter with precision control steering.
• FIG. 53 illustrates an example of a simplified assembly view of the mechanisms within, the control drive unit for controlling the articulation of hood.
• FIGS. 54A and 54B show an assembled view and exploded assembly view, respectively, of a tissue visualization hood having a pivotably articulating steering assembly.
• FIGS. 55A to55C show an assembled view, detailed spine, and exploded assembly view, respectively, of a tissue visualization hood utilizing steerable spine segments.
• FIGS. 56A to56C show another variation in an assembled view, detailed spine, and exploded assembly view, respectively, of a tissue visualization hood also utilizing steerable spine segments.
• FIG. 57A shows a perspective view of a hood having a ferromagnetic ring attached circumferentially around the lip of the hood.
• FIG. 57B shows a perspective view of an example of a magnetic navigation system, which, may be used to steer the imaging hood through the patient body.
• FIG. 58 shows a perspective view of another variation, of the tissue visualization catheter which is configured to detect the position and/or orientation of the hood via ultrasound transducers and having a magnetic ring circumferentially positioned about the lip of the hood.
• FIG. 59 shows a perspective view of another variation of the tissue visualization catheter which is configured to detect the position and/or orientation of the hood via ultrasound, transducers and having electromagnetic coils wound about one or more struts.
• FIG. 60 shows a perspective view of another variation of the tissue visualization catheter having a ferromagnetic disc positioned within the hood.
• FIG. 61 shows a perspective view of a position sensor assembly which may be utilized to detect, an orientation and/or location of the hood within the body as well as to draw the hood against an internal tissue region.
• FIG. 62 illustrates an example of triangulation of the transducers to determine the orientation and position of the hood within a patient body.
• FIGS. 63A to63C illustrate an example for orienting and drawing a hood within a left atrial chamber against the tissue surface to “walk” the hood along the tissue wall to visually survey the underlying surface.
• FIG. 64 illustrates another example where a catheter having several transducers may be positioned within, the coronary sinus to communicate with the hood.
DETAILED DESCRIPTION OF THE INVENTION
• A tissue-imaging and manipulation apparatus described below is able to provide real-time images in vivo of tissue regions within a body lumen such as a heart, which is filled with blood flowing dynamically therethrough and is also able to provide intravascular tools and instruments for performing various procedures upon the imaged tissue regions. Such an apparatus may be utilized for many procedures, e.g., facilitating transseptal access to the left, atrium, cannulating the coronary sinus, diagnosis of valve regurgitation/stenosis, valvuloplasty, atrial appendage closure, arrhythmogenic focus ablation, among other procedures.
• One variation of a tissue access and imaging apparatus is shown in the detail perspective views ofFIGS. 1A to1C. As shown inFIG. 1A, tissue imagine andmanipulation assembly10 may be delivered intravascularly through the patient's body in a low-profile configuration via a delivery catheter orsheath14. In the case of treating tissue, such as the mitral valve located at the outflow tract of the left atrium of the heart, it is generally desirable to enter or access the left atrium while minimizing trauma to the patient. To non-operatively effect such access, one conventional approach involves puncturing the intra-atrial septum from the right atrial chamber to the left atrial, chamber in a procedure commonly called a transseptal procedure or septostomy. For procedures such as percutaneous valve repair and replacement, transseptal access to the left, atrial chamber of the heart may allow for larger devices to be introduced into the venous system than can generally be introduced percutaneously into the arterial system.
• When the imaging andmanipulation assembly10 is ready to be utilized for imaging tissue.Imaging hood12 may be advanced relative tocatheter14 and deployed from a distal, opening ofcatheter14, as shown by the arrow. Upon deployment,imaging hood12 may be unconstrained to expand, or open into a deployed imaging configuration, as shown inFIG. 1B.Imaging hood12 may be fabricated from a variety of pliable or conformable biocompatible material including but not limited to, e.g., polymeric, plastic, or woven materials. One example of a woven material is Kevlar® (E. I. du Font de Nemours, Wilmington, Del.), which is an aramid and which can be made into thin, e.g., less than 0.001 in., materials which maintain enough integrity for such applications described herein. Moreover, theimaging hood12 may be fabricated from a translucent or opaque material and in a variety of different colors to optimize or attenuate any reflected lighting from surrounding fluids or structures, i.e., anatomical or mechanical structures or instruments. In either case, imaginghood12 may be fabricated into a uniform structure or a scaffold-supported structure, in which case a scaffold made of a shape memory alloy, such as Nitinol or a spring steel, or plastic, etc., may be fabricated and covered with the polymeric, plastic, or woven, material. Hence,imaging hood12 may comprise any of a wide variety of barriers or membrane structures, as may generally be used to localize displacement of blood or the like from a selected volume of a body lumen or heart chamber. In exemplary embodiments, a volume within aninner surface13 ofimaging hood12 will be significantly less than a volume of thehood12 betweeninner surface13 andouter surface11.
• Imaging hood12 may be attached atinterface24 to adeployment catheter16 which may be translated independently of deployment catheter orsheath14. Attachment ofinterface24 may be accomplished through any number of conventional methods.Deployment catheter16 may define afluid delivery lumen18 as well as animaging lumen20 within which, an optical imaging fiber or assembly may be disposed for imaging tissue. When deployed,imaging hood12 may expand into any number of shapes, e.g., cylindrical, corneal as shown, semi-spherical, etc., provided that an open area orfield26 is defined by imaginghood12. Theopen area26 is the area within which the tissue region of interest may be imaged.Imaging hood12 may also define an atraumatic contact lip or edge22 for placement or abutment against the tissue region of interest. Moreover, the diameter ofimaging hood12 at its maximum fully deployed diameter, e.g., at contact lip oredge22, is typically greater relative to a diameter of the deployment catheter16 (although a diameter of contact lip or edge22 may be made to have a smaller or equal diameter of deployment catheter16). For instance, the contact edge diameter may range anywhere from 1 to 5 times (or even greater, as practicable) a diameter ofdeployment catheter16.FIG. 1C shows an end view of theimaging hood12 in its deployed configuration. Also shown are the contact lip or edge22 andfluid delivery lumen18 andimaging lumen20.
• The imaging andmanipulation assembly10 may additionally define a guidewire lumen therethrough, e.g., a concentric or eccentric lumen, as shown in the side and end views, respectively, ofFIGS. 1D to1F. Thedeployment catheter16 may defineguidewire lumen19 for facilitating the passage of the system over or along aguidewire17, which may be advanced intravascularly within a body lumen. Thedeployment catheter16 may then be advanced over theguidewire17, as generally known in the art.
• In operation, after imaginghood12 has been deployed, as inFIG. 1B, and desirably positioned against the tissue region to be imaged alongcontact edge22, the displacing fluid may be pumped at positive pressure throughfluid delivery lumen18 until the fluid fillsopen area26 completely and displaces any fluid28 from withinopen area26. The displacing fluid flow may be laminarized to improve its clearing effect and to help prevent blood from re-entering theimaging hood12. Alternatively, fluid flow may be started before the deployment takes place. The displacing fluid, also described herein as imaging fluid, may comprise any biocompatible fluid, e.g., saline, water, plasma, etc., which is sufficiently transparent to allow for relatively undistorted visualization through the fluid. Alternatively or additionally, any number of therapeutic drugs may be suspended within the fluid or may comprise the fluid itself which is pumped intoopen area26 and which is subsequently passed into and through the heart and the patient body.
• As seen in the example ofFIGS. 2A and 2B,deployment catheter16 may be manipulated to position deployedimaging hood12 against or near the underlying tissue region of interest to be imaged, in this example a portion of annulus A of mitral valve MV within the left atrial chamber. As the surroundingblood30 flows aroundimaging hood12 and withinopen area26 defined withinimaging hood12, as seen inFIG. 2A, the underlying annulus A is obstructed by theopaque blood30 and is difficult to view through theimaging lumen20. Thetranslucent fluid28, such as saline, may then be pumped throughfluid delivery lumen18, intermittently or continuously, until theblood30 is at least partially, and preferably completely, displaced from withinopen area26 byfluid28, as shown inFIG. 2B.
• Althoughcontact edge22 need not directly contact the underlying tissue, it is at least preferably brought into close proximity to the tissue such that the flow ofclear fluid28 fromopen area26 may be maintained to inhibit significant backflow ofblood30 back intoopen area26. Contact,edge22 may also be made of a soft elastomeric material such as certain soft grades of silicone or polyurethane, as typically known, to help contact, edge22 conform to an uneven or rough underlying anatomical tissue surface. Once theblood30 has been displaced from imaginghood12, an image may then be viewed of the underlying tissue through theclear fluid30. This image may then be recorded or available for real-time viewing for performing a therapeutic procedure. The positive (low offluid28 may be maintained continuously to provide for clear viewing of the underlying tissue. Alternatively, the fluid28 may be pumped temporarily or sporadically only until a clear view of the tissue is available to be imaged and recorded, at which point thefluid flow28 may cease andblood30 may be allowed to seep or flow back intoimaging hood12. This process may be repeated a number of times at the same tissue region or at multiple tissue regions.
• In desirably positioning the assembly at various regions within the patient body, a number of articulation and manipulation controls may be utilized. For example, as shown in thearticulatable imaging assembly40 inFIG. 3A, one or more push-pull wires42 may be routed throughdeployment catheter16 for steering the distal end portion of the device in various directions46 to desirably position theimaging hood12 adjacent to a region of tissue to be visualized. Depending upon the positioning and the number of push-pull wires42 utilized,deployment catheter16 andimaging hood12 may be articulated into any number ofconfigurations44. The push-pull wire orwires42 may be articulated via their proximal ends from outside the patient body manually utilizing one or more controls. Alternatively,deployment catheter16 may be articulated by computer control, as further described below.
• Additionally or alternatively, anarticulatable delivery catheter48, which may be articulated via one or more push-pull wires and having an imaging lumen, and one or more working lumens, may be delivered through thedeployment catheter16 and intoimaging hood12. With a distal portion ofarticulatable delivery catheter48 withinimaging hood12, the clear displacing fluid may be pumped throughdelivery catheter48 ordeployment catheter16 to clear the field withinimaging hood12. As shown inFIG. 3B, thearticulatable delivery catheter48 may be articulated within the imaging hood to obtain a better image of tissue adjacent to theimaging hood12. Moreover,articulatable delivery catheter48 may be articulated to direct an instrument or tool, passed through thecatheter48, as described in detail below, to specific areas of tissue imaged throughimaging hood12 without having to repositiondeployment catheter16 and re-clear the imaging field withinhood12.
• Alternatively, rather than passing anarticulatable delivery catheter48 through thedeployment catheter16, a distal portion of thedeployment catheter16 itself may comprise a distal, end49 which is articulatable withinimaging hood12, as shown inFIG. 3C. Directed imaging, instrument delivery, etc., may be accomplished directly through one of more lumens withindeployment catheter16 to specific regions of the underlying tissue imaged withinimaging hood12.
• Visualization within theimaging hood12 may be accomplished through animaging lumen20 defined throughdeployment catheter16, as described above. In such a configuration, visualization is available in a straight-line manner, i.e., images are generated from the field distally along a longitudinal axis defined by thedeployment catheter16. Alternatively or additionally, an articulatable imaging assembly having apivotable support member50 may be connected to, mounted to, or otherwise passed throughdeployment catheter16 to provide for visualization off-axis relative to the longitudinal axis defined bydeployment catheter16, as shown inFIG. 4A.Support member50 may have animaging element52, e.g., a CCD or CMOS imager or optical fiber, attached at its distal end with its proximal end connected todeployment catheter16 via apivoting connection54.
• If one or more optical fibers are utilized for imaging, theoptical fibers58 may be passed throughdeployment catheter16, as shown in the cross-section ofFIG. 4B, and routed through thesupport member50. The use ofoptical fibers58 may provide for increased diameter sizes of the one orseveral lumens56 throughdeployment catheter16 for the passage of diagnostic and/or therapeutic tools therethrough. Alternatively, electronic chips, such as a charge coupled device (CCD) or a CMOS imager, which are typically known, may be utilized in place of theoptical fibers58, in which case the electronic imager may be positioned in the distal portion of thedeployment catheter16 with, electric wires being routed proximally through thedeployment catheter16. Alternatively, the electronic imagers may be wirelessly coupled to a receiver for the wireless transmission of images. Additional optical fibers or light emitting diodes (LEDs) can be used to provide lighting for the image or operative theater, as described below in further detail.Support member50 may be pivoted viaconnection54 such that themember50 can be positioned in a low-profile configuration within channel or groove60 defined in a distal portion ofcatheter16, as shown in the cross-section ofFIG. 4C. During intravascular delivery ofdeployment catheter16 through the patient body,support member50 can be positioned within channel or groove60 withimaging hood12 also in its low-profile configuration. During visualization,imaging hood12 may be expanded into its deployed configuration andsupport member50 may be deployed into its off-axis configuration for imaging the tissue adjacent tohood12, as inFIG. 4A. Other configurations forsupport member50 for off-axis visualization may be utilized, as desired.
• FIG. 5 shows an illustrative cross-sectional view of a heart H having tissue regions of interest being viewed via animaging assembly10. In this example,delivery catheter assembly70 may be introduced percutaneously into the patient's vasculature and advanced through the superior vena cava SVC and into the right atrium RA. The delivery catheter orsheath72 may be articulated through the atrial septum AS and into the left atrium LA for viewing or treating the tissue, e.g., the annulus A, surrounding the mitral valve MY. As shown,deployment catheter16 andimaging hood12 may be advanced out ofdelivery catheter72 and brought into contact or in proximity to the tissue region of interest. In other examples,delivery catheter assembly70 may be advanced through the inferior vena cava IVC, if so desired. Moreover, other regions of the heart H. e.g., the right ventricle RV or left ventricle LV, may also be accessed and imaged or treated by imagingassembly10.
• In accessing regions of the heart H or other parts of the body, the delivery catheter orsheath14 may comprise a conventional intra-vascular catheter or an endoluminal delivery device. Alternatively, robotically-controlled delivery catheters may also be optionally utilized with the imaging assembly described herein, in which case a computer-controller74 may be used to control the articulation and positioning of thedelivery catheter14. An example of a robotically-controlled delivery catheter which may be utilized is described in further detail in US Pat. Pub. 2002/0087169 A1 to Brock et al. entitled “Flexible Instrument”, which is incorporated herein by reference in its entirety. Other robotically-controlled delivery catheters manufactured by Hansen Medical, Inc. (Mountain View, Calif.) may also be utilized with thedelivery catheter14, as described in further detail below.
• To facilitate stabilization of thedeployment catheter16 during a procedure, one or more inflatable balloons or anchors76 may be positioned along the length ofcatheter16, as shown inFIG. 6A. For example, when utilizing a transseptal approach across the atrial septum AS into the left atrium LA, theinflatable balloons76 may be inflated from a low-profile into their expanded configuration to temporarily anchor or stabilize thecatheter16 position relative to the heart H.FIG. 6B shows afirst balloon78 inflated whileFIG. 6G also shows asecond balloon80 inflated proximal to thefirst balloon78. In such a configuration, the septal wall AS may be: wedged or sandwiched between theballoons78,80 to temporarily stabilize thecatheter16 andimaging hood12. Asingle balloon78 or bothballoons78,80 may be used. Other alternatives may utilize expandable mesh members, malecots, or any other temporary expandable structure. After a procedure has been accomplished, theballoon assembly76 may be deflated or re-configured into a low-profile for removal of thedeployment catheter16.
• To further stabilize a position of theimaging hood12 relative to a tissue surface to be imaged, various anchoring mechanisms may be optionally employed for temporarily holding theimaging hood12 against the tissue. Such anchoring mechanisms may be particularly useful for imaging tissue which is subject to movement, e.g., when imaging tissue within the chambers of a beating heart. Atool delivery catheter82 having at least one instrument lumen and an optional visualization lumen may be delivered throughdeployment catheter16 and into an expandedimaging hood12. As theimaging hood12 is brought into contact against a tissue surface T to be examined, anchoring mechanisms such as a helicaltissue piercing device84 may be passed through thetool delivery catheter82, as shown inFIG. 7A, and intoimaging hood12.
• The helicaltissue engaging device84 may be torqued from its proximal end outside the patient body to temporarily anchor itself into the underlying tissue surface T. Once embedded within the tissue T, the helicaltissue engaging device84 may be pulled proximally relative todeployment catheter16 while thedeployment catheter16 andimaging hood12 are pushed distally, as indicated by the arrows inFIG. 7B, to gently force the contact edge orlip22 of imaging hood against the tissue T. The positioning of thetissue engaging device84 may be locked temporarily relative to thedeployment catheter16 to ensure secure positioning of theimaging hood12 during a diagnostic or therapeutic procedure within theimaging hood12. After a procedure,tissue engaging device84 may be disengaged from the tissue by torquing its proximal end in the opposite direction to remove the anchor form the tissue T and thedeployment catheter16 may be repositioned to another region of tissue where the anchoring process may be repeated or removed from the patient body. Thetissue engaging device84 may also be constructed from other known tissue engaging devices such as vacuum-assisted engagement or grasper-assisted engagement tools, among others.
• Although ahelical anchor84 is shown, this is intended to be illustrative and other types of temporary anchors may be utilized, e.g., hooked or barbed anchors, graspers, etc. Moreover, thetool delivery catheter82 may be omitted entirely and the anchoring device may be delivered directly through a lumen defined through thedeployment catheter16.
• In another variation where thetool delivery catheter82 may be omitted entirely to temporarily anchorimaging hood12,FIG. 7C shows animaging hood12 having one or moretubular support members86, e.g., foursupport members86 as shown, integrated with theimaging hood12. Tiretubular support members86 may define lumens therethrough each having helicaltissue engaging devices88 positioned within. When an expandedimaging hood12 is to be temporarily anchored to the tissue, the helicaltissue engaging devices88 may be urged distally to extendfront imaging hood12 and each may be torqued from its proximal end to engage the underlying tissue T. Each of the helicaltissue engaging devices88 may be advanced through the length ofdeployment catheter16 or they may be positioned withintubular support members86 during tire delivery and deployment ofimaging hood12. Once the procedure withinimaging hood12 is finished, each of thetissue engaging devices88 may be disengaged from the tissue and theimaging hood12 may be repositioned to another region of tissue or removed from the patient body.
• An illustrative example is shown inFIG. 8A of a tissue imaging assembly connected to afluid delivery system90 and to anoptional processor98 and image recorder and/orviewer100. The fluid,delivery system90 may generally comprise apump92 and anoptional valve94 for controlling the flow rate of the fluid into the system. Afluid reservoir96, fluidly connected to pump92, may hold, the fluid to be pumped throughimaging hood12. An optional central processing unit orprocessor98 may be in electrical communication withfluid delivery system90 for controlling flow parameters such as the flow rate and/or velocity of the pumped fluid. Theprocessor98 may also be in electrical communication with an image recorder and/orviewer100 for directly viewing the images of tissue received from withinimaging hood12. Imager recorder and/orviewer100 may also be used not only to record the image but also the location of the viewed tissue region, if so desired.
• Optionally,processor98 may also be utilized to coordinate the fluid flow and the image capture. For instance,processor98 may be programmed to provide for fluid flow fromreservoir96 until the tissue area has been, displaced of blood to obtain a clear image. Once the image has been determined to be sufficiently clear, either visually by a practitioner or by computer, an image of the tissue may be captured automatically byrecorder100 and pump92 may be automatically stopped or slowed byprocessor98 to cease the fluid flow into the patient. Other variations for fluid delivery and image capture are, of course, possible and the aforementioned configuration is intended only to be illustrative and not limiting.
• FIG. 8B shows a further illustration of a hand-held variation of the fluid delivery andtissue manipulation system110. In this variation,system110 may have a housing or handleassembly112 which can be held or manipulated by the physician from outside the patient body. Thefluid reservoir114, shown in this variation as a syringe, can be fluidly coupled to thehandle assembly112 and actuated via apumping mechanism116, e.g., lead screw.Fluid reservoir114 may be a simple reservoir separated from thehandle assembly112 and fluidly coupled to handleassembly112 via one or more tubes. The fluid flow rate and other mechanisms may be metered by theelectronic controller118.
• Deployment ofimaging hood12 may be actuated by ahood deployment switch120 located on thehandle assembly112 while dispensation of the fluid fromreservoir114 may be actuated by afluid deployment switch122, which can be electrically coupled to thecontroller118.Controller118 may also be electrically coupled to a wired orwireless antenna124 optionally integrated with thehandle assembly112, as shown in the figure. Thewireless antenna124 can be used to wirelessly transmit images captured from, theimaging hood12 to a receiver, e.g., via Bluetooth® wireless technology (Bluetooth SIG, Inc., Bellevue, Wash.), RF, etc., for viewing on amonitor128 or for recording for later viewing.
• Articulation control of thedeployment catheter16, or a delivery catheter orsheath14 through which thedeployment catheter16 may be delivered, may be accomplished by computer control, as described above, in which case an additional controller may be utilized, withhandle assembly112. In the case of manual articulation, handleassembly112 may incorporate one or more articulation controls126 for manual manipulation, of the position ofdeployment catheter16.Handle assembly112 may also define one or more instrument,ports130 through which a number of intravascular tools may be passed for tissue manipulation and treatment withinimaging hood12, as described further below. Furthermore, in certain procedures, fluid or debris may be sucked intoimaging hood12 for evacuation from the patient body by optionally fluidly coupling asuction pump132 to handleassembly112 or directly todeployment catheter16.
• As described above, fluid may be pumped continuously intoimaging hood12 to provide for clear viewing of the underlying tissue. Alternatively, fluid may be pumped temporarily or sporadically only until a clear view of the tissue is available to be imaged and recorded, at which point: the fluid flow may cease and the blood may be allowed to seep or flow back intoimage hood12.FIGS. 9A to9C illustrate an example of capturing several, images of the tissue at multiple regions.Deployment catheter16 may be desirably positioned andimaging hood12 deployed and brought into position against a region of tissue to be imaged, in this example the tissue surrounding a mitral valve MV within the left atrium of a patient's heart. Theimaging hood12 may be optionally anchored to the tissue, as described above, and then cleared by pumping the imaging fluid into thehood12. Once sufficiently clear, the tissue may be visualized and the image captured bycontrol electronics118. The first capturedimage140 may be stored and/or transmitted wirelessly124 to amonitor128 for viewing by the physician, as shown inFIG. 9A.
• Thedeployment catheter16 may be then repositioned to an adjacent portion of mitral valve MV, as shown inFIG. 9B, where the process may be repeated to capture asecond image142 for viewing and/or recording. Thedeployment catheter16 may again be repositioned to another region of tissue, as shown inFIG. 9C, where athird image144 may be captured for viewing and/or recording. This procedure may be repeated as many times as necessary for capturing a comprehensive image of the tissue surrounding mitral valve MV, or any other tissue region. When thedeployment catheter16 andimaging hood12 is repositioned from tissue region to tissue region, the pump may be stopped, during positioning and blood or surrounding fluid may be allowed to enter withinimaging hood12 until the tissue is to be imaged, where theimaging hood12 may be cleared, as above.
• As mentioned, above, when theimaging hood12 is cleared by pumping the imaging fluid within for clearing the blood or other bodily fluid, the fluid may be pumped continuously to maintain the imaging fluid within thehood12 at a positive pressure or it may be pumped under computer control for slowing or stopping the fluid flow into thehood12 upon detection of various parameters or until a clear image of the underlying tissue is obtained. Thecontrol electronics118 may also be programmed to coordinate the fluid flow into theimaging hood12 with various physical parameters to maintain a clear image withinimaging hood12.
• One example is shown inFIG. 10A which shows achart150 illustrating how fluid pressure within theimaging hood12 may be coordinated with the surrounding blood pressure. Chart150 shows thecyclical blood pressure156 alternating between,diastolic pressure152 andsystolic pressure154 over time T due to the beating motion of the patient heart. The fluid pressure of the imaging fluid, indicated byplot160, withinimaging hood12 may be automatically timed to correspond to the blood pressure changes160 such that an increased pressure is maintained withinimaging hood12 which is consistently above theblood pressure156 by a slight increase ΔP, as illustrated by the pressure difference at the peaksystolic pressure158. This pressure difference, ΔP, may be maintained withinimaging hood12 over the pressure variance of the surrounding blood pressure to maintain a positive imaging fluid pressure withinimaging hood12 to maintain a clear view of the underlying tissue. One benefit of maintaining a constant ΔP is a constant flow and maintenance of a clear field.
• FIG. 10B shows achart162 illustrating another variation for maintaining a clear view of the underlying tissue where one or more sensors within theimaging hood12, as described in further detail below, may be configured to sense, pressure changes within theimaging hood12 and to correspondingly increase the imaging fluid pressure withinimaging hood12. This may result in a time delay, ΔT, as illustrated by the shiftedfluid pressure160 relative to thecycling blood pressure156, although the time delays ΔT may be negligible in maintaining the clear image of the underlying tissue. Predictive software algorithms can also be used to substantially eliminate this time delay by predicting when the next pressure wave peak will arrive and by increasing the pressure ahead of the pressure wave's arrival by an amount of time equal to the aforementioned time delay to essentially cancel the time delay out.
• The variations in fluid pressure withinimaging hood12 may be accomplished in part due to the nature ofimaging hood12. An inflatable balloon, which is conventionally utilized for imaging tissue, may be affected, by the surrounding blood pressure changes. On the other hand, animaging hood12 retains a constant volume therewithin and is structurally unaffected by the surrounding blood pressure changes, thus allowing for pressure increases therewithin. The material thathood12 is made from may also contribute to the manner in which the pressure is modulated within thishood12. A stiffer hood material, such as high durometer polyurethane or Nylon, may facilitate the maintaining of an open hood when deployed. On the other hand, a relatively lower durometer or softer material, such as a low durometer PVC or polyurethane, may collapse from the surrounding fluid pressure and may not adequately maintain a deployed or expanded hood.
• Turning now to the imaging hood, other variations of the tissue imaging assembly may be utilized, as shown inFIG. 11A, which shows another variation comprising anadditional imaging balloon172 within an imaging hood174. In this variation, anexpandable balloon172 having a translucent skin may be positioned within imaging hood174.Balloon172 may be made from any distensible biocompatible material having sufficient translucent properties which allow for visualization therethrough. Once the imaging hood174 has been deployed against the tissue region of interest,balloon172 may be filled with a fluid, such as saline, or less preferably a gas, untilballoon172 has been expanded until the blood has been sufficiently displaced. Theballoon172 may thus be expanded proximal to or into contact against the tissue region to be viewed. Theballoon172 can also be tilled with contrast media to allow it to be viewed on fluoroscopy to aid in its positioning. The imager, e.g., fiber optic, positioned withindeployment catheter170 may then be utilized to view the tissue region through theballoon172 and any additional fluid which may be pumped into imaging hood174 via one or moreoptional fluid ports176, which may be positioned proximally ofballoon172 along a portion ofdeployment catheter170. Alternatively,balloon172 may define one or more holes over its surface which allow for seepage or passage of the fluid contained therein to escape and displace the blood from within: imaging hood174.
• FIG. 11B shows another alternative in whichballoon180 may be utilized alone.Balloon180, attached to deployment catheter178, may be filled with fluid, such as saline or contrast media, and is preferably allowed to come into direct contact with the tissue region to be imaged.
• FIG. 12A shows another alternative in whichdeployment catheter16 incorporatesimaging hood12, as above, and includes an additionalflexible membrane182 withinimaging hood12.Flexible membrane182 may be attached at a distal end ofcatheter16 and optionally atcontact edge22.Imaging hood12 may be utilized, as above, andmembrane182 may be deployed fromcatheter16 in vivo or prior to placingcatheter16 within a patient to reduce the volume withinimaging hood12. The volume may be reduced or minimized to reduce the amount of fluid dispensed for visualization or simply reduced depending upon the area of tissue to be visualized.
• FIGS. 12B and 12C show yet another alternative in whichimaging hood186 may be withdrawn proximally withindeployment catheter184 or deployed distally fromcatheter186, as shown, to vary the volume ofimaging hood186 and thus the volume of dispensed fluid.Imaging hood186 may be seen inFIG. 12B as being partially deployed from, e.g., a circumferentially defined lumen withincatheter184, such asannular lumen188. The underlying tissue may be visualized withimaging hood186 only partially deployed. Alternatively,imaging hood186′ may be fully deployed, as shown inFIG. 12C, by urginghood186′ distally out fromannular lumen188. In this expanded configuration, the area of tissue to be visualized may be increased ashood186′ is expanded circumferentially.
• FIGS. 13A and 13B show perspective and cross-sectional side views, respectively, of yet another variation of imaging assembly which may utilize a fluid suction system for minimizing the amount of fluid injected into the patient's heart or other body lumen during tissue visualization.Deployment catheter190 in this variation may define an innertubular member196 which may be integrated withdeployment catheter190 or independently translatable.Fluid delivery lumen198 defined throughmember196 may be fluidly connected toimaging hood192, which may also define one or moreopen channels194 over its contact lip region. Fluid pumped throughfluid delivery lumen198 may thus fillopen area202 to displace any blood or other fluids or objects therewithin. As the clear fluid is forced out ofopen area202, it may be sucked or drawn immediately through one ormore channels194 and back intodeployment catheter190.Tubular member196 may also define one or more additional workingchannels200 for the passage of any fools or visualization devices.
• In deploying the imaging hood in the examples described herein, the imaging hood may take on any number of configurations when positioned or configured for a low-profile delivery within the delivery catheter, as shown in the examples ofFIGS. 14A to14D. These examples are intended to be illustrative and are not intended to be limiting in scope.FIG. 14A shows one example in whichimaging hood212 may be compressed withincatheter210 by foldinghood212 along a plurality of pleats.Hood212 may also comprise scaffolding orframe214 made of a super-elastic or shape memory material or alloy, e.g. Nitinol, Elgiloy, shape memory polymers, electroactive polymers, or a spring stainless steel. The shape memory material may act to expand or deployimaging hood212 into its expanded configuration when urged in the direction of the arrow from the constraints ofcatheter210.
• FIG. 14B shows another example in whichimaging hood216 may be expanded or deployed fromcatheter210 from a folded and overlapping configuration. Frame orscaffolding214 may also be utilized in this example.FIG. 14C shows yet another example in whichimaging hood218 may be rolled. Inverted, or everted upon itself for deployment, in yet another example,FIG. 14D shows a configuration in whichimaging hood220 may be fabricated from an extremely compliant material which allows forhood220 to be simply compressed into a low-profile shape. From this low-profile compressed shape, simply releasinghood220 may allow for it to expand into its deployed configuration, especially if a scaffold or frame of a shape memory or superelastic material, e.g., Nitinol, is utilized in its construction.
• Another variation for expanding the imaging hood is shown inFIGS. 15A and 15B which illustrates an helically expanding frame orsupport230. In its constrained low-profile configuration, shown inFIG. 15A,helical frame230 may be integrated with, theimaging hood12 membrane. When free to expand, as shown inFIG. 15B,helical frame230 may expand, into a conical or tapered shape.Helical frame230 may alternatively be made out of heat-activated Nitinol to allow it to expand upon application of a current.
• FIGS. 16A and 16B show yet another variation in whichimaging hood12 may comprise one or morehood support members232 integrated with the hood membrane. These longitudinally attachedsupport members232 may be pivotably attached at their proximal ends todeployment catheter16. One or more pullwires234 may be routed through the length ofdeployment catheter16 and extend, through one ormore openings238 defined in deployment,catheter16 proximally toimaging hood12 into attachment with acorresponding support member232 at apullwire attachment point236. The support,members232 may be fabricated from a plastic or metal, such as stainless steel. Alternatively, thesupport members232 may be made from a superelastic or shape memory alloy, such as Nitinol, which may self-expand into its deployed configuration without the use or need of pullwires. A heat-activated Nitinol may also be used which expands upon the application of thermal energy or electrical, energy. In another alternative,support members232 may also be constructed as inflatable lumens utilizing, e.g., PET balloons. From its low-profile delivery configuration shown inFIG. 16A, the one or more pullwires234 may be tensioned from their proximal ends outside the patient body to pull acorresponding support member232 into a deployed configuration, as shown inFIG. 16B, to expandimaging hood12. To reconfigureimaging hood12 back into its low profile,deployment catheter16 may be pulled proximally into a constraining catheter or thepullwires234 may be simply pushed distally to collapseimaging hood12.
• FIGS. 17A and 17B show yet another variation ofimaging hood240 having at least two or more longitudinally positionedsupport members242 supporting the imaging hood membrane. Thesupport members242 each havecross-support members244 which extend diagonally between and are pivotably attached to thesupport members242. Each of thecross-support members244 may be pivotably attached to one another where they intersect between thesupport members242. A jack orscrew member246 may be coupled to each cross-support,member244 at this intersection point and a torquing member, such as a torque-able wire248, may be coupled to each jack orscrew member246 and extend proximally throughdeployment catheter16 to outside the patient body. From outside the patient body, thetorqueable wires248 may be torqued to turn the jack orscrew member246 which in turn urges thecross-support members244 to angle relative to one another and thereby urge thesupport members242 away from one another. Thus, theimaging hood240 may be transitioned from its low-profile, shown inFIG. 17A, to its expanded profile, shown inFIG. 17B, and back into its low-profile by torquingwires248.
• FIGS. 18A and 18B show yet another variation on the imaging hood and its deployment. As shown, a distal portion ofdeployment catheter16 may have several pivotingmembers250, e.g., two to four sections, which form a tubular shape in its low profile configuration, as shown inFIG. 18A. When pivoted radially aboutdeployment catheter16, pivotingmembers250 may open into a deployed configuration having distensible or expandingmembranes252 extending over the gaps in-between the pivotingmembers250, as shown inFIG. 18B. Thedistensible membrane252 may be attached to the pivotingmembers250 through various methods, e.g., adhesives, such that when the pivotingmembers250 are fully extended into a conical shape, the pivotingmembers250 andmembrane252 form a conical shape for use as an imaging hood. Thedistensible membrane252 may be made out of a porous material such as a mesh or PTFE or out of a translucent or transparent polymer such as polyurethane, PVC, Nylon, etc.
• FIGS. 19A and 19B show yet another variation where the distal portion ofdeployment catheter16 may be fabricated from a flexible metallic or polymeric material to form aradially expanding hood254. A plurality ofslots256 may be formed in a uniform pattern over the distal portion ofdeployment catheter16, as shown inFIG. 19A. Theslots356 may be formed in a pattern such that when the distal portion is urged radially open, utilizing any of the methods described above, a radially expanded and conically-shapedhood254 may be formed by each of theslots256 expanding into an opening, as shown inFIG. 19B. Adistensible membrane258 may overlie the exterior surface or the interior surface of thehood254 to form a fluid-impermeable hood254 such that thehood254 may be utilized as an imaging hood. Alternatively, thedistensible membrane258 may alternatively be formed, in eachopening258 to form the fluid-impermeable hood254. Once tire imaging procedure has been completed,hood254 may be retracted into its low-profile configuration.
• Yet another configuration for the imaging hood, may be seen inFIGS. 20A and 20B where the imaging hood may be formed from a plurality of overlapping hood,members260 which overlie one another in an overlapping pattern. When expanded, each of thehood members260 may extend radially outward relative todeployment catheter16 to form a conically-shaped imaging hood, as shown inFIG. 20B.Adjacent hood members260 may overlap one another along an overlappinginterface262 to form a fluid-retaining surface within the imaging hood. Moreover, thehood members260 may be made from any number of biocompatible materials, e.g., Nitinol, stainless steel, polymers, etc., which are sufficiently strong to optionally retract surrounding tissue from the tissue region of interest.
• Although it is generally desirable to have an imaging hood contact against a tissue surface in a normal orientation, the imaging hood may be alternatively, configured to contact the tissue surface at air acute angle. An imaging hood configured for such contact against tissue may also be especially suitable for contact against, tissue surfaces having an unpredictable or uneven anatomical geography. For instance, as shown in the variation ofFIG. 21A,deployment catheter270 may have animaging hood272 that is configured to be especially compliant. In this variation,imaging hood272 may be comprised of one ormore sections274 that are configured to fold or collapse, e.g., by utilizing a pleated surface. Thus, as shown inFIG. 21B, when imaginghood272 is contacted against uneven tissue surface T,sections274 are able to conform closely against the tissue. Thesesections274 may be individually collapsible by utilizing an accordion style construction to allow conformation, e.g., to the trabeculae in the heart or the uneven anatomy that may be found inside the various body lumens.
• In yet another alternative,FIG. 22A shows another variation in which animaging hood282 is attached todeployment catheter280. The contact lip or edge284 may comprise one or moreelectrical contacts286 positioned circumferentially aroundcontact edge284. Theelectrical contacts286 may be configured to contact the tissue and indicate affirmatively whether tissue contact was achieved, e.g., by measuring the differential impedance between blood and tissue. Alternatively, a processor, e.g.,processor98, in electrical communication withcontacts286 may be configured to determine what type of tissue is in contact withelectrical contacts286. In yet another alternative, theprocessor98 may be configured to measure any electrical activity that may be occurring in the underlying tissue, e.g., accessory pathways, for the purposes of electrically mapping the cardiac tissue and subsequently treating, as described below, any arrhythmias which may be detected.
• Another variation for ensuring contact betweenimaging hood282 and the underlying tissue may be seen inFIG. 22B. This variation may have an inflatable contact: edge288 around the circumference ofimaging hood282. Theinflatable contact edge288 may be inflated with a fluid or gas throughinflation lumen289 when theimaging hood282 is to be placed against a tissue surface having an uneven or varied anatomy. The inflatedcircumferential surface288 may provide for continuous contact over the hood edge by conforming against the tissue surface and facilitating imaging fluid retention withinhood282.
• Aside from the imaging hood, various instrumentation may be utilized with the imaging and manipulation system. For instance, after the field withinimaging hood12 has been cleared of the opaque blood and the underlying tissue is visualized through the clear fluid, blood may seep back into theimaging hood12 and obstruct the view. One method for automatically maintaining a clear imaging field may utilize a transducer, e.g., anultrasonic transducer290, positioned at the distal end of deployment catheter within theimaging hood12, as shown inFIG. 23. Thetransducer290 may send anenergy pulse292 into theimaging hood12 and wait to detect back-scatteredenergy294 reflected from debris or blood within theimaging hood12. If back-scattered energy is detected, the pump may be actuated automatically to dispense more fluid into the imaging hood until the debris or blood is no longer detected.
• Alternatively, one ormore sensors300 may be positioned on theimaging hood12 itself, as shown inFIG. 24A, to detect a number of different parameters. For example,sensors300 may be configured to detect for the presence of oxygen in the surrounding blood, blood and/or imaging fluid pressure, color of the fluid, within the imaging hood, etc. Fluid color may be particularly useful in detecting the presence of blood within theimaging hood12 by utilizing a reflective type sensor to detect back reflection from blood. Any reflected light from blood which may be present withinimaging hood12 may be optically or electrically transmitted throughdeployment catheter16 and to a red colored filter withincontrol electronics118. Any red color which may be detected may indicate the presence of blood and trigger a signal to the physician or automatically actuate the pump to dispense more fluid into theimaging hood12 to cleat the blood.
• Alternative methods for detecting the presence of blood within, thehood12 may include detecting transmitted light through the imaging fluid withinimaging hood12. If a source of white light, e.g., utilizing LEDs or optical fibers, is illuminated insideimaging hood12, the presence of blood may cause the color red to be filtered, through this fluid. The degree or intensity of the red color detected may correspond to the amount of blood present withinimaging hood12. A red color sensor can simply comprise, in one variation, a phototransistor with a red transmitting filter over it which can establish how much red light is detected, which in turn can indicate the presence of blood, withinimaging hood12. Once blood is detected, the system may pump more clearing fluid through and enable closed loop feedback control of the clearing fluid pressure and flow level.
• Any number of sensors may be positioned along theexterior302 ofimaging hood12 or within theinterior304 ofimaging hood12 to detect parameters not only exteriorly toimaging hood12 but also withinimaging hood12. Such a configuration, as shown inFIG. 24B, may be particularly useful for automatically maintaining a clear imaging field based upon physical, parameters such as blood pressure, as described above forFIGS. 10A and 10B.
• Aside from sensors, one or more light emitting diodes (LEDs) may be utilized to provide lighting within theimaging hood12. Although illumination may be provided by optical fibers routed throughdeployment catheter16, the use of LEDs over theimaging hood12 may eliminate the need for additional optical fibers for providing illumination. The electrical wires connected to the one or more LEDs may be routed through or over thehood12 and along an exterior surface or extruded withindeployment catheter16. One or more LEDs may be positioned in acircumferential pattern306 aroundimaging hood12, as shown inFIG. 25A, or in a linearlongitudinal pattern308 alongimaging hood12, as shown inFIG. 25B. Other patterns, such as a helical or spiral pattern, may also be utilized. Alternatively, LEDs may be positioned along a support member forming part ofimaging hood12.
• In another alternative for illumination withinimaging hood12, aseparate illumination tool310 may be utilized, as shown inFIG. 26A. An example of such a tool may comprise a flexibleintravascular delivery member312 having acarrier member314 pivotably connected316 to a distal end ofdelivery member312. One ormore LEDs318 may be mounted alongcarrier member314. In use,delivery member312 may be advanced throughdeployment catheter16 untilcarrier member314 is positioned withinimaging hood12. Once withinimaging hood12,carrier member314 may be pivoted in any number of directions to facilitate or optimize the illumination within theimaging hood12, as shown, inFIG. 26B.
• In utilizing LEDs for illumination, whether positioned alongimaging hood12 or along a separate instrument, the LEDs may comprise a single LED color, e.g., white light. Alternatively, LEDs of other colors, e.g., red, blue, yellow, etc., may be utilized exclusively or in combination with white LEDs to provide for varied illumination of the tissue or fluids, being imaged. Alternatively, sources of infrared or ultraviolet light may be employed to enable imaging beneath the tissue, surface or cause fluorescence of tissue for use in system guidance, diagnosis, or therapy.
• Aside from providing a visualization platform, the imaging assembly may also be utilized to provide a therapeutic platform for treating tissue being visualized. As shown inFIG. 27,deployment catheter320 may haveimaging hood322, as described above, andfluid delivery lumen324 andimaging lumen326. In this variation, a therapeutic tool such asneedle328 may be delivered, throughfluid delivery lumen324 or in another working lumen and advanced throughopen area332 for treating the tissue which is visualized. In this instance,needle328 may define one orseveral ports330 for delivering drugs therethrough. Thus, once the appropriate region of tissue has been imaged and located,needle328 may be advanced and pierced into the underlying tissue where a therapeutic agent may be delivered throughports330. Alternatively,needle328 may be in electrical communication with apower source334, e.g., radio-frequency, microwave, etc., for ablating the underlying tissue area of interest.
• FIG. 28 shows another alternative in which deployment catheter340 may haveimaging hood342 attached thereto, as above, but with atherapeutic tool344 in the configuration of a helicaltissue piercing device344. Also shown and described above inFIGS. 7A and 7B for use in stabilizing the imaging hood relative to the underlying tissue, the helicaltissue piercing device344 may also be utilized to manipulate the tissue for a variety of therapeutic procedures. Thehelical portion346 may also define one or several ports for delivery of therapeutic agents therethrough.
• In yet another alternative,FIG. 29 shows adeployment catheter350 having anexpandable imaging balloon352 filled with, e.g.,saline356. Atherapeutic tool344, as above, may be translatable relative to balloon352. To prevent the piercingportion346 of the tool from tearingballoon352, astop354 may be formed onballoon352 to prevent the proximal passage ofportion346past stop354.
• Alternative configurations for tools which may be delivered throughdeployment catheter16 for use in tissue manipulation withinimaging hood12 are shown inFIGS. 30A and 30B.FIG. 30A shows one variation of anangled instrument360, such as a tissue grasper, which may be configured to have an elongate shaft for intravascular delivery throughdeployment catheter16 with a distal end which may be angled relative to its elongate shaft upon deployment intoimaging hood12. The elongate shaft may be configured to angle itself automatically, e.g., by the elongate shaft being made at least partially from a shape memory alloy, or upon actuation, e.g., by tensioning a pull wire.FIG. 30B shows another configuration for aninstrument362 being configured to reconfigure its distal portion into an off-axis configuration withinimaging hood12. In either case, theinstruments360,362 may be reconfigured into a low-profile shape upon withdrawing them proximally back intodeployment catheter16.
• Other instruments or tools which may be utilized with the imaging system is shown in the side and end views ofFIGS. 31A to31C.FIG. 31A shows aprobe370 having adistal end effector372, which may be reconfigured from, a low-profile shape to a curved profile. Theend effector372 may be configured as an ablation probe utilizing radio-frequency energy, microwave energy, ultrasound energy, laser energy or even cryo-ablation. Alternatively, theend effector372 may have several electrodes upon it for detecting or mapping electrical signals transmitted through the underlying tissue.
• In the case of anend effector372 utilized for ablation of the underlying tissue, an additional temperature sensor such as a thermocouple orthermistor374 positioned upon anelongate member376 may be advanced into theimaging hood12 adjacent to the distal,end effector372 for contacting and monitoring a temperature of the ablated tissue.FIG. 31B shows an example in the end view of one configuration for thedistal end effector372 which may be simply angled into a perpendicular configuration for contacting the tissue.FIG. 31C shows another example where the end effector may be reconfigured into acurved end effector378 for increased tissue contact.
• FIGS. 32A and 32B show another variation of an ablation tool utilized with animaging hood12 having an enclosed bottom portion. In this variation, an ablation probe, such as a cryo-ablation probe380 having adistal end effector382, may be positioned through theimaging hood12 such that theend effector382 is placed distally of a transparent membrane orenclosure384, as shown in the end view ofFIG. 32B. The shaft ofprobe380 may pass through anopening386 defined through themembrane384. In use, the clear fluid may be pumped intoimaging hood12, as described above, and thedistal end effector382 may be placed against a tissue region, to be ablated with theimaging hood12 and themembrane384 positioned atop or adjacent to the ablated tissue. In the case of cryo-ablation, the imaging fluid may be warmed prior to dispensing into theimaging hood12 such that the tissue contacted by themembrane384 may be warmed during the cryo-ablation: procedure. In the case of thermal ablation, e.g., utilizing radio-frequency energy, the fluid dispensed into theimaging hood12 may be cooled such that the tissue contacted bytire membrane384 and adjacent to the ablation probe during the ablation procedure is likewise cooled.
• In either example described above, the imaging fluid may be varied in its temperature to facilitate various procedures to be performed upon the tissue, brother cases, the imaging fluid itself may be altered to facilitate various procedures. For instance as shown inFIG. 33A, adeployment catheter16 andimaging hood12 may be advanced within a hollow body organ, such as a bladder filled withurine394, towards a lesion ortumor392 on the bladder wall. Theimaging hood12 may be placed entirely over thelesion392, or over a portion of the lesion. Once secured against thetissue wall390, a cryo-fluid, i.e., a fluid which has been cooled to below freezing temperatures of, e.g., water or blood, may be pumped into theimaging hood12 to cryo-ablate thelesion390, as shown inFIG. 33B while avoiding the creation of ice on the instrument or surface of tissue.
• As the cryo-fluid leaks out of theimaging hood12 and into the organ, the fluid may be warmed naturally by the patient body and ultimately removed. The cryo-fluid may be a colorless and translucent fluid which enables visualization therethrough of the underlying tissue. An example of such a fluid is Fluorinert™ (3M, St. Paul, Minn.), which is a colorless and odorless perfluorinated liquid. The use of a liquid such as Fluorinert™ enables the cryo-ablation procedure without the formation of ice within or outside of theimaging hood12. Alternatively, rather than utilizing cryo-ablation, hyperthermic treatments may also be effected by heating the Fluorinert™ liquid to elevated temperatures for ablating thelesion392 within theimaging hood12. Moreover, Fluorinert™ may be utilized in various other parts of the body, such as within the heart.
• FIG. 34A shows another variation of an instrument which may be utilized with the imaging system. In this variation, alaser ring generator400 may be passed through thedeployment catheter16 and partially intoimaging hood12. Alaser ring generator400 is typically used to create a circular ring oflaser energy402 for generating a conduction block around the pulmonary veins typically in the treatment of atrial fibrillation. The circular ring oflaser energy402 may be generated such that a diameter of thering402 is contained within a diameter of theimaging hood12 to allow for tissue ablation directly upon tissue being imaged. Signals which cause atrial fibrillation typically come from the entry area of the pulmonary veins into the left atrium and treatments may sometimes include delivering ablation energy to the ostia of the pulmonary veins within the atrium. The ablated areas of the tissue may produce a circular scar which blocks the impulses for atrial fibrillation.
• When using the laser energy to ablate the tissue of the heart, it may be generally desirable to maintain the integrity and health of the tissue overlying the surface while ablating the underlying tissue. This may be accomplished, for example, by cooling the imaging fluid to a temperature below the body temperature of the patient but which is above the freezing point of blood (e.g., 2° C. to 35° C.). The cooled imaging fluid may thus maintain the surface tissue at the cooled fluid temperature while the deeper underlying tissue remains at the patient body temperature. When the laser energy (or other types of energy such as radio frequency energy, microwave energy, ultrasound energy, etc.) irradiates the tissue, both the cooled tissue surface as well as the deeper underlying tissue will rise in temperature uniformly. The deeper underlying tissue, which was maintained at the body temperature, will increase to temperatures which are sufficiently high to destroy the underlying tissue. Meanwhile, the temperature of the cooled surface tissue will also rise but only to temperatures that are near body temperature or slightly above.
• Accordingly, as shown inFIG. 34B, one example for treatment may include passingdeployment catheter16 across the atrial septum AS and into the left atrium LA of the patient's heart H. Other methods of accessing the left atrium LA may also be utilized. Theimaging hood12 andlaser ring generator400 may be positioned adjacent to or over one or more of the ostium OT of the pulmonary veins PV and thelaser generator400 may ablate the tissue around the ostium OT with the circular ring oflaser energy402 to create a conduction block. Once one or more of the tissue, around the ostium OT have been ablated, theimaging hood12 may be reconfigured into a low profile for removal from the patient heart H.
• One of the difficulties in treating tissue in or around the ostium OT is the dynamic fluid flow of blood through the ostium OT. The dynamic forces make cannulation or entry of the ostium OT difficult. Thus, another variation on instruments or tools utilizable with the imaging system is anextendible cannula410 having acannula lumen412 defined therethrough, as shown inFIG. 35A. Theextendible cannula410 may generally comprise an elongate tubular member which may be positioned within thedeployment catheter16 during delivery and then projected distally through theimaging hood12 and optionally beyond, as shown inFIG. 35B.
• In use, once theimaging hood12 has been desirably positioned relative to the tissue, e.g., as shown inFIG. 35C outside the ostium OT of a pulmonary vein PV, theextendible cannula410 may be projected distally from, thedeployment catheter16 while optionally imaging tire tissue through theimaging hood12, as described above. Theextendible cannula410 may be projected distally until its distal end is extended at least partially into the ostium OT. Once in the ostium OT, an instrument or energy ablation device may be extended through and out of thecannula lumen412 for treatment within the ostium OT. Upon completion of the procedure, thecannula410 may be withdrawn proximally and removed from the patient body. Theextendible cannula410 may also include an inflatable occlusion balloon at or near its distal end to block the blood flow out of the PV to maintain a clear view of the tissue region. Alternatively, theextendible cannula410 may define a lumen therethrough beyond the occlusion balloon to bypass at least a portion of the blood that normally exits the pulmonary vein PV by directing the blood through thecannula410 to exit proximal of the imaging hood.
• Yet another variation for tool, or instrument use may be seen in the side and end views ofFIGS. 36A and 36B. In this variation, imaginghood12 may have one or moretubular support members420 integrated with thehood12. Each of thetubular support members420 may define anaccess lumen422 through which one or more instruments or tools may be delivered for treatment upon the underlying tissue. One particular example is shown and described above forFIG. 7C.
• Various methods and instruments may be utilized for using or facilitating the use of the system. For instance, one method may include facilitating the initial delivery and placement of a device into the patient's heart, in initially guiding the imaging assembly within the heart chamber to, e.g., the mitral valve MV, aseparate guiding probe430 may be utilized, as shown, inFIGS. 37A and 37B. Guidingprobe430 may, for example, comprise an optical fiber through which, alight source434 may be used to illuminate adistal tip portion432. Thetip portion432 may be advanced into the heart: through, e.g., the coronary sinus CS, until the tip is positioned adjacent to the mitral valve MV. Thetip432 may be illuminated, as shown inFIG. 37A, andimaging assembly10 may then be guided towards the illuminatedtip432, which, is visible from within the atrial chamber, towards mitral valve MV.
• Aside from the devices and methods described above, the imaging system may be utilized to facilitate various other procedures. Turning now toFIGS. 38A and 38B, the imaging hood of the device in particular may be utilized. In this example, a collapsible membrane or disk-shapedmember440 may be temporarily secured around the contact edge or lip ofimaging hood12. During intravascular delivery, theimaging hood12 and the attachedmember440 may both be in a collapsed configuration to maintain a low profile for delivery. Upon deployment, both theimaging hood12 and themember440 may extend into their expanded configurations.
• The disk-shapedmember440 may be comprised of a variety of materials depending upon the application. For instance,member440 may be fabricated from a porous polymeric material infused with adrug eluting medicament442 for implantation against a tissue surface for slow infusion of the medicament into tire underlying tissue. Alternatively, themember440 may be fabricated from a non-porous material, e.g., metal or polymer, for implantation and closure of a wound or over a cavity to prevent fluid leakage. In yet another alternative, themember440 may be made from a distensible material which is secured toimaging hood12 in an expanded condition. Once implanted or secured on a tissue surface or wound, the expandedmember440 may be released from imaginghood12. Upon release, the expandedmember440 may shrink to a smaller size while approximating the attached underlying tissue, e.g., to close a wound or opening.
• One method for securing the disk-shapedmember440 to a tissue surface may include a plurality of tissue anchors444, e.g., barbs, hooks, projections, etc., which are attached to a surface of themember440. Other methods of attachments may include adhesives, suturing, etc. In use, as shown inFIGS. 39A to39C, theimaging hood12 may be deployed in its expanded configuration withmember440 attached thereto with the plurality of tissue anchors444 projecting distally. The tissue anchors444 may be urged into a tissue region to be treated446, as seen inFIG. 39A, until theanchors444 are secured in the tissue andmember440 is positioned directly against the tissue, as shown inFIG. 39B. A pullwire may be actuated to release themember440 from theimaging hood12 anddeployment catheter16 may be withdrawn proximally to leavemember440 secured against thetissue446.
• Another variation for tissue manipulation, and treatment may be seen in the variation ofFIG. 40A, which illustrates animaging hood12 having adeployable anchor assembly450 attached to thetissue contact edge22.FIG. 40B illustrates theanchor assembly450 detached from theimaging hood12 for clarity. Theanchor assembly450 may be seen as having a plurality of discrete tissue anchors456, e.g., barbs, hooks, projections, etc., each having a suture retaining end, e.g., an eyelet or opening458 in a proximal end of theanchors456. A suture member orwire452 may be slidingly connected to eachanchor456 through theopenings458 and through a cinchingelement454, which may be configured to slide uni-directionally over the suture orwire452 to approximate each of theanchors456 towards one another. Each of theanchors456 may be temporarily attached to theimaging hood12 through a variety of methods. For instance, a pullwire or retaining wire may hold each of the anchors within a receiving ring around the circumference of theimaging hood12. When theanchors456 are released, the pullwire or retaining wire may be tensioned from its proximal end outside the patient body to thereby free theanchors456 from theimaging hood12.
• One example for use of theanchor assembly450 is shown inFIGS. 41A to41D for closure of an opening or wound460, e.g., patent foramen ovale (PFO). Thedeployment catheter16 andimaging hood12 may be delivered intravascularly into, e.g., a patient heart. As theimaging hood12 is deployed into its expanded configuration, theimaging hood12 may be positioned adjacent to the opening or wound460, as shown inFIG. 41A. With theanchor assembly450 positioned upon the expandedimaging hood12,deployment catheter16 may be directed to urge the contact edge ofimaging hood12 andanchor assembly450 into the region surrounding thetissue opening460, as shown inFIG. 41B. Once theanchor assembly450 has been secured within the surrounding, tissue, the anchors may be released from imaginghood12 leaving theanchor assembly450 andsuture member452 trailing from the anchors, as shown inFIG. 41C. The suture orwire member452 may be tightened by pulling it proximally from outside the patient body to approximate the anchors ofanchor assembly450 towards one another in a purse-string manner to close thetissue opening462, as shown inFIG. 41D. The cinchingelement454 may also be pushed distally over the suture orwire member452 to prevent the approximated-anchor assembly450 from loosening or widening.
• Another example for an alternative use is shown inFIG. 42, where thedeployment catheter16 and deployedimaging hood12 may be positioned within a patient body for drawingblood472 intodeployment catheter16. The drawnblood472 may be pumped through adialysis unit470 located externally of the patient body for filtering the drawnblood472 and the filtered blood may be reintroduced back into the patient.
• Yet another variation is shown, inFIGS. 43A and 43B, which show a variation of thedeployment catheter480 having a firstdeployable hood482 and a seconddeployable hood484 positioned distal to thefirst hood482. Thedeployment catheter480 may also have a side-viewing imaging element486 positioned between the first andsecond hoods482,484 along the length of thedeployment catheter480. In use, such a device may be introduced through alumen488 of a vessel VS, where one or bothhoods482,484 may be expanded to gently contact the surrounding walls of vessel VS. Oncehoods482,484 have been expanded, the clear imaging fluid may be pumped in the space defined between thehoods482,484 to displace any blood and to create animaging space490, as shown inFIG. 43B. With the clear fluid in-betweenhoods482,484, theimaging element486 may be used to view the surrounding tissue surface contained betweenhoods482,484. Other instruments or tools may be passed throughdeployment catheter480 and through one or more openings defined along thecatheter480 for additionally performing therapeutic procedures upon the vessel wall.
• Another variation of adeployment catheter500 which may be used for imaging tissue to the side of the instrument may be seen inFIGS. 44A to45B.FIGS. 44A and 44B show side and end views ofdeployment catheter500 having a side-imaging balloon502 in an un-inflated low-profile configuration. A side-imaging element504 may be positioned within a distal portion of thecatheter500 where theballoon502 is disposed. Whenballoon502 is inflated, it may expand radially to contact the surrounding tissue, but where theimaging element504 is located, avisualization field506 may be created by theballoon502, as shown in the side, top, and end views ofFIGS. 45A to45B, respectively. Thevisualization field506 may simply be a cavity or channel which is defined within theinflated balloon502 such that thevisualization element504 is provided an image of the area withinfield506 which is clear and unobstructed byballoon502.
• In use,deployment catheter500 may be advanced intravascularly throughvessel lumen488 towards a lesion ortumor508 to be visualized and/or treated. Upon reaching thelesion508,deployment catheter500 may be positioned adjacently to thelesion508 andballoon502 may be inflated such that thelesion508 is contained within thevisualization field506. Onceballoon502 is fully inflated and in contact against the vessel wall, clear fluid may be pumped intovisualization field506 throughdeployment catheter500 to displace any blood or opaque fluids from thefield506, as shown in the side and end views ofFIGS. 46A and 46B, respectively. Thelesion508 may then be visually inspected and treated by passing any number of instruments throughdeployment catheter500 and intofield506.
• In controlling the advancement and articulation of any of the delivery catheters described herein, the catheter may be manually controlled or robotically-controlled, as mentioned above. Examples of robotically-controlled catheter systems which utilize precision motion control mechanisms are shown and described in U.S. Pat. App. 2006/0084945 A1 and U.S. Pat. No. 7,090,683, each of which is incorporated herein by reference in its entirety. Generally, a visualization hood may be attached or coupled to the distal end of a catheter articulated or controlled by precision motion control mechanisms. The articulatable neck portion of the shaft, located proximally of the visualization hood, may be comprised of an assembly of links fabricated, e.g., from stainless steel, plastics, etc., that allow the neck portion to be articulated in multiple planes. One or more, e.g., four, pullwires may be routed through the neck and/or shaft such that they terminate at the hood attachment, while the proximal end or ends of the pullwires may be routed through the links to a proximal end of the catheter. Combinations of retraction and/or extension motions of these pullwires may be utilized to steer the neck portion to articulate the hood in multiple directions as desired by the operator.
• The proximal ends of the pullwires are threaded through a pulley assembly and terminated in rotatable spools. Rotating these spools will either retract the pullwires or release more slack into the catheter to enable steering as appropriate. The pullwire spools are further driven by control elements such, as low speed motors, which, in turn, may be driven by a central processing unit. Precise and consistent, low speed rotation of the spools controlled by the central processing unit and the motors will enable the pullwires to be retracted or released with high precision. This will translate into precision articulation and motion control of the tissue visualization hood.
• Referring now toFIG. 47A, an example of arobotic guide instrument600 is illustrated having two control element interface assemblies configured to drive, e.g., fourcontrol elements606, e.g., pullwires. Rotation of the pulleys in a first direction may spool and proximally displace onecontrol element606, while unspooling in a second opposite direction may distally displace acomplementary control element606 to deflect the distal end of thedeployment catheter14 in the opposite direction. Tension may be maintained in thecontrol elements606 via pre-tensioning or pre-stressing the elements to prevent excess slack. Tension may also be maintained, on thecontrol elements606 using a slottedguide instrument base602 which forms one ormore slots604 through which thecontrol elements606 may remain taut.
• FIG. 47B illustrates therobotic guide instrument600 havinghood12 positioned upondeployment catheter16 with an inflatable balloon ormembrane608 optionally disposable within or uponhood12 and an instrument advanced throughcatheter16 and intohood12. As schematically illustrated, therobotic guide instrument600, and optionally the instruments advanced throughhood12, may be controlled via a computer orprocessor612 to control the articulation of thehood12 as well as other functions. The treatment instrument may include any number of instruments, e.g., ablation tools, a piercingneedle610, etc., which may be advanced through the hood for treating the underlying tissue. Examples of instruments as well as alternative configurations forhood12 are shown and described in further detail in the following U.S. patent application Ser. Nos. 11/775,771 and 11/775,837 both filed Jul. 10, 2007, and Ser. No. 11/828,267 filed Jul. 25, 2007, each of which is incorporated herein by reference in its entirety.
• FIG. 47C illustrates an example of how a robotic guide instrument may be utilized with a visualization system. Generally, a user may interface withinput device651, which may utilize any number of different interfaces, e.g., handle, joystick, etc., by which the user may transmit desired, commands toprocessor631.Processor631 may receive the commands and transmit the appropriate drive signals to the catheter and computer-controlledguidance assembly639 which may then control the hood, imaging systems, fluid purging systems, etc. in accordance with the received commands from the user. When the catheter and/or hood interfaces with the surrounding tissue, the resulting force or tracking feedback, may be optionally sensed byguidance assembly639 and transmitted back toprocessor631, which in turn may signal or indicate to the user via force feedback throughinput device651 or some other force or visual feedback. Moreover, the image data captured by the imaging element within or alonghood12 may also be received byguidance assembly639 and transmitted toprocessor631, which may receive foe image data for processing, and display upon a tissuesurface image display649 to the user.
• Catheter and computer-controlledguidance assembly639 may comprise several sub-systems for controlling each of a number of different functions, for instance (amongst other sub-systems), anarticulation drive641 for controlling a movement of thecatheter16 and/orhood12, amovement tracking system643 for tracking a position and/or orientation of thecatheter16 and/orhood12 within the patient body, animaging element system645 for controlling the visualization features, as well as ablood displacement system647 for controlling and/or tracking an infusion of transparent, fluid into thehood12.
• Processor631 may also be configured to handle several different processing functions to process various data. For instance,processor631 may be configured to input commands registered withtissue surface images633 as received frominput device651, as well as processcatheter position data635 based, upon catheter tracking feedback, signals as received from themovement tracking system643 fromguidance assembly639. Moreover,processor631 may be configured to process desiredcatheter articulations637 in accordance with the commands received from theinput device651 such that drive signals are generated byprocessor631 and transmitted to thearticulation drive641 inguidance assembly639 to control the movements of the catheter and/or hood in a desired manner.
• FIG. 48A illustrates a perspective view of a variation of a robotic controlassembly showing base602 having fourproximal drive assemblies630 attached thereupon where eachassembly630 may control a corresponding control element, e.g., pullwire, for controlling an articulation ofhood12 positioned upondeployment catheter16. Delivery catheter orsheath14 may be attached or otherwise coupled tobase602 or tosheath instrument632 having aninstrument base636, which may also have adrive assembly630 rotatably positioned thereon. The control elements attached to theirrespective drive assembly630 may each extend throughdelivery catheter14 and couple to thehood12, as described below, to bend, the distal end of thedeployment catheter16 and/orhood12 itself in any number of directions by displacing one of the control elements in the proximal direction to deflect the distal end of the catheter member in the predetermined direction.
• Catheter14 may be coupled toinstrument base636 such that, thedrive assembly630 may be used to control a retraction or advancement of thecatheter14 relative tohood12 to control the expansion or collapse ofhood12,FIG. 48B shows a detail perspective view of the distal end ofcatheter16 extending fromdelivery catheter14 and articulation of thehood12 relative to thecatheter16. In one variation,hood12 may utilizeimaging element620, e.g., CMOS, CCD imager, etc., positioned off axis relative to a longitudinal axis ofcatheter16 and attached along one or more support struts622 withinhood12.Hood12 may be connected tohood base640 which is pivotable in a first plane via hinge orpivot642.Flood base640 may itself be pivotable in a second plane via hinge or pivot644 and the distal end ofdeployment catheter16 may further define anarticulatable section638, which may allow its distal, end to articulate within a plane when urged by the one or more control elements.
• FIG. 48C illustrates a perspective view of another variation of a robotic control, assembly having aninflatable imaging balloon653 assembly. As shown,imaging balloon653 may be positioned uponarticulatable deployment catheter16 and may further include aseparate anchoring balloon655 positioned, uponsupport catheter657 distally ofimaging balloon653.Support catheter657 may extend through both anchoringballoon655 andimaging balloon653 and define alumen659 therethrough for accessing the tissue regions with, any number ofinstruments667. In use,support catheter657 and anchoring balloon655 (in its deflated state) may be advanced into a vessel lumen, e.g., through the ostium of a pulmonary vein, where anchoringballoon655 may be inflated into contact against the surrounding vessel walls. With anchoringballoon655 inflated,support catheter657 may be independently translatable with, respect to imaging balloon653 (which may be inflated prior to, during, or after anchoring of the anchoring balloon655) to allow for positional adjustment betweenimaging balloon653 and the tissue surrounding the ostium.
• Imaging balloon653 may be inflated with a transparent fluid or gas, as described above, and may be further supported structurally by one or more support struts665 extending distally fromcatheter16 within or along a proximal portion ofimaging balloon653. During introduction and/or advancement through the patient body, support struts665 may be collapsed along withimaging balloon653 into a low-profile configuration and when deployed,balloon653 may be inflated and support struts665 may extend radially relative tocatheter16 to supportimaging balloon653. Additionally, support struts665 may also support, one or morelight sources661, e.g., light emitting diodes, optical fibers, etc. to provide illumination throughimaging balloon653 for viewing the underlying contacted tissue.Imaging element663, as above, may also be supported along or upon asupport strut665 for viewing the tissue region throughballoon653 as well.
• A partially disassembled view of thecontrol element606 spooled around arespective drive assembly630 is illustrated in the perspective view ofFIG. 49. As shown, eachassembly630 may comprise anaxle650 about whichassembly630 may rotate in a first direction to spool, and thus proximally displace an attachedcontrol element606 to deflect the distal end ofcatheter16 is a first direction, or rotate in a second opposite direction to unspool, and thus distally displace the attachedcontrol element606 to deflect the distal end ofcatheter16 in a second opposite direction.
• Theguide instrument662 andsheath instrument632 havingdeployment catheter16 extending distally therefrom withhood12 articulately disposed upon the distal end ofcatheter16 is illustrated, in the perspective assembly view ofFIG. 50. Bothguide instrument662 andinstrument guide632 are illustrated mounted uponinstrument driver660, which functions as a platform.Instrument driver660 may also provide additional degrees of precision control movements for the visualization catheter system.FIG. 51 shows a partial disassembled perspective view of theinstrument driver660 assembly illustrating themain housing structure670 underlying the assembly. As illustrated, cams and motors may be controlled by one ormore electronics boards672 which may be coupled to themain housing structure670.
• In yet another variation of a mechanism which provides precision steering and articulation of thehood12 is shown in the perspective assembly view ofFIG. 52A. A precisioncontrol drive unit680 may be attached todelivery catheter14 and/ordeployment catheter16 for providing articulation control.FIG. 52B illustrates a detailed perspective view of the distal end of one variation ofdeployment catheter16 having thearticulatable section638. Hinge orpivot642 and644 may provide for articulation in at least two planes transverse to one another for viewing tissue structures viaimaging element620 positioned withinhood12, as described above.FIG. 53 illustrates an example of a simplified assembly view of the mechanisms withincontrol drive unit680 for controlling the articulation ofhood12. As shown, one or more pullwires682 may be routed throughcatheter14 tohood12 with their proximal ends coupled to one ormore cams684 or gears. Thesecams684 may be rotatably coupled to one or more drive wheels686, which are in turn in communication throughcontrol cables688 to (optional) gearing692 of motor driver690.
• The examples illustrating precision control assemblies for articulating thehood12 and/orcatheter16 are further described in detail in U.S. Pat. App. 2006/0084945 A1 and U.S. Pat. No. 7,090,683, each of which has been incorporated above in their entirety.
• In enabling the precision control assemblies to steerhood12 and/orcatheter16 in multiple degrees of freedom, various couplings betweenhood12 andcatheter16 may be provided. One variation is illustrated in the detail perspective view ofFIGS. 54A and 54B, which show an assembled view and exploded assembly view, respectively. In this variation,hood12, havingimaging element620 positioned therewithin in an off-axis location, may be coupled or otherwise attached tohood base640, which itself is pivotably coupled viahood mating portion706 connected to receivingportion708 viapin710 to allowhood12 to articulate within a first plane. Receivingportion708 may also be pivotably coupled to receivingportion702 viapin704 to allowhood12 to articulate within a second plane transverse to the first plane. The receivingportion708 may also have one or more pullwire termination points700 to which one or more pullwires682 may be terminated.
• FIGS. 55A and 55C shows another variation where a pair ofpullwires682 may steer a first planarly articulatablespine section720 located near or at the distal end ofdeployment catheter16. A second pair ofpullwires682 may steerhood base640 andhood12 in a second plane transverse to the first plane. Thesteerable spine section720 may comprise aspine segment722 having multiple cut-outs or reducedsections724 along either side of thespine segment722 such that thespine section720 may bend in a plane by flexing to either side of the reducedsections724 while maintaining structural integrity by thespine segment722, as illustrated in the detail view ofFIG. 55B.Spine section720 may be comprised of various materials, e.g., stainless steel, PEEK or hard plastics, through machining, molding or metal injection molding. Moreover, stainless steel cables, Nitinol, elgiloy, or tungsten wires can be used for pullwires. Thesection720 can be alternatively constructed as bump links, pinned links, ring links, laser cut tubes, fish bone spine links, silt tubes or double durometer tubes, etc., may also be steered using various mechanisms such as single bend steering, double bend steering with two or more pullwires, multi-way bend steering, and/or steering through multiple variations of catheter-sheath interactions.
• FIGS. 56A and 56C illustrate yet another variation of steering mechanisms in the perspective assembly and exploded assembly views. In this variation, a fullyarticulatable spine section730 may be included near or at the distal end of deployment,catheter16, as above, where thesection730 includes acentral spine734 having multiple cut-outs or reducedsections732 circumferentially defined aboutcentral spine734, as illustrated inFIG. 56B. Having the reducedsections732 defined, entirely aroundspine734 enables full articulation ofhood12 aboutspine734 rather than being limited for movement within a plane.
• While utilizing a computer-controller for articulating the assembly, the computer may also track the movement ofhood12 within a patient body, e.g., within the left atrial chamber of the heart, such that the location, and position relative to an anatomical landmark, e.g., the pulmonary veins, are known, at any given time. Other alternative mechanisms may also be utilized to track and/or record the position ofhood12 within the body at any given time.
• For instance,FIG. 57A shows a perspective view of one such variation where aferromagnetic ring740 may be attached circumferentially around the lip ofhood12. Such a configuration may be utilized in conjunction with conventional magnetic navigation, systems, such as the NIOBE® system developed by Stereotaxis. Inc. (Saint Louis, Mo.), as illustrated in the perspective view ofFIG. 57B. An example of such a magnetic navigation system is shown and described in U.S. Pat. No. 7,019,610 (Creighton et al.) which is incorporated herein by reference in its entirety. Generally, an arrangement of twomagnets746,748 may be positioned externally to the patient. With external control by an operator, the twomagnets746,748 may swing into position on each side of the patient creating a magnetic field that directs and digitally controls either the distal tip of the tissue visualization catheter or, in this case, theferromagnetic ring740 positioned about the lip ofhood12. By rotating and moving theexternal magnets746,748 to change the direction of the magnetic field, the system automatically controls the catheter advancement and retraction of the visualization catheter, eliminating any pulling or pushing on the device. This may be particularly advantageous when the tissue visualization catheter is threaded through tortuous pathways where force transmission is greatly reduced, consequently affecting accuracy in navigational control that requires the pushing or pulling of the sheath or navigation that requires steering internal pullwires.
• FIG. 58 shows a perspective view of yet another variation of the tissue visualization catheter which is configured to detect the position and/or orientation of thehood12 through the use of existing ultrasound technologies as described in, e.g., U.S. Pat. No. 5,515,853, which is incorporated herein by reference in its entirety. As shown, a first750 and second752 ultrasound signal transducer may be symmetrically attached, to thehood12 around the circumference of the lip ofhood12, while athird ultrasound transducer754 may be placed between, the tip of thedeployment catheter16 and the proximal end of thehood12.
• A ferromagnetic ring or anelectromagnetic coil740 that is able to interact with a magnetic field to pull the hood towards a tissue surface may also be attached to the circumference of thehood12. Alternatively, thestruts758 supportinghood12 may be made of a ferromagnetic material where one or more of thestruts758 may haveelectromagnetic coils756 wound around thestruts758, as shown in the perspective view ofFIG. 59. In yet another alternative, aferromagnetic disc760 positioned upon asupport member762 extending throughhood12 may also be utilized, as shown in the perspective view ofFIG. 60. In these or other variations ofhood12, acircumferential balloon742 which is inflatably positioned withinhood12 and which defines a lumen orchannel744 through theinflated balloon742 may be optionally utilized. Such aballoon742 is described in further detail in U.S. Pat. App. 11/775,771 filed Jul. 10, 2007, which is incorporated herein by reference in its entirety.
• In either case, the ferromagnetic or electromagnetic feature and theultrasound signal transducers750,752,754 alonghood12 may be used with aposition sensor assembly770, as shown in the perspective view ofFIG. 61.Position sensor assembly770 may generally comprise aplate772 made of radio-transparent material which may be positioned externally of a patient along a skin surface proximate or adjacent to where thehood12 is to be controlled or tracked within the patient body.Plate772 may have three ormore ultrasound transducers778,780,782 positioned along the plate surface separated by a known distance from one another. Anelectromagnet776 attached to handle774 may be slidably positioned withinplate772 for controlling a position ofhood12 within the patient body, as described below.
• Generally, each of theultrasound transducers750,752,754 positioned alonghood12 may communicate with theultrasound transducers778,780,782 on theplate772 to determine their relative distances from one other by measuring the time between transmission and detection of the ultrasound signals, as illustrated inFIG. 62. By triangulation methods, the position of each transducer alonghood12 relative to each transducer alongplate772, the three-dimensional orientation and position of thehood12 within the patient body may be computationally determined by a processor and displayed graphically or otherwise to the user. The user may determine an orientation of thehood12, for instance if thehood12 is facing theexternal plate772 within the patient body, when750 and752 are of equal distance to theplate772. Similarly using the same triangulation method, the position of thehood12 can be determined. Moreover, knowing whichquadrant790,792,794,796 of the plate thehood12 is relatively positioned may be utilized in differentiating between particular anatomical features, e.g., determining which of the four pulmonary veins the user may be viewing in a patient's heart utilizing the imaging element withinhood12, as described above.
• Detailed examples are further shown and described in U.S. Pat. No. 5,515,853, which is incorporated herein above. Additionally, although three transducers are illustrated in the example onhood12 as well asplate772, additional transducers may be optionally utilized.
• Moreover, in activating theelectromagnet776, e.g., by a foot pedal, the ferromagnetic element located on thehood12 may be drawn via magnetic attraction towards the externally locatedplate772 such thathood12 is consequently drawn against the internal tissue surface. By drawing thehood12 against the internal tissue surface,hood12 may be positioned or articulated against the tissue surface by the externally locatedhandle774 andelectromagnet776 to facilitate movement of thehood12 along tissue walls.
• An example is illustrated, inFIGS. 63A to63C which showshood12 having circumferentialferromagnetic ring740 positioned thereon located within the left atrium LA of heart H. In placingplate772 ofassembly770 against the external skin surface S of the patient body (e.g., behind the back of the patient, in a position directly below the heart H, or any other position on the patient body where a visualization catheter is to be advanced along, into, or through an underlying organ or body lumen), a layer of ultrasound coupling gel may be applied between tire skin S and theexternal plate772, to ensure that ultrasound signals are conducted efficiently. After entry ofhood12 within left atrium LA, the orientation and position of thehood12 may be determined via triangulation relative toplate assembly770, as shown inFIG. 63A. Upon orienting thehood12 in a desired orientation and/or position, themovable electromagnet776 in theexternal plate772 can be magnetized, e.g., by stepping on a foot pedal, to draw theelectromagnetic ring740mid hood12 towards the tissue wall, as shown inFIG. 63B. With thehood12 positioned upon the tissue wall, handle774 andelectromagnet776 may be moved in adirection800 withinplate772 to “walk” or movehood12 along the tissue wall in acorresponding direction800′. Whilehood12 is drawn against the tissue wall, the open area may be purged of blood and the underlying tissue may be viewed throughimaging element620, as described above.
• Another variation is illustrated in the partial cross-sectional, view ofFIG. 64, which illustrates an example where rather than utilizing ultrasound transducers along an externally located plate, acatheter810 having at least threetransducers812,814,816 at known distances from one another may be intravascularly advanced, e.g., into the coronary sinus CS of a patient heart and positioned such that the transducers are located about the mitral valve. Temporarily positioning thetransducers812,814,816 within the coronary sinus CS, where they are in closer proximity with the transducers on thehood12, may reduce the loss of ultrasound signals to the environment as compared to having-transducers placed outside the body. Moreover, having the transducers communicating within the body also removes the need for ultrasound coupling gel to be applied, on the patient's skin.
• The applications of the disclosed invention discussed above are not limited to certain treatments or regions of the body, but may include any number of other treatments and areas of the body. Modification of the above-described methods and devices for carrying out the invention, and variations of aspects of the invention that are obvious to those of skill in the arts are intended to be within the scope of this disclosure. Moreover, various combinations of aspects between examples are also contemplated and are considered to be within the scope of this disclosure as well.

Claims (30)

1. A computer-assisted heart treatment system for treating a tissue of a heart, wherein blood is disposed within a chamber of the heart, the heart, treatment system comprising:

an articulatable catheter;

an imaging assembly carried by the catheter, the imaging assembly configured to obtain, while blood is disposed in the chamber, an image of a tissue surface within the chamber;

a display coupleable to the imaging assembly so as to display tire tissue surface image;

a computer-controlled guidance assembly coupled to the catheter so as to move the imaging assembly; and

a processor coupled to the computer-controlled guidance assembly so that the articulation of the catheter effects repositioning of the imaging assemble registered to the displayed tissue surface.

2. The system, ofclaim 1 further comprising a tracking system transmitting position feedback signals to the processor, wherein the processor transmits drive signals for the computer-controlled guidance assembly using the position feedback signals.

3. The system, ofclaim 2 wherein the imaging assembly comprises an imaging element and a barrier or membrane, and wherein the imaging assembly is pivotably coupled to the articulatable catheter.

4. The system ofclaim 3 wherein the barrier or membrane is pivotably coupled to the articulatable catheter such that the membrane is movable within a first plane in response to signals from the computer-controlled guidance assembly, and wherein the barrier or membrane is further pivotably coupled to the articulatable catheter such that the barrier or membrane is movable within a second plane transverse to the first plane in response to signals from the computer-controlled guidance assembly.

5. The system ofclaim 3 wherein the articulatable catheter comprises a steerable segment proximal to the barrier or membrane and having a spine and a plurality of reduced sections along the segment to facilitate steering of the segment.

6. The system ofclaim 5 wherein the plurality of reduced sections are located circumferentially such that the segment is steerable in more than one plane.

7. The system ofclaim 1 wherein the computer-controlled guidance assembly comprises one or more drive assemblies coupled to the distal end of the catheter via a respective pullwire.

8. The system ofclaim 7 wherein the drive assemblies comprise a member rotatably positioned upon an axle such that rotation of the member in a first rotational direction urges the catheter to deflect in a first direction and rotation of the member in a second rotational direction opposite to the first rotational direction urges the catheter to deflect in a second direction opposite to the first direction.

9. The system ofclaim 1 further comprising an instrument guidance assembly configured to retract an outer sheath relative to the articulatable catheter.

10. The system ofclaim 1 further comprising an instrument driver upon which the catheter is mounted and extends from.

11. A computer-assisted heart treatment system for treating a tissue of a heart, wherein blood is disposed within a chamber of the heart, the heart treatment system comprising:

an articulatable catheter;

an imaging assembly carried by the catheter, the imaging assembly configured to obtain, while blood is disposed in the chamber, an image of a tissue surface within the chamber;

a computer-control led guidance assembly coupled to the catheter so as to move the imaging assembly in response to drive signals;

a tracking system transmitting position feedback signals in response to movement of the imaging assembly; and

a processor coupled to the computer-controlled guidance assembly and the tracking system, the processor configured to transmits the drive signals using the position feedback signals.

12. A tissue treatment system, comprising:

a barrier or membrane having a first low-profile configuration and a second expanded, configuration defining an open area therein;

an articulatable catheter upon which the membrane projects distally; and

at least one magnetic element positioned within or along the barrier or membrane.

13. The system ofclaim 12 wherein the barrier or membrane is configured in a conical shape.

14. The system ofclaim 12 further comprising an imaging element positioned within or along the barrier or membrane such that tissue adjacent to the open area is able to be visualized via the imaging element.

15. The system ofclaim 12 wherein the open area is in communication with a fluid lumen defined through the catheter, and further comprising a fluid, reservoir fluidly coupled to the barrier or membrane via the fluid lumen.

16. The system ofclaim 12 wherein the at least one magnetic element comprises a magnetic ring positioned circumferentially about a lip of the barrier or membrane.

17. The system ofclaim 12 wherein the at least, one magnetic element comprises one or more coils positioned about one or more respective support struts extending along the barrier or membrane.

18. The system ofclaim 12 wherein the at least one magnetic element comprises a magnetic disc positioned upon, a support member extending through the barrier or membrane.

19. The system ofclaim 12 further comprising at least two external magnets positioned in proximity to a patient body and independently moveable, wherein movement by the at least two external magnets relative to the patient body results in a corresponding movement by the at least one magnetic element within the patient body.

20. The system ofclaim 12 further comprising at least two ultrasonic transducers positioned along the barrier or membrane and a third ultrasonic transducer positioned proximal to the barrier or membrane.

21. The system ofclaim 20 further comprising an external plate assembly having at least three ultrasonic transducers positioned over the plate assembly at known distances relative to one another.

22. The system ofclaim 21 further comprising an electromagnetic element moveable over the plate assembly, whereby movement by the electromagnetic element relative to the patient body results in a corresponding movement by the at least one magnetic element within the patient body.

23. A computer assisted method of treating a tissue surface region within a chamber of a heart, comprising:

positioning a distal portion of a catheter within the chamber, the catheter coupled to a computer-controlled guidance assembly;

locally displacing blood with a transparent fluid from an open area disposed within a portion of the chamber, the open area disposed adjacent the tissue region;

visualizing, on a display, the tissue region within the open area as imaged through the transparent fluid, and

articulating the catheter with the computer-controlled guidance assembly so that movement of the catheter within the chamber is registered, with the tissue surface region shown on the display.

24. The method ofclaim 23 wherein positioning comprises advancing the barrier or membrane into a left atrial chamber of a heart.

25. The method ofclaim 23 wherein positioning comprises deploying the barrier or membrane from a low-profile delivery configuration into an expanded deployed configuration.

26. The method ofclaim 23 wherein positioning comprises stabilizing a position of the barrier or membrane relative to the tissue region.

27. The method ofclaim 23 wherein displacing an opaque fluid comprises infusing the transparent fluid into the open area through a fluid delivery lumen defined through the catheter.

28. The method ofclaim 27 wherein infusing the transparent fluid comprises pumping saline, plasma, water, or perfluorinated liquid into the open area such that blood is displaced from therefrom.

29. The method ofclaim 23 wherein positioning comprises rotating one or more drive assemblies coupled to a distal end of the catheter via a respective pullwire.

30. The method ofclaim 29 wherein rotation of the drive assemblies in a first rotational direction urges the catheter to deflect in a first direction and rotation of the member in a second rotational direction opposite to the first rotational direction urges the catheter to deflect in a second direction opposite to the first direction.

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