A method for registering a catheter navigation system to a three-dimensional image generally includes obtaining a three-dimensional image including position information for a plurality of surface points on a part of a patient's body, using a catheter navigation system to place a tool at a location on the surface of the patient's body, measuring position information for the surface location, identifying a corresponding location on the image, associating position information for the surface location and the location identified on the image as a fiducial pair, and using at least one fiducial pair to generate a mapping function. The mapping function transforms points within the coordinate system of the catheter navigation to the coordinate system of the three-dimensional image such that, for each fiducial pair, the mapping error is about zero. Suitable warping algorithms include thin plate splines, mean value coordinates, and radial basis function networks.

A gap between a plurality of ablation sites in a heart that hinders electrical propagation therethrough is found by projecting the locations of the sites in a 3-dimensional coordinate system onto a simulation plane, identifying a set of shortest 3-dimensional paths that correspond to 2-dimensional connections between pairs of the projected locations of the sites, and reporting a gap as a longest one of the set.

A map generator can be programmed to generate a multi-parameter graphical map by encoding at least two different physiological parameters for a geometric surface, corresponding to tissue of a patient, using different color components of a multi-dimensional color model such that each of the different physiological parameters is encoded by at least one of the different color components.

Aspects of the disclosure relate to an instrument for pacing, mapping, sensing, and/or ablating cardiac tissue that includes an electrogram filtering circuit. To supply radio frequency energy, the disclosed instruments are only optionally connected to a radio frequency generator. When connected to a generator, the electrogram filtering circuit can be provided in a handle of the instrument, or in a connector, for example, to protect the instrument from potentially high-powered radio frequency energy. Alternatively, various disclosed embodiments are capable of pacing/sensing as a standalone device. The connector can be provided separately from both the instrument and the generator. In some embodiments, the electrogram filtering circuit is adaptive to suit a variety of generators.

A catheter adapted for greater mapping resolution and location precision has a basket-shaped, high density electrode assembly for large-area mapping, and an integrated distal tip providing an array of ultra-high density microelectrodes for acute focal mapping. The basket-shaped electrode assembly 18 has a plurality of electrode-carrying spines and the distal tip has a nonmetallic, electrically insulating substrate body with indentations in which microelectrodes are positioned in a manner that the outer surface is generally flush with the outer surface of the substrate body to present a generally smooth, atraumatic distal tip profile.

This disclosure is directed to a catheter having a basket-shaped electrode assembly with a high electrode density. The basket-shaped electrode assembly may have a plurality of spines, such as up to twelve, each with a plurality of electrodes, such as up to sixteen. Each spine may have cabling with embedded coiled wires such that each electrode is attached through the sheath to one of the wires.

Navigation of an instrument within a luminal network can include image-based branch detection and mapping. Image-based branch detection can include identifying within an image one or more openings associated with one or more branches of a luminal network. Image-based branch mapping can include mapping the detected one or more openings to corresponding branches of the luminal network. Mapping may include comparing features of the openings to features of a set of expected openings. A position state estimate for the instrument can be determined from the mapped openings, which can facilitate navigation of the luminal network.

The present disclosure relates generally to the field of energy transfer mapping, including fixtures with two-dimensional and three-dimensional sensor arrays. In particular, the present disclosure relates to devices and methods for mapping of energy transfer from and/or to an instrument inserted within and/or into body tissue, including the depths and patterns of penetration and/or amounts of energy transfer to and/or from an instrument delivered within biological tissue or materials that mimic biological tissue, including within fixtures with three-dimensional temperature sensor arrays configured to simulate anatomical geometries such as the gastrointestinal (GI) or respiratory tract.

This disclosure is directed to a catheter having a basket-shaped electrode assembly with a high electrode density. The basket-shaped electrode assembly may have a plurality of spines, such as up to twelve, each with a plurality of electrodes, such as up to sixteen. The distal ends of the plurality of spines are joined at a distal hub, all of which are fashioned from a single piece of superelastic material.

A catheter has single axis sensors mounted directly along a portion of the catheter whose position/location is of interest. The magnetic based, single axis sensors are on a linear or nonlinear single axis sensor (SAS) assembly. The catheter includes a catheter body and a distal 2D or 3D configuration provided by a support member on which at least one, if not at least three single axis sensors, are mounted serially along a length of the support member. The magnetic-based sensor assembly may include at least one coil member wrapped on the support member, wherein the coil member is connected via a joint region to a respective cable member adapted to transmit a signal providing location information from the coil member to a mapping and localization system. The joint region provides strain relief adaptations to the at least one coil member and the respective cable member from detaching.