Controlling direction of ultrasound imaging catheter

摘要

The position of an imaging catheter in a body structure such as the heart is automatically controlled by a robotic manipulator such that its field of view at all times includes the distal end of a second catheter that is employed to effect a medical 5 procedure. A processor receives signals from position sensors in the catheters. The processor utilizes the information received from the sensors and continually determines any deviation of the second catheter from the required field of view of the imaging catheter. The processor transmits compensation instructions to the robotic manipulator, which when executed assure that the imaging catheter tracks the second 10 catheter. 13/10/06,16071 speci,2 0/ 37 46 40 41k3 12 s _ 6