(i9) United States
(12) Patent Application Publication
Wittkampf et al.
(io) Pub. No.: US 2008/0161668 Al (43) Pub. Date: Jul. 3, 2008
(54) FILTERING METHOD FOR SURFACE MODELING
(76) Inventors: Frederik H. Wittkampf, Bilthoven (NL); John A. Hauck, Shoreview, MN(US)
14901 DEVEAU PLACE
MINNETONKA, MN 55345-2126
(21) Appl.No.: 11/647,591
(22) Filed: Dec. 29, 2006
(51) Int. CI.
A61B 5/05 (2006.01)
(52) U.S. CI 600/372
A system for mapping a tissue surface includes a probe for mapping a tissue surface, a localization system to measure a location data point indicative of the probe's location, a memory in which to store the location data point, a servo mechanism to move the probe along at least a portion of the tissue surface, a controller to move the probe to a plurality of locations and to record in the memory a plurality of location data points, and a contact-sensing processor to analyze the plurality of location data points and to identify a subset thereof on the tissue surface. A modeling processor generates a model of the tissue surface using the subset of location data points. The contact-sensing processor utilizes probe velocity, or a rate of change in the distance moved by the probe, to determine contact between the probe and the tissue surface.