Stabilized energy-delivery procedures

Abstract

Apparatus and methods are described for use with a portion of a subject's body that moves as a result of cyclic activity, including sensing a phase of the cyclic activity. In a first cycle of the activity, in response to sensing that the activity is at a given phase, a therapeutic tool is actuated to apply a treatment to the portion by applying energy to the portion. Following the given phase in the first cycle and prior to an occurrence of the given phase in a subsequent cycle, the tool is inhibited from applying energy to the portion. In a second cycle of the activity, subsequent to the inhibiting of the application of energy to the portion, and in response to sensing that the second cycle is at the given phase, the tool is actuated to apply energy to the portion. Other applications are also described.

1 . (canceled) 
     
     
         2 . A method for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, the method comprising:
 sensing a phase of the cyclic activity;   in a first cycle of the cyclic activity, in response to sensing that the cyclic activity is at a first given phase thereof, actuating a therapeutic tool to apply a treatment to the portion of the subject's body by applying energy to the portion of the subject's body;   following the given phase in the first cycle and prior to an occurrence of the given phase in a subsequent cycle of the cyclic activity, inhibiting the tool from applying energy to the portion of the subject's body; and   in a second cycle of the cyclic activity, subsequent to the inhibiting of the application of energy to the portion of the subject's body, and in response to sensing that the second cycle of the cyclic activity is at the given phase thereof, actuating the tool to apply energy to the portion of the subject's body.   
     
     
         3 . The method according to  claim 2 , further comprising:
 in a third cycle that is between the first and second cycles, in response to sensing that the cyclic activity is at the given phase thereof, moving at least a portion of the tool, and   following the given phase in the third cycle, and prior to an occurrence of the given phase in a further subsequent cycle of the cyclic activity, inhibiting the portion of the tool from moving.   
     
     
         4 . The method according to  claim 2 , further comprising:
 while actuating the tool to apply energy to the portion of the subject's body, acquiring a plurality of images of the tool inside the portion of the subject's body;   generating a stabilized image stream by stabilizing the images with respect to the given phase of the cyclic activity; and   displaying the stabilized image stream.   
     
     
         5 . The method according to  claim 2 ,
 wherein the tool includes a myocardial revascularization tool configured to sequentially apply a revascularization treatment to respective treatment sites within the portion of the subject's body,   wherein actuating the tool to apply energy to the portion of the subject's body comprises actuating the tool to apply a revascularization treatment to a treatment site,   the method further comprising between successive applications of energy to the portion of the subject's body, moving at least a portion of the revascularization tool toward successive treatment sites.   
     
     
         6 . The method according to  claim 5 , wherein moving at least a portion of the revascularization tool toward successive treatment sites comprises moving the at least the portion of the tool such as to create a defined pattern of treatment sites. 
     
     
         7 . The method according to  claim 2 ,
 wherein the tool includes an ablation tool configured to sequentially ablate respective ablation sites within the portion of the subject's body,   wherein actuating the tool to apply energy to the portion of the subject's body comprises actuating the tool to ablate an ablation site, and   the method further comprising between successive applications of energy to the portion of the subject's body, moving at least a portion of the ablation tool toward successive ablation sites.   
     
     
         8 . The method according to  claim 7 , wherein moving the at least the portion of the tool comprises moving the at least the portion of the tool such as to create a defined pattern of ablation sites. 
     
     
         9 . The method according to  claim 7 , wherein moving the at least the portion of the tool comprises moving the at least the portion of the tool such as to apply a Maze procedure to the ablation sites. 
     
     
         10 . The method according to  claim 7 , wherein actuating the tool to ablate the ablation site comprises actuating the tool to ablate the ablation site using an ablation technique selected from the group consisting of: laser ablation, electrocautery, RF ablation, cryogenic ablation, and ultrasound ablation. 
     
     
         11 . The method according to  claim 7 , wherein moving the at least the portion of the tool comprises moving the at least the portion of the tool such as to apply a pulmonary vein isolation technique to a heart of the subject. 
     
     
         12 . Apparatus for use with a portion of a body of a subject that moves as a result of cyclic activity of a body system of the subject, the apparatus comprising:
 a sensor for sensing a phase of the cyclic activity;   a therapeutic medical tool configured to apply a treatment to the portion of the subject's by body by applying energy to the portion of the subject's body; and   an actuator configured:
 in a first cycle of the cyclic activity in response to the sensor sensing that the cyclic activity is at a first given phase thereof, to actuate the tool to apply energy to the portion of the subject's body, 
 following the given phase in the first cycle and prior to an occurrence of the given phase in a subsequent cycle of the cyclic activity, to inhibit the tool from applying energy to the portion of the subject's body, and 
 in a second cycle of the cyclic activity, subsequent to the inhibiting of the tool from applying energy to the portion of the subject's body, and in response to the sensor sensing that the second cycle of the cyclic activity is at the given phase thereof, to actuate the tool to apply energy to the portion of the subject's body. 
   
     
     
         13 . The apparatus according to  claim 12 , wherein the actuator is configured:
 in a third cycle that is between the first and second cycles, in response to sensing that the cyclic activity is at the given phase thereof, to move at least a portion of the tool, and   following the given phase in the third cycle, and prior to an occurrence of the given phase in a further subsequent cycle of the cyclic activity, to inhibit the portion of the tool from moving.   
     
     
         14 . The apparatus according to  claim 12 , further comprising:
 an imaging device configured to acquire a plurality of images of the tool inside the portion of the subject's body; and   a display,   wherein the actuator is configured to generate a stabilized image stream by stabilizing the images with respect to the given phase of the cyclic activity; and to drive the display to display the stabilized image stream.   
     
     
         15 . The apparatus according to  claim 12 , wherein the tool comprises a myocardial revascularization tool configured to sequentially apply a revascularization treatment to respective treatment sites within the portion of the subject's body, and wherein the actuator is configured to:
 actuate the tool to apply a revascularization treatment to a treatment site by actuating the tool to apply energy to the portion of the subject's body, and   between successive applications of energy to the portion of the subject's body, to move at least a portion of the revascularization tool toward successive treatment sites.   
     
     
         16 . The apparatus according to  claim 15 , wherein the actuator is configured to move the tool such as to create a defined pattern of treatment sites. 
     
     
         17 . The apparatus according to  claim 12 , wherein the tool comprises an ablation tool configured to sequentially ablate respective ablation sites within the portion of the subject's body, and wherein the actuator is configured to:
 actuate the tool to ablate an ablation site by actuating the tool to apply energy to the portion of the subject's body, and   between successive applications of energy to the portion of the subject's body, to move at least a portion of the ablation tool toward successive ablation sites.   
     
     
         18 . The apparatus according to  claim 17 , wherein the ablation tool is configured to ablate the ablation sites using an ablation technique selected from the group consisting of: laser ablation, electrocautery, RF ablation, cryogenic ablation, and ultrasound ablation. 
     
     
         19 . The apparatus according to  claim 17 , wherein the actuator is configured to move the at least the portion of the tool by moving the at least the portion of the tool to such as create a defined pattern of ablation sites. 
     
     
         20 . The apparatus according to  claim 17 , wherein the actuator is configured to apply a Maze procedure to the ablation sites by moving the at least the portion of the tool toward successive ablation sites. 
     
     
         21 . The apparatus according to  claim 17 , wherein the ablation tool is configured to apply a pulmonary vein isolation technique to a heart of the subject by applying energy to successive ablation sites.