DETERMINING NON-CONTACT STATE FOR A CATHETER

摘要

A method, including inserting a probe into a cavity in a subject's body and receiving, from a force sensor in the probe, first readings indicative of a first change in measured contact forces between the probe and the cavity by less than a predetermined limit over at least a predetermined interval of time. The method continues by receiving second readings from the force sensor when the second readings have changed by more than a predetermined force threshold or location coordinates of the probe have changed by at least a predetermined location change threshold. The method continues by receiving third readings indicative of a second change in the measured contact forces between the probe and the cavity by less than the predetermined limit over at least the predetermined interval of time. The method concludes by calibrating a zero-force point for the force sensor according to the third readings.

主权项

1. A method, comprising:
inserting a probe into a cavity in a body of a subject; receiving, in a first period, from a force sensor in the probe, first readings indicative of a first change in measured contact forces between the probe and the cavity by less than a predetermined limit over at least a predetermined interval of time; receiving, in a second period after the first period, second readings from the force sensor when one condition is met from a set of conditions consisting of: the second readings having changed by more than a predetermined force threshold in the second period; and location coordinates of the probe having changed by at least a predetermined location change threshold in the second period; receiving from the force sensor, in a third period after the second period, third readings indicative of a second change in the measured contact forces between the probe and the cavity by less than the predetermined limit over at least the predetermined interval of time; and calibrating a zero-force point for the force sensor according to the third readings.