COINTEGRATION FILTER FOR A CATHETER NAVIGATION SYSTEM

摘要

A system (10) and method for determining a position of a medical device (14) within a body (12) are provided. The system includes an electronic control unit (26) that receives position signals from position sensors of a first type (46) and a second type (48) disposed on the device and applies a filter to each of the position signals to obtain filtered estimated positions for each sensor. The unit computes a spline connecting the position sensors of the first type (46) responsive to the filtered estimated positions for the sensors and estimates a spline position for the sensor of the second type (48) along the spline. The unit generates maps between the spline position and filtered and unfiltered estimated positions for the sensor of the second type (48) and determines actual positions for the sensors of the first type (46) responsive to the filtered estimated position for the sensors and a composite map of the two maps.