US20090248014A1 - Apparatus for magnetically deployable catheter with mosfet sensor and method for mapping and ablation - Google Patents

Abstract

A mapping and ablation catheter is described. In one embodiment, the catheter includes a MOSFET sensor array that provides better fidelity of the signal measurements as well as data collection and reduces the error generated by spatial distribution of the isotropic and anisotropic wavefronts. In one embodiment, the system maps the change in potential in the vicinity of an activation wavefront. In one embodiment, the mapping system tracks the spread of excitation in the heart, with properties such as propagation velocity changes. In one embodiment, during measurement, the manifold carrying the sensor array expands from a closed position state to a deployable open state. Spatial variation of the electrical potential is captured by the system's ability to occupy the same three-dimensional coordinate set for repeated measurements of the desired site. In one embodiment, an interpolation algorithm tracks the electrogram data points to produce a map relative to the electrocardiogram data.

Description

REFERENCE TO RELATED APPLICATIONS
• The present application is a divisional of application Ser. No. 11/362,542, filed Feb. 23, 2006, titled “APPARATUS FOR MAGNETICALLY DEPLOYABLE CATHETER WITH MOSFET SENSOR AND METHOD FOR MAPPING AND ABLATION,” the disclosure of which is incorporated herein by reference in its entirety.
FIELD OF THE INVENTION
• A method and apparatus for navigating and recording electrical characteristics of the heart using a MOSFET sensor guided by a magnetically-deployable mechanism is described.
BACKGROUND
• Cardiac mapping using catheters introduced precutaineously into the heart chambers while recording the electrical potential and subsequently correlating the endocardial electrograms to specific anatomy of the heart suffers from multiple drawbacks. The use of fluoroscopy for correlating geometry and metrics is limited by the two-dimensional imagery of the fluoroscopy. The geometrical interpolation of the data and error reduction technique used in order to “best fit” the electrode and the site is at best an approximation. Another drawback of the existing art is the inability of existing methods to determine the measurement position in order to collect additional data points.
• Therefore, there is a substantial and unsatisfied need for an apparatus and method for guiding, steering, advancing, and locating the position of the mapping electrode for measurement of electrical potential and for providing a three-dimensional image data.
SUMMARY
• These and other problems are solved by providing a magnetically-deployable catheter control and system using a MOSFET sensor array. In one embodiment, the sensor provides better fidelity of the signal measurements as well as data collection and reduces the error generated by spatial distribution of the isotropic and anisotropic wavefronts. In one embodiment, the system maps the change in potential in the vicinity of the activation wavefront, which provides data on the thickness of the activation wavefront. In one embodiment, the mapping system tracks the spread of excitation in the heart, with properties such as propagation velocity changes. In one embodiment, during measurement, the manifold carrying the sensor array expands from a closed position state to a deployable open state [umbrella], which can sample and hold a set of data points for each QRS cycle. Spatial variation of the electrical potential is captured by the system's ability to occupy the same three-dimensional coordinate set for repeated measurements of the desired site. In one embodiment, an interpolation algorithm tracks the electrogram data points so as to produce a map relative to the electrocardiogram data.
• In one embodiment, a magnetically-deployable catheter uses a MOSFET sensor matrix for mapping and ablation. In one embodiment, a MOSFET sensor array and RF radiating antennas are configured to provide multiple states of deployable sensor configurations (radial). In one embodiment, radial umbrella-like arrays are used. The arrays sense activation spread as an energetic event. The dynamic variations of electric potential during de-polarization and re-polarization of the excitable cells of the heart can be measured as the activation avalanches.
• In one embodiment, the electrical and magnetic fields during cell activation, are measured. In one embodiment, an algorithm describes these fields and calculates the dynamic spread of the energy contained in the electric and magnetic fields, and in the multi-source excitable cell of the hearts myocardium region.
• The energy event as a methodology of representing the cardiac activation spread can be used for diagnostic and pathological assessment as well as for forming maps of the superimposed electric and energy wave upon the anatomical detail generated by x-ray imagery or other imaging methods (e.g., MRI, CAT scans, etc.).
• In one embodiment, a magnetically-deployable catheter with MOSFET sensor controlled by a magnetic catheter guidance, control, and imaging apparatus as described in U.S. patent application Ser. No. 10/690,472 titled, “System and Method for Radar Assisted catheter Guidance and Control” and US Patent 2004/0019447 and provisional application No. 60/396,302, the entire contents of which are hereby incorporated by reference.
• In one embodiment, the system provides ablation and mapping while navigating and controlling the movements of the sensors and antennas manually.
• In one embodiment, the system provides electrocardiographic maps of the myocardium region.
• In one embodiment, the ablation and mapping apparatus is magnetically-deployable using mechanism which provides the measurement of surface potential and activation time matrix by the use of a plurality of sensing points. This measurement is further refined (Error Reduction Technique) along one or more measurement radii change in desired increments, and further enhanced by measurement steps along the circumference for each radius.
• The electric potential data table provides for at least 24 element pairs (E_nand t_n) for each catheter position along the myocardium.
• In one embodiment, the sensor head measures the conductivity matrix between the sensing points during activation. The measurement can be refined (Error Reduction Technique) along radii changed in desired increments. In one embodiment, the measurements fidelity is improved by rotating the measurements as a sequence of measurements around the circumference for each radius. The conductivity data table has multiple elements for each new catheter position along the myocardium.
• In one embodiment, the mapping capabilities of electric potential and conductivity activation spread measurements is supplemented with a display of the magnitude and direction of the activation energy wave along the myocardium. This energy wave contains complimentary information to the electric field measurements about the anisotropy of the myocardium related to its conductivity during the activation excitation spread.
• In one embodiment, the apparatus displays the directional anisotropy between the electric field and the conductivity vector for cardiac disorder or pathology correlation.
• In one embodiment, the system includes an RF ablation tool. The RF ablation antennas can be selected and activated independently by configuring the driving RF (300 kHz to 1 MHZ) voltage phase-angle to obtain the required lesion geometry, such as, for example, elongated linear cuts with desired ablation depth.
• In one embodiment, the ablation and mapping catheter uses the radar imaging and fiduciary marker technique identified by U.S. application Ser. No. 10/690,472, hereby incorporated by reference, for use by catheter fitted with magnetically coupled devices.
• In one embodiment, the collected potential, timing, conductivity and energy wave data is interpolated between the sensors and extrapolated into the muscle tissues of the heart. The results are then overlaid and displayed together with the apparatus noted by application Ser. No. 10/690,472 or other imaging systems.
• In one embodiment, the catheter guidance system includes a closed-loop servo feedback system. In one embodiment, a radar system is used to determine the location of the distal end of the catheter inside the body, thus, minimizing or eliminating the use of ionizing radiation such as X-rays. The catheter guidance system can also be used in combination with an X-ray system (or other imaging systems) to provide additional imagery to the operator. The magnetic system used in the magnetic catheter guidance system can also be used to locate the catheter tip to provide location feedback to the operator and the control system. In one embodiment, a magnetic field source is used to create a magnetic field of sufficient strength and orientation to move a magnetically-responsive catheter tip in a desired direction by a desired amount.
• In one embodiment, a multi-coil cluster is configured to move and/or shape the location of a magnetic field in 3D space relative to the patient. This magnetic shape control function provides efficient field shaping to produce desired magnetic fields for catheter manipulations in the operating region (effective space).
• One embodiment includes a catheter and a guidance and control apparatus that allows the surgeon/operator to position the catheter tip inside a patient's body. The catheter guidance and control apparatus can maintain the catheter tip in the correct position.
• One embodiment includes a catheter and a guidance and control apparatus that can steer the distal end of the catheter through arteries and forcefully advance it through plaque or other obstructions.
• One embodiment includes a catheter guidance and control apparatus that is more intuitive and simpler to use, that displays the catheter tip location in three dimensions, that applies force at the catheter tip to pull, push, turn, or hold the tip as desired, and that is configured to producing a vibratory or pulsating motion of the tip with adjustable frequency and amplitude to aid in advancing the tip through plaque or other obstructions. One embodiment provides tactile feedback at the operator control to indicate an obstruction encountered by the tip.
• In one embodiment, the Catheter Guidance Control and Imaging (CGCI) system allows a surgeon to advance, position a catheter, and to view the catheter's position in three dimensions by using a radar system to locate the distal end of the catheter. In one embodiment, the radar data can be combined with X-ray or other imagery to produce a composite display that includes radar and image data. In one embodiment, the radar system includes a Synthetic Aperture Radar (SAR). In one embodiment, the radar system includes a wideband radar. In one embodiment, the radar system includes an impulse radar.
• One embodiment includes a user input device called a “virtual tip.” The virtual tip includes a physical assembly, similar to a joystick, which is manipulated by the surgeon/operator and delivers tactile feedback to the surgeon in the appropriate axis or axes if the actual tip encounters an obstacle. The Virtual tip includes a joystick type device that allows the surgeon to guide the actual catheter tip through the patient's body. When the actual catheter tip encounters an obstacle, the virtual tip provides tactile force feedback to the surgeon to indicate the presence of the obstacle. In one embodiment, the joystick includes a PHANTOM® Desktop™ haptic device manufactured by Sensable Technologies, Inc. In one embodiment, the virtual tip includes rotary control systems such as those manufactured by Hitachi Medical Systems America, Inc.
• In one embodiment, the physical catheter tip (the distal end of the catheter) includes a permanent magnet that responds to the magnetic field generated externally to the patient's body. The external magnetic field pulls, pushes, turns, and holds the tip in the desired position. One of ordinary skill in the art will recognize that the permanent magnet can be replaced or augmented by an electromagnet.
• In one embodiment, the physical catheter tip (the distal end of the catheter) includes a permanent magnet and two or more piezoelectric rings, or semiconductor polymer rings to allow the radar system to detect the second harmonics of the resonating signal emanating from the rings.
• In one embodiment, the CGCI apparatus provides synchronization by using a radar and one or more fiduciary markers to provide a stereotactic frame of reference.
• In one embodiment, the CGCI apparatus uses numerical transformations to compute currents to be provided to various electromagnets and position of one or more of the electromagnet to control the magnetic field used to push/pull and rotate the catheter tip in an efficient manner.
• In one embodiment, the CGCI apparatus includes a motorized and/or hydraulic mechanism to allow the electromagnet poles to be moved to a position and orientation that reduces the power requirements desired to push, pull, and rotate the catheter tip.
• In one embodiment, the CGCI apparatus is used to perform an implantation of a pacemaker during an electrophysiological (EP) procedure.
• In one embodiment, the CGCI apparatus uses radar or other sensors to measure, report and identify the location of a moving organ within the body (e.g., the heart, lungs, etc.) with respect to the catheter tip and one or more fiduciary markers, so as to provide guidance, control, and imaging to compensate for movement of the organ, thereby, simplifying the surgeon's task of manipulating the catheter through the body.
• In one embodiment, a servo system has a correction input that compensates for the dynamic position of a body part, or organ, such as the heart, thereby, offsetting the response such that the actual tip moves substantially in unison with the dynamic position (e.g., with the beating heart).
• In one embodiment of the catheter guidance system: i) the operator adjusts the physical position of the virtual tip, ii) a change in the virtual tip position is encoded and provided along with data from a radar system, iii) the control system generates servo system commands that are sent to a servo system control apparatus, iv) the servo system control apparatus operates the servo mechanisms to adjust the position of one or more electromagnet clusters by varying the distance and/or angle of the electromagnet clusters and energizing the electromagnets to control the magnetic catheter tip within the patient's body, v) the new position of the actual catheter tip is then sensed by the radar, thereby, allowing synchronization and superimposing of the catheter position on an image produced by fluoroscopy and/or other imaging modality, vi) providing feedback to the servo system control apparatus and to the operator interface, and vii) updating the displayed image of the catheter tip position in relation to the patient's internal body structures.
BRIEF DESCRIPTION OF THE FIGURES
• FIG. 1 is a system block diagram for a surgery system that includes an operator interface, a catheter guidance system (CGCI) and surgical equipment including a system for mapping and ablation apparatus.
• FIG. 1A is a block diagram of the imaging module for use in the CGCI surgery procedure that includes the catheter guidance system, a radar system, Hall Effect sensors and the mapping and ablation apparatus.
• FIG. 1B is a flow chart of the process for conducting an ablation procedure using the CGCI system that includes a radar system, Hall Effect sensors and the mapping and ablation apparatus.
• FIG. 2 is a block diagram of the mapping and ablation control and mapping system.
• FIG. 3 shows computer-generated and E-cardiac images including: an ECG graph with its corresponding ECG plot on an x-y plane; a conductivity map represented on the x-y plane; and a composite energy and E-vector display.
• FIG. 3A is a flow chart of the pre-ablation simulation used to predict the ablation results prior to performing the actual ablation procedure.
• FIGS. 4,4A,4B and4C shows an orthographic representation of the mapping and ablation catheter with its physical attributes.
• FIGS. 4D,4E,4F, and4G are orthographic depictions of a magnetically-deployable guidewire and ablation tool and catheter.
• FIG. 4H shows an orthographic representation of the mapping and ablation catheter in a deployed state.
• FIGS. 4I,4J,4K,4L, and4M are orthographic depictions of the wiring and electrical connections of the antennas, MOSFETs, and coils forming the circuit layout of the ablation and mapping assembly.
• FIG. 5 is a schematic diagram of the MOSFET sensor used in measuring the electric potential.
• FIGS. 6,6A, and6B show the magnetically-deployable mechanism used to reduce the measurement error and increase the surface area of the measured event.
• FIG. 7 is a cross-sectional view of the RF antenna.
• FIG. 8 is a schematic representation of the ablation tool and its attributes.
• FIGS. 9 and 9A show the catheter with closed, intermediary and fully open geometry states.
• FIG. 9B shows the endocardial electrogram map resulting from sequential measurements of electrical potential detected by the catheter at various open geometry states.
• FIG. 10 is an isometric drawing of the image capture and maps formation.
• FIG. 11 is a block diagram of the radar used in forming the dimensional manifold of the electrogram.
• FIGS. 11A and 11B illustrate identification of the catheter position and the anatomical features.
• FIGS. 12 and 12A show the manifold with its fiduciary markers used in forming the stereotactic frame.
DETAILED DESCRIPTION
• FIG. 1 is a system block diagram for asurgery system800 that includes anoperator interface500, aCGCI system1500, the surgical equipment502 (e.g., acatheter tip2, etc.), one or moreuser input devices900, and apatient390. Theuser input devices900 can include one or more of a joystick, a mouse, a keyboard, avirtual tip905, and other devices to allow the surgeon to provide command inputs to control the motion and orientation of thecatheter tip2.
• In one embodiment, theCGCI system800 includes acontroller501 and animaging synchronization module701.FIG. 1 shows the overall relationship between the various functional units and theoperator interface500,auxiliary equipment502, and thepatient390. In one embodiment, theCGCI system controller501 calculates the Actual Tip (AT) position of the distal end of a catheter. Using data from the Virtual Tip (VT)905 and the imaging andsynchronization module701, theCGCI system controller501 determines the position error, which is the difference between the actual tip position (AP) and the desired tip position (DP). In one embodiment, thecontroller501 controls electromagnets to move the catheter tip in a direction selected to minimize the position error (PE). In one embodiment, theCGCI system controller501, provides tactile feedback to the operator by providing force-feedback to theVT905.
• FIG. 1A is a block diagram of asurgery system503 that represents one embodiment of theCGCI system1500. Thesystem503 includes thecontroller501, aradar system1000, a Halleffect sensor array350 and a hydraulically-actuatedsystem1600. In one embodiment, thesensor350 includes one or more Hall effect magnetic sensors. Theradar system1000 can be configured as an ultra-wideband radar, an impulse radar, a Continuous-Wave (CW) radar, a Frequency-Modulated CW (FM-CW) radar, a pulse-Doppler radar, etc. In one embodiment, theradar system1000 uses Synthetic Aperture Radar (SAR) processing to produce a radar image.
• In one embodiment, theradar system1000 includes an ultra-wideband radar such as described, for example, in U.S. Pat. No. 5,774,091, hereby incorporated by reference in its entirety. In one embodiment, theradar1000 is configured as a radar range finder to identify the location of thecatheter tip2. Theradar1000 is configured to locate reference markers (fiduciary markers) placed on or in thepatient390. Data regarding location of the reference markers can be used, for example, forimage capture synchronization701. The motorized hydraulically and actuatedmotion control system1600 allows the electromagnets of the cylindrical coils51AT and51DT to be moved relative to thepatient390.
• In one embodiment, the use of theradar system1000 for identifying the position of thecatheter tip2 has advantages over the use of Fluoroscopy, Ultrasound, Magnetostrictive sensors, or SQUID. Radar can provide accurate dynamic position information, which provides for real-time, relatively high resolution, relatively high fidelity compatibility in the presence of strong magnetic fields. Self-calibration of the range measurement can be based on time-of-flight and/or Doppler processing. Radar further provides for measurement of catheter position while ignoring “Hard” surfaces such as a rib cage, bone structure, etc., as these do not substantially interfere with measurement or hamper accuracy of the measurement. In addition, movement and displacement of organs (e.g., pulmonary expansion and rib cage displacement as well as cardio output during diastole or systole) do not require an adjustment or correction of the radar signal. Radar can be used in the presence of movement since radar burst emission above 1 GHz can be used with sampling rates of 50 Hz or more, while heart movement and catheter dynamics typically occur at 0.1 Hz to 2 Hz.
• In one embodiment, the use of theradar system1000 reduces the need for complex image capture techniques normally associated with expensive modalities such as fluoroscopy, ultrasound, Magnetostrictive technology, or SQUID which require computationally-intensive processing in order to translate the pictorial view and reduce it to a coordinate data set. Position data synchronization of thecatheter tip2 and the organ in motion is available through the use of theradar system1000. Theradar system1000 can be used with phased-array or Synthetic Aperture processing to develop detailed images of the catheter location in the body and the structures of the body. In one embodiment, theradar system1000 includes an Ultra Wide Band (UWB) radar with a relatively high resolution swept range gate. In one embodiment, a differential sampling receiver is used to effectively reduce ringing and other aberrations included in the receiver by the near proximity of the transmit antenna. As with X-ray systems, theradar system1000 can detect the presence of obstacles or objects located behind barriers such as bone structures. The presence of different substances with different dielectric constants such as fat tissue, muscle tissue, water, etc., can be detected and discerned. The outputs from the radar can be correlated with similar units such as multiple catheters used in Electro-Physiology (EP) studies while detecting spatial location of other catheters present in the heart lumen. Theradar system1000 can use a phased array antenna and/or SAR to produce 3D synthetic radar images of the body structures,catheter tip2, organs, etc.
• In one embodiment, the location of the patient relative to the CGCI system (including the radar system1000) can be determined by using theradar1000 to locate one or more fiduciary markers. In one embodiment, the data from theradar1000 is used to locate the body with respect to an imaging system. The catheter position data from theradar1000 can be superimposed (synchronized) with the images produced by the imaging system. The ability of the radar and the optionalHall effect sensors350 to accurately measure the position of thecatheter tip2 relative to the stereotactic frame allows thecontroller501 to control movement of the catheter tip.
• FIG. 2 is a functional block diagram of the magnetically-deployable electrocardiographic (ECG) and RF ablation catheter (MDAMC) and its associated supporting equipments. Thesystem1600 includes a catheter assembly, having an electrocardiographic and ablation tool. AnECG sensor head100 includes eight MOSFET sensors7 (S₁, S₂, S₃, S₄, S₅, S₆, S₇, S₈) and eightRF antennas8, acoil3, and its counterpart coil14 (forming the magnetic mechanism), an elongated catheter body having a proximal end and an internallongitudinal lumen1, and abus wire harness15. The tool is connected via thebus wire15 to the ECG coils3 and14 driver andcontrol204. The electrocardiographic mapping and ablation catheter is provided to an ECGdata interpolation unit205. Data analyzed by theECG interpolation unit205 is used by the ablationRF power generator94 which activates theRF antennas8. The information generated by the ECG probe is provided to the applicationspecific computer91 with itssoftware200 made by National Instrument and MathLab processing software used to control the probe to display its findings on thecontrol display93, as well as theelectrocardiac display92. The system is powered by aUPS90.
• In one embodiment, a diagnostic method employed by the magnetically deployable mapping and ablation catheter (MDAMC) is statistically based on correlating electrical activity with anatomical features which further allows the practitioner to evaluate certain patterns. In one embodiment, a biophysical model is used with the electrophysiological outputs to cardiac function as well as to the waveform obtained to form a map or maps of the cardiac wave. The data points measured by thesensor100 with itsMOSFET devices7 coupled with the wavefront characterization as defined by the Poynting Energy Vector (PEV)49, are analyzed and graphically represented using thecontrol display93 and thee-cardiac display92. Correlating the electric generator during the depolarization phase in the cardiac model is related to the fact that surface-carrying elementary current dipoles (from the cellular ion kinetics across membranes) imply the subsequent avalanche (wavefronts) as it progresses through the myocardium (see e.g., A. Van OOsterom “Source Modeling of Bioelectric Signals”, Proc. 3-ed, Rayner Granit Symposium (J. Malmivno ed.) Vol. 8-6, pp 27-32 1994).
• FIG. 1B is a flow chart of the process for conducting an ablation procedure using the CGCI system that includes a radar system, Hall Effect sensors and the mapping and ablation apparatus. In one embodiment, the catheter is navigated to the mapping site using the CGCI and the Synthetic Aperture Radar. The catheter sensor arms are opened and touch the cardiac tissue. The radar reads the site position, and the sensor arm diameter and angle setting is recorded. The sensors then autocalibrate and measure the activation potential and impedances. The results are placed into the matrix created for activation potential and the matrix created for impedances; the results are accumulated over many cycles. The diameter and angle of the catheter is detected and then both are increased electromagnetically, and new data matrixes are recorded at the new diameter and angle. The activation potential and impedance matrix data is scaled and loaded into a high speed Spice computational program. The trigger threshold, timing cycle and interconnecting impedances of the simulated excitable cells are correlated and set to represent the tissue property at the site. These values are modified by the data. The output of the Spice simulation of the E vector map, the impedance map, and the Energy map are displayed as 2D/3D surfaces, vectors and repetitive transient wavefronts. Then the user marks a trial lesion area. Then the system displays the effects of the pre-ablation simulation of the trial lesion.
• FIG. 2 is a functional diagram of the main attributes which will become clear for those familiar with the art as will reading the descriptions and ensuing objects noted by the drawings which accompany them.
• FIG. 3 shows the wavefront showing the Poynting Energy Vector (PEV)49 measuring the electrical potential and interpretation of the electrical activity as well as mapping of such wavefront propagation. In one embodiment, a mathematical algorithm is used for interpolation so as to achieve a relatively coherent view of the activation path while deriving a set of secondary measurable values such as Electric Heart Vector (EHV), Magnetic Dipole (MHV) as well as impedance measure of the myocardium wall.
• The first assumption this method used is that cardiac activation spread is a relatively energetic event. It is further assumed in this model that in addition to the dynamic variations of electrical potentials during de-polarization and re-polarization of the excitable cell of the heart, a spread of electro magnetic energy is observed as the activation avalanches.
• In one embodiment, the system measures both the electric and magnetic fields during cell activation, (model relationship of normal activation sequences and degree of inter individual variability is detailed, for example, in K. Simelius et al, “Electromagnetic Extra cardiac fields simulated with bidomain propagation model,” Lab of Biomedical Engineering, Fin-02015, Hut, Finland, hereby incorporated by reference).
• The dynamic spread of the energy contained in the electric and magnetic fields are then described by the use of Maxwell equations as applied to the conduction system of the individual rather than reproducing the anatomical variation that leads to anisotropic myocardium. This “energy model” approach provides for calculation of the dynamic spread of energy contained in the electric and magnetic fields and respectively in the multisource excitable cells of the heart's myocardium region to be represented and hence mapped without the assumptions of idealized models.
• The data analysis and extraction of diagnostic as well as pathological information can be mapped as a superimposed electric and energy wave.
• To overcome the measurement limitations of myocardial anisotropy, and due to production of slam magnetic fields during an activation sequence, the algorithm and apparatus is able to regain the detection capability of a magnetic dipole (MHV) by the use of another vector derived from Maxwell's equations, the Poynting Energy Vector (PEV)49.
• Clinical observations reported that measuring the angle between vectors of equivalent electric dipole (electric heart vector, EHV) and magnetic dipole (Magnetic Heart Vector) provides significant corollary information about the myocardium conductivity. The overall anisotropic case of the myocardium conductivity is represented by a tensor. The degree of anisotropic conductivity manifestation is characterized by an angle along the transversal and axial conductivity paths.
• The solution for measuring and deriving the relationship between the Electric Heart Vector (EHV) and its respective magnetic dipole vector (MHV), (hence, supplementing the analytical mapping with additional information about the myocardium conductivity and anistrophy), is derived from Maxwell's equation as the Poynting Energy Vector (PEV)49. The PEV is constructed from the multiple potential and impedance vectors of the measurements. In one embodiment, a magnetically-deployable mapping and ablation catheter using MOSFET is used for potential sensing. A matrix arrangement for phase rotation for RF generation and the angle β between the PEV and EHV is used to infer the features of anisotropy in the myocardium. The anisotropy of the conductivity is uniform, hence activation energy change generated and consumed by the ionic diffusion process is within the activation region of the measurement. Thus, the volume integrations is accurate, with a margin of error reduction based on two independent techniques, one statistical (monte carlo) and Tikhonov regularization filtering.
• In one embodiment, the law of energy conservation is used for the time period of the two QRS cycle (e.g., 1152 data measurements) to acquire the initial baseline data foundation to form the map.
• The validity of the Poynting Energy Vector (PEV)49 derivation is corroborated by the fact that the activation spread obeys the mathematical identity that the Poynting Energy Vector (PEV)49 is directly exhibiting the E and B fields phase angle relationship. The integral form of Maxwell's equations leads to the Poynting Energy Vector (PEV)49, and to the substitution of E and Z derivations of this vector.
• Maxwell's second set of time varying equations can be written as:
• $\begin{array}{cc}\nabla \times E=-\frac{B}{t}& \left(1\right)\end{array}$
• and
• $\begin{array}{cc}\nabla \times B=\mathrm{ϛ\mu }\frac{E}{t}+\mu J& \left(2\right)\end{array}$
• By multiplying B and E respectively and subtracting Equation (2) from Equation (1) and using vector identities yields
• $\begin{array}{cc}B·\left(\nabla \times E\right)=-B·\frac{B}{t}& \left(3\right)\end{array}$
• and
• $\begin{array}{cc}E·\left(\nabla \times B\right)=\mathrm{ϛ\mu }\left(E·\frac{E}{t}\right)+\mu \left(E·J\right)& \left(4\right)\end{array}$
• Subtracting, rearranging and using vector identities yields.
• $\begin{array}{cc}\nabla ·\left(E\times B\right)=B·\left(\nabla \times E\right)-E·\left(\nabla \times B\right)& \left(5\right)\\ \nabla ·\left(E\times B\right)=-\frac{}{x}\left(\frac{1}{2}B·B\right)-\frac{}{x}\left(\mathrm{ϛ\mu }E·E\right)-\mu \mathrm{JE}& \left(6\right)\\ \nabla ·\left[\left(\frac{1}{\mu }E\times B\right)\right]+\frac{}{x}\left[\frac{\mathrm{<figure-callout\; label="ϛ"\; filenames="US20090248014A1-20091001-D00004.png,US20090248014A1-20091001-D00007.png"\; state="\{\{state\}\}">ϛ</figure-callout>}}{2}{\mathrm{<figure-callout\; label="E"\; filenames="US20090248014A1-20091001-D00004.png,US20090248014A1-20091001-D00007.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+\frac{1}{2\mu }B^2\right]+J·E=0& \left(7\right)\end{array}$
• Integrating both sides of Equation (7) over the volume V and within the boundary Y gives:
• $\begin{array}{cc}\text{?}& \\ {\int }_Y^{}\frac{1}{\mu }\left(E\times B\right)·S+\frac{}{x}{\int }_V\left(\frac{\mathrm{<figure-callout\; label="ϛ"\; filenames="US20090248014A1-20091001-D00004.png,US20090248014A1-20091001-D00007.png"\; state="\{\{state\}\}">ϛ</figure-callout>}}{2}{\mathrm{<figure-callout\; label="E"\; filenames="US20090248014A1-20091001-D00004.png,US20090248014A1-20091001-D00007.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+\frac{1}{2\mu }B^2\right)\tau +{\int }_V^{}\left(J·E-\sigma E^2\right)\tau =0\text{?}\text{indicates text missing or illegible when filed}& \left(8\right)\end{array}$
• Equation (8) is a representation of the energy equation in which the first term (8.1) is the energy flux out of Y boundary of V. The second term (8.2) is the rate of change of the sum of the electric and magnetic fields. The third term (8.3) is the rate of work within V done by the fields on the ionic charges.
• The last term in Equation (8) assumes the inclusion of the energy of the multiple sources of cell, ionic charge exchanges, thus:
• $\begin{array}{cc}{\int }_Y^{}\frac{1}{\mu }\left(E\times B\right)·S+\frac{}{x}{\int }_V\left(\frac{\mathrm{<figure-callout\; label="ϛ"\; filenames="US20090248014A1-20091001-D00004.png,US20090248014A1-20091001-D00007.png"\; state="\{\{state\}\}">ϛ</figure-callout>}}{2}{\mathrm{<figure-callout\; label="E"\; filenames="US20090248014A1-20091001-D00004.png,US20090248014A1-20091001-D00007.png"\; state="\{\{state\}\}">E</figure-callout>}}^2+\frac{1}{2\mu }B^2\right)\tau +{\int }_V^{}\left(J•E-\sigma E^2\right)\tau =0& \left(9\right)\end{array}$
• Equation (9) leads to the Poynting Energy Vector (PEV)49 of
• $\begin{array}{cc}E=\frac{1}{\mu }\left(E\times B\right)+s\mathrm{where}\nabla •s=0\left(\mathrm{Poynting}\mathrm{Energy}\mathrm{Vector}\right)& \left(10\right)\end{array}$
• The parameter of interest is the angle between the electric field and energy field. The vector E is obtained from energy vector from E field measurements by calculating the Z impedance vector.
• By using the measured potentials V_mand by employing Poisson equation, the E electric field is obtained:
• 
  ∇□σ·∇V_m=0 andE=−∇□V_m  (11)
• Then, the Poynting Energy Vector (PEV)49 can be written:
• $\begin{array}{cc}E=\frac{1}{\mu }\left(\left(E•E\right)·\frac{1}{Z}+c\right)\stackrel{\_}{n}& \left(12\right)\end{array}$
• Where the E vector and impedance Z can be calculated from the measured data points.
• One can further calculate the angle β between the E field and E energy vector, where the difference is such that:
• 
  90° −α=β.  (13)
• A display of the E energy vector is useful for cardiac disorder identification. The E potential display serves a similar purpose as with other ECG systems, and the Z conductivity display is used to calculate the RF ablation power setting prior to the ablation procedure.FIG. 3A is a flow chart showing use of the pre-ablation simulation to verify the ablation results prior to performing the ablation procedure. In one embodiment, measurements3000 of E energy data and Z conductivity data are collected from the electrocardiographic mapping andablation catheter600. This data is processed and displayed on acontrol display93 and/ore-cardiac display92. The user can mark a trial ablation area3001 to conduct a simulation to verify the ablation results prior to performing the lesion. After the user marks the trial ablation area3001, the system recalculates the E energy vector and Z conductivity to account for the hypothetical lesion, and determines the amount of RF energy that is necessary to create the lesion such that the desired conduction path is severed. Then the system displays the information3002 oncontrol display93 ande-cardiac display92. After analyzing the information, the user makes a decision3003 as whether the user desires to repeat the process or conduct the ablation procedure based on the simulation.
• The Poynting Energy Vector (PEV)49 indicates that there is a flux of energy where E and B are simultaneously present. The spread of the energy flux in the case of Maxwell's derivation is further defined by the wave equation:
• $\begin{array}{cc}\nabla \times E=-\frac{B}{t}& \left(14\right)\end{array}$
• taking the curl of each side
• $\begin{array}{cc}\nabla \times \nabla \times E=-\frac{}{x}\left(\nabla \times B\right)& \left(15\right)\end{array}$
• then
• $\begin{array}{cc}\nabla \left(\nabla ·E\right)-{\nabla }^2E=-\frac{}{x}\left(\mathrm{ϛ\mu }\frac{E}{t}\right)& \left(16\right)\end{array}$
• Hence
• $\begin{array}{cc}{\nabla }^2E-\mathrm{ϛ\mu }\frac{{\partial }^2E}{\partial {\mathrm{<figure-callout\; label="t"\; filenames="US20090248014A1-20091001-D00004.png,US20090248014A1-20091001-D00007.png"\; state="\{\{state\}\}">t</figure-callout>}}^2}=0& \left(17\right)\end{array}$
• which is the wave equation.
• In one embodiment, a simplified FEA program is used to extrapolate the energy wave for display.
• The conditions for defining the actual material constants çμ and the measured Z are related to Hadamord observation for a well posed problem so as to yield a solution for each data set.
• FIG. 3 is a computer generated91 and E-cardiac displayed92 image comprising of 4 basic visual; anECG graph54 with its corresponding ECG plot and an x-y plane; a conductivity map represented on the x-y plane and a composite energy and E-vector display53.1. The visual shown inFIG. 3 is the result of the observation that cardiac activation spread is an energetic event as defined by the formalism presented. Theapparatus1600 measure the cardiac activation spreads as an energetic event (using the MOSFET Sensor Head100). The dynamic variations of electric potentials during de-polarization and re polarization of the excitable cells is measured, computed, and displayed as a spread of electromagnetic energy (as an activation avalanches). This energy is generated by the myriads of excitable cells and expands within the heart by propagating as an energy wavefront described by the formalism in Equation (17).
• This wavefront propagation provides the clinician addition diagnostic information in addition to the prior art ECG measurements. Deducing the magnetic heart vector (MHV) by using, at least in part, the energyheart vector PEV49 is facilitated by the fact that the CGCI navigating and combiningapparatus501. By using the measured conductivity value and the corresponding ECG data, it is possible to derive thePEV49 value which represent the energy heart vector (EHV), were E and Z is substituted for B. Theapparatus1600 measures and constructs the energy vector from the multiple potential and impedance vectors of the measurements and the algorithm for computing thePEV49 and the EHV. Thecomputer91 and itssoftware200 such as, for example, Labview and MathLab, can calculate and display the composite image of theenergy vector49 and the E-vector40 shown as an image53.1. From the angle between thePEV49 and theEHV40, the physician can infer the features of anisotropy in the myocardium. In summary,FIG. 3 shows the electrocardigraphic maps of the myocardium region with details of directly measured potentials on the endocardial surface. It further measures the surface potential and activation time matrix. Theapparatus1600 measures the conductivity-time matrix between the sensing points during activation. The composite display indicates the directional anisotropy between the sensing points during activation. The composite display shows the directional anisotropy between the electric potential vector and the energy vector for the cardiac disorder.
• FIGS. 4,4A,4B,4C and4H are orthographic representations of the magnetically-deployable ablation andmapping catheter600. Anelongated catheter1 body having a proximal end and an internal longitudinal distal end lumen. Thecatheter1 is coupled topermanent magnet2, forming part of the dynamic mechanism of the deployablesensor head assembly50. The magnetically-deployable sensor head50, includes aflange holder5, which supports thesemispherical dome9, protecting the eightsensors7, and their associatedRF antennas8, in a cluster as shown. Thesensor head50 extends towardscatheter1 body to form cylinder9A which is received into acavity3 that is within thepermanent magnet2. The interior of cylinder9A contains one or more spiral ridges9B for engaging a screw, bolt or other device with corresponding spiral ridges. In one embodiment,arms6 connect to a plurality of springs which connect to thedeployable sensor head50 such that thedeployable sensor head50 is in the closed state when the springs are relaxed. When the axial movement ofcoils3 and14 displaces the arm6 (which holds thesensors7 and the RF antenna8) so as to form an “umbrella” with multiple deployment states (201,202, and203), the plurality of springs provide resistance to bias thearms6 towards to the closed position. In one embodiment,arms6 connect to a cable that allows the user to mechanically open and close thedeployable sensor head50 without the use of axial movement ofcoils3 and14.
• Twocoils3 and14 are shown as traveling on aguide rail4. The assembly is further fitted with anirrigation tunnel10, and a cooling manifold (not shown for clarity). Thecatheter600 is further embedded with aconductive ring13, forming the ground of the electrical circuit of the ablation and potential measurements (a feature which becomes clearer in the ensuing Figures).
• FIG. 4A depicts thesensor head assembly50, in its closed state where theantennas8, are nested in thesemispherical dome9 and its function is explained in detail while comparing theintermediary state202 and fully deployable state (the umbrella) shown inFIG. 4C. The relationships between the three deployable states;201 closed,202 intermediary and fullydeployable state203 in connection with theMOSFET sensor7 measurements and theRF antenna8 radiating mode are described.
• The configuration shown inFIG. 4 where the irrigation tunnel is leading to theirrigation manifold10, is used to provide a saline water solution so as to cool the radiatingantennas8, while improving the conductivity measurements62 (impedance (Z)) during the ablation procedure.
• FIG. 4B further shows the use of aguidewire379, inserted through the tunnel cavity10 (used for irrigation) so as to afford a safety measure to allow thecatheter head50 to be retrieved back to itsclosed state201. In one embodiment, guidewire379 screws into region9B to connect to cylinder9A. The safety procedure is such that when a power failure or debris collecting on the catheter (such as fat tissue, plaque, or a combination thereof) surfaces prevents retrieval of theantennas8 to itsclosed state201. The operator then inserts aguidewire379 through the irrigation tunnel, engages cylinder9A, and mechanically pulls theflange5 back to its closed state.
• FIGS. 4D and 4E show animproved catheter assembly375 andguidewire assembly379 to be used with theCGCI apparatus1500. Thecatheter assembly375 is a tubular tool that includes acatheter body376 which extends into aflexible section378 that possesses increased flexibility for allowing a more rigidresponsive tip2 to be accurately steered through a torturous path.
• Themagnetic catheter assembly375 in combination with theCGCI apparatus1500 reduces or eliminates the need for the plethora of shapes normally needed to perform diagnostic and therapeutic procedures. This is due to the fact that during a conventional catheterization procedure, the surgeon often encounters difficulty in guiding the conventional catheter to the desired position, since the process is manual and relies on manual dexterity to maneuver the catheter through a tortuous path of, for example, the cardiovascular system. Thus, a plethora of catheters in varying sizes and shapes are to be made available to the surgeon in order to assist him/her in the task, since such tasks require different bends in different situations due to natural anatomical variations within and between patients.
• By using theCGCI apparatus1500, only a single catheter is needed for most, if not all patients, because the catheterization procedure can be achieved with the help of an electromechanical system that guides the magnetic catheter andguidewire assembly379 to the desired position within the patient'sbody390 as dictated by the surgeon's manipulation of thevirtual tip905, without relying on the surgeon pushing the catheter, quasi-blindly, into the patient's body. The magnetic catheter and guidewire assembly379 (e.g., the magnetic tip can be attracted or repelled by the electromagnets of the CGCI apparatus1500) provides the flexibility needed to overcome tortuous paths, since theCGCI apparatus1500 overcomes most, if not all the physical limitations faced by the surgeon while attempting to manually advance thecatheter tip2 through the patient's body.
• Theguidewire assembly379 is a tool with aguidewire body380 and aresponsive tip2 to be steered around relatively sharp bends so as to navigate a relatively torturous path through the patient. Theresponsive tips2 of both thecatheter assembly375 and theguidewire assembly379, respectively, include magnetic elements such as permanent magnets. Thetip2 includes permanent magnets that respond to the external flux generated by the electromagnets as detailed by patent application Ser. No. 10/690,472.
• In one embodiment, theresponsive tip2 of thecatheter assembly375 is tubular, and theresponsive tip2 of theguidewire assembly379 is a solid cylinder. Theresponsive tip2 of thecatheter assembly375 is a dipole with longitudinal polar orientation created by the two ends of the magnetic element positioned longitudinally within it. Theresponsive tip2 of theguidewire assembly379 is a dipole with longitudinal polar orientation created by two ends of themagnetic element2 positioned longitudinally within it. These longitudinal dipoles allow the manipulation of bothresponsive tip2 with theCGCI apparatus1500, as the electromagnet assemblies act on thetips2 and “drag” it in unison to a desired position as dictated by the operator.
• FIG. 4F illustrates a further embodiment of thecatheter assembly375 andguidewire assembly379 to be used with theCGCI apparatus1500. InFIG. 4F, acatheter assembly310 is fitted with an additional two (or more) piezoelectric rings311, and312, located as shown. An ultrasonic detector in combination with theapparatus1500 provides an additional detection modality of the catheter tip whereby an ultrasonic signal is emitted as to excite the two piezoelectric rings and provide a measure of rotation of the catheter tip relative to the North Pole axis of themagnet2. With the aide of the computer, theCGCI apparatus1500 is capable of defining the angle of rotation of thetip2 and in the piezoelectric rings311,312 can provide additional position information to define the position, orientation, and rotation of thecatheter tip2 relative to the stereotactic framing available from the fiduciary markers700AX and700BX.
• FIG. 4G is an orthographic representation of thecatheter assembly600 used for mapping and ablation. Thecatheter600, in combination with theCGCI apparatus1500, allowing the guidance, control, and imaging of thecatheter600 as it is push/pulled, rotated, or fixed in position. Thecatheter600 includes anelongated catheter body376 having a proximal end and an internal longitudinal distal end lumen, where a permanent magnet2 (e.g., a magnet formed out of NbFe35 is used as the coupling elements for theCGCI apparatus1500 in navigating thecatheter600 to its desired designation. The catheter is also fitted with assembly50 (magnetically deployable mechanism) and sensor/antenna head assembly100.
• FIG. 4I shows thesensor head assembly100 and the deployablemagnetic mechanism50.FIG. 4I also shows wiring and conduction elements forming the electrical circuit. Aconductor15 is threaded through a conductor2.1 formed out of suitable polymer and is nested insidepermanent magnet2. Thepermanent magnet2 is further modified to accommodate an electrical insulator2.2 and an electrical ribbon2.3. The coil electrical contact14.1 travels over the ribbon2.3 to form the “hot” lead (+) of the electrical circuit, while the return path (−) is thepermanent magnet2.Coil14 and coil3 (not shown for clarity) travels over the electrical ribbon2.3 and similarlycoil3 travels over electrical ribbon2.3 located 180° and electrical contact occurs when coil contact3.1 is activated.
• FIG. 4J is a cross sectional view of the cathetermagnetic device50 whereby,coil14 is shown with its coil contact14.1 and electrical ribbon2.3 provide electrical connection betweencoil14 and Power Supply90 (shown inFIG. 8). The electrical isolation between thepermanent magnet2 and the electrical ribbon2.3 is achieved with insulator2.2. Further depicted are the conductor carriers (4 each)2.1 and theirrigation tunnel10.
• FIG. 4K shows a top view cross section of the MOSFET sensor head100 (shown inFIG. 2) where the electrical wiring schematic is defined relative to theantenna8 and theMOSFET sensor7.
• FIG. 4L is an orthographic depiction of the wiring and electrical circuit whereinconductor15 pairs are connected to theantenna8 and theMOSFET sensor7. Electrical ribbon2.3 with its conductors are threaded through conductor carrier2.1. A ground path is provided toground ring13 to close the electrical circuit.
• FIG. 4M provides a view and its cross section of the wiring layout for thesensor1600.
• FIG. 5 is an orthographic depiction of the internal equivalent circuit of the sensor array. In one embodiment, there are eight MOSFET sensors on the ablation andmapping apparatus600.
• The MOSFET potential sensing device is a junction field effect transistor that allows a current to flow which is proportional to an electric field, basically emulating a voltage-controlled resistor. Themodule100 includes a resistor. Theresistor RD17, is a linear resistor that models the ohmic resistance of source. The charge storage is modeled by two non-linear depletion layer capacitors,CGD23 andCGS24, andjunction capacitors CBD25,CGD23, andCBS19. The P-N junctions between the gate and source and gate and drain terminals are modeled by two parasitic diodes,VGD22, andVGS21.Gate1 of theMOSFET sensor tip28 isitem27 andgate2 of theMOSFET sensor assembly100 isitem26.Gate1 withreference designator27 at the sensor tip S(n) (n=1, 2, 3, . . . 8) is a relatively high impedance, insulated semiconductor structure. Thedevice100 behaves as voltage-controlled resistor. The potential between thegate structure26,27 and the drain-source structure (RS18, RD17) semiconductor substrate defines the transconductance of theoutput connections16.
• By connecting the drain-source17,18 structure to thesensor body100, the potential reference for measurement is established. This reference is configured as aring13 along with the catheter body as shown. The measurement process ofprobe100 is set to a zero voltage as the drain-source17,18 structure, the sensor'sgate junction27 assumes the tissue potential with a relatively small charging current flowing into the net parallel sum of the junction capacitors,CBD25,CGD23, andCGS19. The drain-source17,18 voltages is then applied gradually to the device charging these capacitors from the outside power source, thereby “nulling” the current needed to form the gate so as to obtain the operating potential (about 6VDC). The sensing procedure is relatively noninvasive to the cell as well as to the potential level and current drain of theprobe100 upon the cardiac tissue.Gate2,item27 provides a biasing input so as to provide a continuous active mode for theprobe100. This input is also used for self-calibration of theprobe100.
• FIGS. 6,6A, and6B are isometric representations of the actuating mechanism of the magnetically-deployable ablation catheter50 including thecoil3 and itscounterpart coil14 traveling axially on the permanent magnet2 (NbFe35). In one embodiment,coil3 and itscounterpart coil14 travel axially inside thepermanent magnet2. By applying a current, the coil moves toward or opposite to the N-S tips of the magnet Z. The magnitude of the coil currents define the position of thesensing head100.
• The ablationmagnetic assembly50 includes a 10 mm long and 3.8 mm diameter NbFe permanent magnet (item2) and thecoils3 and14. In one embodiment, thecoils3 and14 carry an equivalent current of 200 ampere-turns maximum. The coils experience force along the “x” axis. The magnetic field strength is about 1.2 tesla at the tips. The forces on the coils range from approximately 0 to ±35 gram-force at approximately 100 mA current. Controlling the coil current magnitude and polarity sets the desired tool positions (states201,202, and203). The field intensity along the axis in thepermanent magnet2, is charted byFIG. 6A. The travel and force (gram-force) of theassembly50, along the axis “x” is shown byFIG. 6B.
• The ablation sensor head100 (including theMOSFET sensors7 and RF antennas8) travels along the “x” axis to form the measurements path, by providing an axial travel and opening the manifold to provide: activation state measurement andcalibration200, deployable state sensor head atintermediary state202, and fullyopen state203. The mechanical opening of thesensor head100, to form various spatial positions (201,202, and203) allowing the apparatus to acquire the desired measurements on the same region during at least one or more QRS complex activation sequences and record the data points for relatively high fidelity measurements and error analysis techniques. The use of a magnetically-deployable mechanism to form the position during one or more QRS complex cycles further allows the apparatus to locate the electrical wavefront characteristics, so as to determine the geometry of the wavefront spreading through the myocardium.
• A three-state measurement in the same region while detecting the electrical activity of the heart improves the measurements where signal quality is poor and provides more data points for construction of the isopotential lines. The error generated due to the abrupt change in potential is further reduced by the use of the deployable states. The deployable state positions allow the apparatus to acquire local features of the wavefront such as conduction velocity, potential gradient and/or breakthrough. A neighborhood of a relatively larger area during the activation sequence further provides for stability of the acquired measurement and the establishing of statistical significance of the wavefront event recording.
• FIG. 7 is a cross section view of theRF antenna8 used in the ablation mapping apparatus. In one embodiment, there are eight antennas spaced around thesensor semispherical head9. Theantenna8, serves two functions: it is an electrode that measures the tissue impedance (Z) between the antennas, and it is also serving as the RF ablation tool (the radiator).
• Theantennas8 typically should not interfere with the measurements by injecting or draining the surface potentials46. The functional requirements of the ablation and mapping probe is first to be conductive during the impedance tests (Z)62, and the RF ablation, while theantennas8 should in a relatively high-impedance state during the ECG mapping60. In one embodiment, theantennas8 are formed using, from N junction68, andP junction69, semiconductor (N-P junction).
• The operational characteristics of theRF antennas8 is such that during the relatively sensitive ECG potential tests where thecontroller1600 activates the S₁MOSFET through S₈sensor (MOSFETS) thesilver coating70 of theantenna8 is set in a reverse-biased mode. In the reverse biased mode (acting as a diode) leakage current is small (e.g., <1 μA). During the test mode, the tissue is interfaced with the antenna as an electrode where the junction is set in a forward-biased mode, to conduct the measuring current.
• During the RF ablation mode65, the antennas are set in dual modes of conduction62 and radiation63. There is a conductive path to the tissue through the forward biased P-N junction while applying the RF voltage, while the antenna also radiates63. The arrangement of theantennas8 are set in pairs so that the antennas receive P-N and N-P semiconductor layers, thus conduction symmetry is maintained. In one embodiment, the P-N layers are shaped around the edges where the conductive part of theantenna8 meets the insulatingcase67, to reduce uneven spot-heating. (The flow effects lesion formation during RF cardiac catheter ablation as the lesion dimensions and tissue heating are dependent not only on temperature but on other secondary conditions such as heat sinking of blood flow and impedance value of the tissues).
• Theantennas8, radiate63, about 6 W of RF power each and total radiating power63 is approximately 48 W maximum.
• The Figure includes the ion flow of measurements performed by the cardiacpotential sensors7 using an isolated MOSFET gate and wiring bus nested by thearm6 which carries theconductors15 feeds by thepower supply89.
• FIG. 8 is an orthographic depiction of the mapping andablation catheter600 wherebypower supply94 is provided to thesensor7 for measuring the electric potential on the interior cardiac surface,V_n105 which is a data set electric potential value V_iat time T_iforming a spatio-temporal manifold704 (V_i, T_i, X_i, Y_i, Z_i) and calibration points700AX and700BX forming an electric map over the704 grid (manifold).Amplifier107 transmits a signal measured by theSensor7 to thedata interpolation unit205 which correlates the space temporal electric value anatomy on the map (s) which is generated and updated by the wavefront algorithm (e.g., using the Poynting Energy Vector PEV49). In one embodiment, there are eightantenna arms8 spaced around the centralmagnetic head100, which are controlled so as to form at least threespatial states201,202, and203 forming different aperture sizes. Theantennas items8 work during RF ablation in dual modes of conduction and radiation. The conductive path to the tissue through the forward biasedP-N junction68 and69 during RF (300 kHz-1 MHz) voltage application103 (performed byAmp107 and RF generator94).Antenna8 also radiates in pairs (4 sets) where the antenna receive P-N and N-P semiconductor layers, thus conduction symmetry is maintained. Conductivity measurements and impedance values (Z_n)104 are displayed so as to control the ablative energy. In one embodiment, the value of radiative energy is 6 W of RF power for each antenna with a total energy of approx. 48 W maximum.
• During ablation thesystem1600 generates RF energy which produces relatively small, homogeneous, necrotic lesions approximately 5-7 mm in diameter and 3-5 mm in depth. Thesystem1600 with its mapping andablation catheter600 is fitted with anirrigation tunnel10 which sprays a saline water over the antennas to allow the ablation system to control the energy delivery and rapidly curtail energy delivery for impedance Z_n(104) rise. The saline cools theantennas8 which minimizes impedance rises and provides for creation of larger and deeper lesions. In one embodiment, theapparatus1600 and itsMDAMC computer91 is provided with look-up-tables so as to afford a predetermined ablation geometry formation as a function of multiple parameters affecting the lesion geometry.
• In one embodiment, thesystem1600 is configured to target the slower pathway in AVNRT (the inferior atrionodal input to the atrioventricular (AV) node serves as the anterograde limb (the slow pathway). In the case of WPW (Wolff-Parkinson White Syndrome), thesystem1600 is configured to ablate the accessory pathway which carries the WPW syndrome. In cases such as atrial flutter due to a large reentrant circuit in the right atrium a linear lesion of this isthmus cures this form of atrial flutter.
• The ability of theablation system1600 to form a predefined lesion geometry is provided by theantenna8 construction P-N, N-P doping and the ability of thegenerator204 to vary the frequency (Fq)106 and phase (Fα)102 so as to afford a precision delivery of energy which forms the lesion.
• In one embodiment, thesystem1600 maps the breakthrough and potential while maintaining contact with the myocardium (Z_n), tissue desecration created by the RF energy (500 kHz) which causes a thermal injury such as desiccation necrosis. RF energy delivered by theantennas8 located on theablation head assembly100 causes the resistive heating of the predefined geometry (linear, section circumference zig zag, etc.) of the tissue in contact with theantenna8. Cooling the radiatingantennas8 is performed by theirrigation tunnel10. In one embodiment, temperature is maintained at approx. 50° C.
• FIGS. 9 and 9A show the ablation andmapping catheter600 as it is introduced precutaineously into the heart chambers and sequentially record the endocardial electrograms for correlating local electrograms to cardiac anatomy. In one embodiment, the catheter is advanced by the use of magnetic circuits which are capable of generating a magnetic field strength and gradient field to push/pull and bend/rotate the distal end of thecatheter600 and as detailed by Shachar U.S. patent application Ser. No. 10/690,472 titled “System and Method for Radar Assisted Catheter Guidance and Control” hereby incorporated by reference. Thecatheter600 is navigated and controlled locally with the aid of fluoroscopy and by the radar as it is detailed by the ensuing drawings and its accompanying descriptions.
• In one embodiment, thecatheter600 is manually advanced into the heart chambers and sequentially recorded the endocardial electrograms, again using the radar and fiduciary markers for local definition of the site, while advancing the performing the mapping and ablation procedure.
• FIG. 9 shows thecatheter600 as it is advanced through theheart chambers390.FIG. 9A shows thecatheter600 in various deployable states. In one embodiment, during measurement, the manifold holding thesensor array8 in thecatheter600, expands from aclosed position state201 to a deployable open state [umbrella]. At various open geometry states,sensor array8 samples electrical potentials to create a set of data points. In one embodiment, the catheter in the deployable state forms a circular shape as the manifold expands to form various open geometry states. The intermediaryopen state202 indicates an enlarged circumference and the fully deployableopen state203 represents thesensor array8 in its maximum spatial coverage.
• The intracardiac mapping is performed by measuring the electrical potential as it moves fromstate201 through thestate202 and finally through theopen state203. The data is provided to the computer and processingfunctional unit1600 which controls the procedures.
• FIG. 9B shows theendocardial electrogram map54 resulting from sequential measurements of electrical potential detected by the sensor array100 (including theMOSFET sensor7 and antenna array8) in thecatheter600 at various open geometry states201,202,203. The conductivity data collectedsensor array8 is processed and graphically represented using thecontrol display93 and theE-cardiac display92. In one embodiment, the conductivity data collected bysensor array8 is displayed in a contour map49.1 as depicted inFIG. 3, which also displays a contour map54.1 of the ECG data, and a vector map53.1 of the Energy and E Vector data. In one embodiment, contour map49.1 of the conductivity data also graphically displays a previous ablation site9004 from created from stored data generated from a previous ablation procedure. Previous ablation site9004 represents an area of high impedance. In one embodiment, the location of previous ablation site9004 is verified using the new data collected fromsensor array8 before previous ablation site9004 is displayed in contour map49.1.
• FIG. 9B further depicts the fiduciary marker700A1,700A2, and700B1 as shown on the dimensional grid providing the numerical x-y-z coordinate set for the catheter electrical, impedance, measurement performed using thecatheter600. Anatomical markers390.1,390.2, and390.3 are noted on the grid and recorded as to their dimensional as well as clinical significance during the travel log of the ablation andmapping catheter600. Further detail of the procedure by whichcatheter600 acquires the electrical and conductivity data relative to dimensional as well as anatomical marker are described inFIG. 10.
• Thesystem1600 with its mapping andablation catheter600 performs the tasks of mapping using thesensor array100 as follows: calibration and positiondefinition using radar1000, cardiac morphology and geometry synchronization with images generated by x-ray fluoroscopy or MRI etc is established. (Synchronization methodology is provided byradar1000 and fiduciary markers700AX and as it is detailed byFIGS. 11 and 11A).
• Data obtained from sensor array ofcatheter600 is processed and its geometry and dimensional attributes are defined as to its physiological reference. Data of maps are stored relative to its fiduciary markers, so it can be retrieved and used during the ablation sequence.
• The ablation catheter is then directed to its desired site. The wavefront characteristics are established using the Poynting Energy Vector (PEV)49 and the reconstruction of the potentials and maps of the wavefront is established as detailed as shown inFIG. 10 and its mathematical algorithm in connection withFIG. 3.
• The computer-generated maps and model analysis of the endocardium is periodically updated as thecatheter head assembly100 with itssensor array7 is moved along the cardiac chamber.
• The electrogram is synthetically constructed upon the x-ray fluoroscopy image which is pixelized and voxelized so as to allow the mapping of the wavefront characteristics as it is dimensionally, as well as, graphically layered over the heart morphology. The geometrization of the electrical potential and its maps is further detailed byFIGS. 8 and 9.
• FIG. 10 is an isometric representation of the image capture technique used by thesystem1600 in identifying the position and coordinate of thecatheter600 as it moves through the heart chambers. The electric potential measurements taken by thecatheter600 are tracked and gated by theradar1000 to allow determination of the 3D position coordinates of the catheter tip in real time. The radar and its fiduciary markers provide for the detail dimensional travel map of the catheter as it is sampling (S/H) the electric potential. Thesystem1600 reconstructs the maps on a grid formed as a 2D pixelized layout superimposed over the reconstructed myocardium chambers or as avoxel 3D vector position. The details of such scheme are outlined byFIGS. 11,11A,12, and12A.
• Thecatheter600 position is determined by theradar1000, which maintains a position and orientation above the patient. In one embodiment, theradar1000 is set approx. 1 meter from the fiduciary markers placed on or in the patient's body so that phase and range data is defined and beam compensation can be determined. To obtain the calibration points so as to track the moving catheter (range of movements is between 0.2-2 Hz band). The volume integrated, i.e., the cardio chamber (s) is denoted by voxels. Temporal filter such as an FFT denoted byFIG. 11,item1103, allows the rendering of the signal received from thecatheter600 to be position bound to the original calibrating points.
• In one embodiment, the ablation andmapping catheter600 electromechanical characteristics are; the catheter inclosed state201 is 5.12 mm in diameter. The sensor tip movement is between 1-10 mm diameter (fully opened state203), the axial movement is 2 mm and thesensor head100 tool force is 0 to ±35 gram, total radial movement along 360° is 24 position (15° along the circumference), the ablation power is 50 WRF with ablation cut size of 1-2.5 mm. The ablation tool force is 0-35 grams. Eightantennas8 are spaced along theprotective dome9 which carry eightMOSFET sensors7.
• When thecatheter600 is used while employing the CGCI apparatus, as noted by U.S. patent application Ser. No. 10/690,472, thecatheter600 exerts a force control of 0 to ±37 grams with torque control of 0 to ±35 grams.
• Thecatheter600 is detected by theradar1000 and it is placed over the manifold704 which is placed over theimaging x-ray fluoroscopy702 while gated by the fiduciary markers700AX, the normalization procedure performed by the system computer91 (orthogonal basis) allows the calibration of thecatheter tip2 relative to the fiduciary markers700AX located on thepatient390 body forming the stereotactic frame used in forming themanifold704. Navigating thecatheter600 is tracked by denoting the radar initial position as600 x radar (t), the time-varying position of thecatheter tip2, while the fiduciary markers700AX is denoted by X₀(t) and is determined as voxel o. The other fixed targets are for example the fiduciary markers mounted on the operating table700BX (fixed targets).
• The ranges of the fiduciary markers700AX and700BX are denoted by X_i(t); i=1, 2, . . . n. The fiduciary markers are passive devices emitting a radar cross section (RCS) suitable for formation of the manifold704, while traveling for example through the coronary sinus, thesystem1600 record each sign post which facilitates the formation of anatomical sign posts while forming the map (cardio chamber geometry). The sign posts are anatomical in nature and assist in realistic rendering of the synthetically-generated virtual heart surface. Electric potential data sets of ordered pairs <E_n, T_i> are recorded and are placed on the dimensional grid (manifold704) generated by theradar1000. The mapping process is data set of <E_i, T_i>60, a corresponding <M_i, T_i>61 and an impedance value <Z_i, T_i>62, data points are gated to the dimensional grid704 (the manifold with its fiduciary markers700AX and permanent reference markers700BX). Theradar1000 generates a dimensional 3D travel map which is kept for further use. Cardiac motion and pulmonary outputs are gated by the fiduciary marker calibration and body electrogram (ECG). QRS complex cycle is employed in correcting algorithms. The data points <E_i, M_i, and T_i> are correlated to thegrid704 while correction of position as well as calibration is performed in background mod.
• Thesensor array100 with its measuring devices (as detailed byFIGS. 2 and 5) used by the mapping and ablation catheter is designed to enhance the acquisition of temporal/electric potential measurements within the cardiac chambers while correlating space temporal data reconstructed from 3D fields. Thesystem1600 further provides data sets from and around the ablation area tissue surface. In one embodiment, data of the spread of excitation and the magnitude of the time-varying electric potential in 3D is obtained by the use of thesensors7, which are galvanically isolated from the tissue to be measured.
• Thesensor7 further provides for substantial increase of sinal to noise radio due to an device-signal-amplification. Thecatheter assembly600 is introduced percutaineously into the heart chambers, by the CGCI apparatus (see U.S. patent application Ser. No. 10/690,472 incorporated herein its entirety).
• Thecatheter tip2 and thesensor head100 is initially set at closed position (state201). Thecatheter600 is then activated so as to energizecoil3 andcoil14, deploying thesensor7array100 to its fully open position (state203).
• Thesensor array7 is used to provide readings at two or three positions (201,202,203) with incremental radii sensor7 (S₁-S₈). The electric potential (with its temporal as well as dimensional elements) is provided to the ECGdata interpolation unit205, based on the data fidelity thesystem controller91 instructs thesensor head assembly100 to move by deploying themagnetic apparatus50 so as to form measurements along thedifferent states201,202, and203. The axial movement ofmagnetic assembly50 with its two electromagnetic coils travels along theguide rail4.
• The axial movement ofcoils3 and14 displaces the arm6 (which holds thesensors7 and the RF antenna8) so as to form an “umbrella” with multiple states (201,202, and203). The action of themagnetic assembly50 is the result of the solenoid action generated by polarity and magnitude of thecoils3 and14 relative to thepermanent magnet2.
• In one embodiment, theCGCI apparatus1500 is used to generate a magnetic field parallel to the axis of thecatheter600permanent magnet2, holding the catheter tip in position (desired position) and the CGCI apparatus produces a gradient in this aligned field without changing its holding direction (the precision of fixing thecatheter600 in its location allows repeated measurements.
• Thecatheter600 and its associated controller as shown inFIG. 2 can be used to measure the activation time (t_i) by sampling the location (site) repeatedly, generating multiple elements of (E_i-T_i) pairs to characterize the geometrical layout of electric potential on 2D (pixels) or 3D (voxels) maps. Such maps are generated using the electric heart vector (EHV), the correlated magnetic dipole (MHV) as well as impedance values (Z) and superimposition of such maps over the synthetically generated endocardium.
• In one embodiment, the endocardium chamber geometry is modeled by an algorithm such as a simplified FEA, which models the wavefrontPoynting Energy Vector49, hence identifying sites of ectopic activation. Automatic activation geometry is further located by the radar signals forming thegrid704 to locate the path of anisotropy due to transmural fiber rotation, that were reconstructed with spatial resultant of >0.5 mm. The data points received from thecatheter600 with itssensors7, electronically interact with the cardiac cells and such interactions are collected as measured data. The energy wavefront Poynting Energy Vector (PEV)49 is used in solving the non-linear parabolic partial differential equation. The transmembranes potential typically behaves similar to a cellular automation. Hence, the use of the Hausdorf Neighborhood theorem is an appropriate description of the electrophysiological avalanche. The maps generated by the algorithm described as the Poynting Energy Vector (PEV)49 can be reconstructed as images using color for differentiating regions based on density distribution or a mash technique of geodesic line representing the electric potential (on a grid with time domain) as an elevation above the ground potential (zero), and/or as abnormal low voltage represents scar tissue which might express the underlying arrhythmia.
• FIG. 11 is a block diagram of aradar system1000 used in one embodiment of theCGCI apparatus1500. Theradar1000 shown inFIG. 11 includes a phased-array radar module1100 having transmit/receive antenna elements and a Radio Frequency (RF)module1150. Theradar system1000 includes anamplifier1101, an A/D converter1102, a FastFourier Transform module1103, and amicrocontroller1105. The apparatus further includes a memory module in the form ofRAM1112, and a look-up table in the form of aROM1111.
• One embodiment includes a voice messaging andalarm module1110, a set ofcontrol switches1109, and adisplay1108. The data generated by theradar system1000 is provided to theGCI apparatus501 via communications port1113.
• Theradar system1000 includes a phased-array and uses Microwave Imaging via Space-Time (MIST) beam-forming for detecting thecatheter tip2. An antenna, or an array of antennas, is brought relatively near the body of the patient and an ultra wideband (UWB) signal is transmitted sequentially from each antenna. The reflected backscattered signals that are received as radar echoes are passed through a space-time beam-former of the radar unit which is designed to image the energy of the backscattered signal as a function of location. The beam-former focuses spatially on the backscattered signals so as to discriminate from the background clutter and noise while compensating for frequency-dependent propagation effects. The contrast between the dielectric properties of normal tissue and thecatheter tip2 in the regions of interest provides sufficient backscatter energy levels in the image to distinguish normal tissue from thecatheter tip2, affording detection and discern ability. In one embodiment, a data-adaptive algorithm is used in removing artifacts in the received signal due to backscatter from the body tissue interface (e.g., the skin layer). One or more look-up tables containing the known dielectric constants of the catheter tip contrasted against the background dielectric information relative to the biological tissue can be used to identify features in the radar image.
• The physical basis for microwave detection of thecatheter tip2 in the biological tissue is based on the contrast in the dielectric properties of body tissue versus the signature of thecatheter tip2. The contrast of the dielectric values of biological tissue versus that of thecatheter tip2 is amplified, filtered and measured.
• A typical summary of dielectric properties in living tissues for medical imaging in the range of 10 Hz to 20 GHz and parametric models for the dielectric spectrum of tissues are configured to an (ε′) of 5-60 and electrical conductivity (σ) of 0.065-1.6 Simens/m (S/m) the relative complex permittivity, ε_r, of a material is expressed as:
• 
  ε_r=ε′+ε″)
• 
  ε′=ε/ε₀
• 
  ε″=σ/ε₀ω
• Where ε is the permittivity, ε₀is the permittivity of free space=8.854e-12 Farads/m, ε″ is the relative dielectric loss factor, and ω is the angular frequency.
• The return waveform from theradar1000 is provided to a computer using a software such as MATLAB. A target such as thecatheter tip2 is sampled with a transmitted pulse of approx. 100 ps in duration containing frequency from 400 Hz to 5 GHz with a range of approx. 1 meter in air (the range of the electromagnetic coil location). The radar emits a pulse every 250 ms (4 MHz). The return signals are sampled and integrated together to form the return waveform as measured oncircuit1000. A specific window of data of the radar interaction with thetarget2 is obtained and a Fast Fourier Transform (FFT) of the window of data is taken to produce the frequency response of the target958:
• $X\left(k\right)=\sum _{j=1}^Nx\left(j\right)W_N^{\left(j-1\right)\left(k-1\right)}$
• and by taking a Fast Fourier Transform (FFT)1103 it is possible to identify the differences betweenmetal2, or human tissues, etc. The synthetic aperture radar1117 (SAR) aids in the signal processing by making the antenna seem like it is bigger than it really is, hence, allowing more data to be collected from the area to be imaged.
• The radar can use time-domain focusing techniques, wherein the propagation distance is given:
• 
  d=2√{square root over ((x)²+(z)²)}{square root over ((x)²+(z)²)}
• and alternatively a propagation time computed given by:
• $t=\frac{2\sqrt{{\left(x\right)}^2+{\left(z\right)}^2}}{v}$
• In one embodiment, target identification and matching is performed by characterizing the target waveform of thecatheter tip2 into a single vector. The dot product is taken from the identification vector and the data whereby, perfectly aligned data and ID results in a dot product of 1, and data perpendicular to the ID (2) is resulting in dot product equal to zero. Theradar controller1105 converts the results to a percent match (dielectric value, conductivity measure) of the data of the identification vector.
• Thecatheter tip2 has a microwave scattering cross-section that is different relative to biological tissue of comparable size. The difference in scattering cross-section is indicated by the different back-scatter energy registered by the receiver, and processed so as to afford a pictorial representation on amonitor325 with a contrast between the two mediums. The pictorial view of thecatheter tip2 generated by theradar system1000 can be superimposed over theX-ray fluoroscopy image702 and its coordinate data set linked to theGCI controller501 for use as a position coordinate by the servo feedback loop. In one embodiment, microwave imaging via space-time (MIST) beam-forming is used for detecting backscattered energy from thecatheter tip2 while the background is biological tissue.
• In one embodiment, a data set <E_iT_i> and <x; y; z> position coordinates are used with the ablation andmapping apparatus1600 in forming the maps as shown inFIG. 10.
• Theradar system1000 detects the presence and location of various microwave scatters, such as thecatheter tip2, embedded inbiological tissue390. The space-time beam-former assumes that each antenna in an array transmits a low-power ultra-wideband (UWB) signal into the biological tissue. The UWB signal can be generated physically as a time-domain impulse960 or synthetically1117 by using a swept frequency input. In one embodiment, theradar system1000 uses a beam-former that focuses the backscattered signals of thecatheter tip2 so as to discriminate against clutter used by the heterogeneity of normal tissue and noise while compensating for frequency-dependent propagation effects. The space-time beam-former achieves this spatial focus by time-shifting the received signals to align the returns from the targeted location. One embodiment of the phased-array radar1000 forms a band of finite-impulse response (FIR) filters such as high dielectric doping in the antenna cavity, forming the reference signal, where the doping is relative to the device of interest (e.g., catheter tip2). The signals from the antenna channels are summed to produce the beam-former output. A technique such as weights in the FIR filters can be used with a “least-squares fitting” technique, such as Savitzky-Golay Smoothing Filter to provide enhancement of the received signal and to compute its energy as a function of the dielectric properties versus the scattered background noise of body tissue, thereby providing a synthetic representation of such a signal. The system can distinguish differences in energy reflected bybiological tissues390 and thecatheter tip2 and display such energy differences as a function of location and co-ordinates relative to the fiduciary markers700Ax through700Bx. In one embodiment, theradar module1000 uses anFFT algorithm1103 which uses a filtering technique to allow theradar1000 sensor to discern varieties of dielectric properties of specific objects known to be used in a medical procedure, such as aguidewire379 and/or acatheter310 withpiezoelectric ring311 and312 so as to afford differentiation of various types of instruments like catheters, guide-wires, electrodes, etc.
• FIG. 11A is a graphical representation of thecatheter tip2 embedded with one, two or morepiezoelectric rings311 and312 such as Lead-Zirconate-Titanate (PZT) and/or molecularly conjugated polymers such as switchable diodes (polyacetylene). The second harmonics generated by therings311 and312 provide an identifiable return signature in the second harmonic due to the non-linearity of the material. While the fundamental harmonic (e.g., 5 MHz) is transmitted by the radar, the second harmonic (e.g., 10 MHz) is readily distinguishable by theradar system1000. This allows theradar system1000 to discern between the catheter tip2 (which typically has a ferrite such as samarium-cobalt SmCo5, or neodymium-iron-boron, NdFeB) and the PZT rings311 and312. The ability to distinguish between the signal return fromcatheter tip2 and the PZT rings311 and312, allows theradar system1000 to filter out the background clutter received from the body tissue and to recognize the position and orientation of therings311 and312 and the position co-ordinates of thecatheter tip2. The technique of using two different dielectric properties and electrical characteristics of thetip2 versus thePZT311 and312 provides thecatheter tip2 with a radar signature that can be recognized by theradar system1000.
• FIG. 11B further illustrates how theradar system1000 with its transmit and receive antennas is used to detect the position co-ordinates and orientation ofcatheter tip2 relative to its two PZT rings311 and312. A geometrical manipulation is employed by theradar system1000 and its associatedFFT filter1103 by theresident microcontroller1105. As shown inFIGS. 4D,4E,4F, a catheter-like device is provided with a magnetically-responsive tip2. In one embodiment, thetip2 includes a permanent magnet. The polarity of the permanent magnet is marked by two PZT rings where the north pole is indicated by aPZT ring312 and the distal end of the ferrite where thesemi-flexible section310 of thecatheter376 is marked with theadditional PZT ring311, also marking the south pole of the ferrite.
• In one embodiment, theferrite2 in the catheter tip is used by the ablation andmapping catheter600 as described byFIG. 4 and its accompanying descriptions.
• Theradar system1000 transmits a burst of energy that illuminates theferrite catheter tip2. The return signal from thecatheter tip2 is received by the radar and its position is registered by observing the time of flight of the energy, thereby determining the location of thecatheter tip2 as position co-ordinates in a three-dimensional space. By employing the two PZT rings311 and312, theradar detector1000 is also capable of discerning the location of thetip2 relative to the two PZT rings so as to afford a measurement ofPZT ring312 relative to the secondpiezoelectric ring311 with reference to the position co-ordinates ofcatheter tip2. Theradar detector1000 can discern the return signal from PZT rings311 and312 due to the non-linear characteristic of PZT material that generates a second harmonic relative to the incident wave. By comparing the strength of the fundamental frequency and the second harmonic, theradar system1000 is able to discern the position and orientation of the two PZT rings relative to theferrite2, thereby providing position and orientation of thecatheter tip2.
• FIG. 11B illustrates the technique of measuring the position and orientation of thecatheter tip2 by the use of theradar detector1000 and using the fiduciary markers700AX and700BX to form a frame of reference for the catheter dynamics such as movement relative to the frame of reference. As shown inFIGS. 11A and 11B the fiduciary markers700AX and700BX form amanifold701. The locations of the markers700AX and700BX are measured by theradar system1000.
• In one embodiment, the markers are electrically passive and can be made from a polymer or PZT material to allow the radar antenna to receive a signal return which is discernable. Criteria such as the conductivity of a substance such ascatheter tip2 relates at least in part to how much the radar signal is attenuated for a given depth (e.g., the higher the conductivity the higher the loss for a constant depth). An average conductivity of 1S/m at 1 GHz signal would penetrate thehuman body390 approximately 1.8 cm.
• The dielectric constant of all targets is typically less than 5 (e.g., cotton(1.35),Nylon 5, etc.). The conductivity of metals is relatively large, and relatively small for most dielectrics (with Nylon on the order 1e-3 and that of cotton and rayon being saturated by that of water, blood and tissue). The relative permittivity of the targets will be in the order of 2-3 orders of magnitude lower than that of the surrounding tissue, and the conductivity of the metals will be 6-7 orders of magnitude greater than that of the surrounding tissue.
• The dielectric properties as well as the conductivity measure of thetarget catheter tip2 and/or its directional markers PZT rings311 and312 allow theradar1000 to discern the target out of the surrounding clutter (body tissue390) and perform the task ofposition definition2 within the referential frame of fiduciary markers700AX and700BX.
• In one embodiment, the return waveform is recorded for a static (clutter) environment, and then a target is inserted into the environment and once the clutter is subtracted from the return waveform theradar1000 processes a target response (clutter is a general term referring to anything the radar will interact with that is not a desired target). In one embodiment, the data is processed and defined in terms of a machine language as model for theCGCI controller501 and is used by the controller to close the servo loop. In one embodiment, the data generated by theradar1000 is used for mapping andablation system1600 and itscomputer91 to form the grid/manifold704 so as to enable the dimensional placement of the <E_iT_i> pairs <M_iT_i> pairs. The data60 and61 are then used by the imaginggraphic generator200 to form the vectoral electrocardiograph maps.
• FIGS. 12 and 12A show an image displayed on themonitor325. Thecineoangiographic image702 of an arterial tree is shown with a reconstructed radar signature of thecatheter tip2. Theimage702 contains a numerical grid defined and calculated by theradar1000 and a data set of coordinate or vector representation of catheter position where the Actual Position (AP) is displayed. A similar data set ofcatheter position2 is fed to theCGCI controller501 or to theablation computer91 for the purpose of closing the loop of the servo control system of theCGCI apparatus1500 and for definition of the dimensional grid for ablation. A graphic depiction of thecatheter tip2 is shown inFIG. 12 where themonitor325 displays the stereotactic frame formed by the fiduciary markers700AX and700BX obtained from theradar signature1000. Thecatheter tip2 is shown in the approximate cube formed by the fiduciary markers700AX and700BX. The ensemble of position data relative to coordinates, is formed asdynamic manifold704. The manifold704 is used for a processing synchronization of the catheter tip position (AP) relative to thestereotactic frame701. The process of synchronization is gated in the time domain with the aid of anEKG electrocardiogram502, whereby thecontroller501, internal clock is synchronized with the EKG QRS complex so as to provide a Wiggers' diagram. Synchronization allows theCGCI controller501 to gate the dimensional data and coordinate set of fiduciary markers so as to move in unison with the beating heart. The technique noted byImage Synchronization701 allows theablation catheter600 and itscomputer91 to update the electrocardiograph maps on a real time basis hence enabling thesystem1600 to form an accurate view of the mapping and ablation and therefore reduce the use of x-radiation.
• Synchronization of the image of thecatheter tip2 orguidewire379, captured by theradar system1000, is superimposed onto the fiduciary markers which are represented digitally and are linked dynamically with theimage702. This is done so as to create a combinedmanifold704, which is superimposed onto thefluoroscopic image702, and moves in unison with the area of interest relative to the anatomy in question. For example, the beating heart and its cardio-output; the pulmonary expansion and contraction, or spasm of thepatient390, all these are dynamically captured and linked together so as to achieve a substantial motion in unison between the catheter's tip and the body organ in question.
• Synchronization701 of thecatheter tip2 with its referential markers700AX and700BX allows for dynamically calibrating the relative position and accurately gating the cineographic image (or ultrasonic) with the beating heart. Further, theCGCI1500 and the ablation/mapping catheter1600 can be used to capture the data set-manifold704 in the time domain of thepatient390 EKG signal. TheCGCI controller501 and/or theablation system1600 can display and control the movement of thecatheter tip2 in unison with the beating heart. Synchronization by the use of fiduciary markers700AX and700BX captured by thecatheter tip2, using thedata set704, and superimposing it over thecineographic image702 and gating it based on EKG signal from the patient'sbody390, allows the position data to be linked to thecontroller501/91 to close the servo loop and to provide the dimensional grid for forming the electrical maps.
• TheCGCI controller501/91 can perform the data synchronization without the active use of x-ray imagery since data of catheter position is provided independently by theradar signal1000.
• The invention is not limited only to the examples described above. Other embodiments and variations will be apparent to one of ordinary skill in that art upon reading the above disclosure. Thus, the invention is limited only by the claims.

Claims (13)

1. A catheterization method, comprising:

guiding a distal end of a catheter to a desired region of tissue;

spreading sensor arms of said catheter;

establishing contact between said sensor arms and the region of tissue;

sensing a position of said sensor arms;

measuring activation potential data using sensors provided to said sensor arms;

measuring impedance data of tissue between said sensor arms using contacts provided to said sensor arms; and

displaying a map of activation potential and impedance of said region of tissue.

2. The method ofclaim 1, further comprising using said activation potential data and said impedance data in a calculation to predict an RF ablation lesion.

3. The method ofclaim 2, further comprising creating an RF ablation lesion.

4. The method ofclaim 1, wherein said sensors comprise MOSFET sensors.

5. The method ofclaim 1, wherein said contacts comprise PN junctions.

6. The method ofclaim 1, wherein said contacts comprise alternating PN junctions.

7. The method ofclaim 1, further comprising calculating an angle between an E vector and an energy vector in said region of tissue.

8. The method ofclaim 7, further comprising identifying anomalies in activation vector spreads where an angle between said E vector and said energy vector exceeds a threshold.

9. The method ofclaim 1, wherein said position of said sensor arms is measured using radar.

10. The method ofclaim 1, wherein said position of said sensor arms is measured using X-rays.

11. The method ofclaim 1, further comprising:

calculating a desired direction of movement for said distal end;

computing a magnetic field needed to produce said movement;

controlling a plurality of electric currents and pole positions to produce said magnetic field; and

measuring a location of said distal end.

12. The method ofclaim 1, further comprising controlling one or more electromagnets to produce said magnetic field.

13. The method ofclaim 1, further comprising simulating a magnetic field before creating said magnetic field.

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