3-D catheter localization using permanent magnets with asymmetrical properties about their longitudinal axis

摘要

The present invention provides systems and methods for localizing a catheter. One or more permanent magnets are mounted to a catheter. The permanent magnet(s) generate a magnetic field that is asymmetrical about the longitudinal axis of the catheter. One or more magnetic sensors are used to sense the magnetic field. Processing circuitry is configured for determining the roll of the catheter based on the sensed magnetic field. The processing circuitry can also determine the positional coordinates and/or the pitch and yaw of the catheter based on this sensed magnetic field.