ROBOTIC SURGICAL SYSTEM AND METHOD FOR DIAGNOSTIC DATA MAPPING

摘要

A method of generating a diagnosis map of at least a portion of the heart (152) includes inserting an electrode (154) within the portion of a heart (152), robotically moving the electrode (154) therein, measuring electrophysiology information at a point on the surface (82) of the heart, associating the measured electrophysiology information with position information for the point on the surface (82) of the heart, repeating the measuring and associating steps for a plurality of points on the surface (82) of the heart, thereby generating a plurality of surface diagnostic data points, and generating the diagnosis map therefrom. The electrode (154) may be moved within the heart randomly, pseudo randomly, or according to one or more predetermined patterns. A three dimensional model of the portion of the heart (152) may be provided and presented as a graphical representation, either with or without information indicative of the measured electrophysiology information superimposed thereon.