DYNAMIC MAPPING POINT FILTERING USING A PRE-ACQUIRED IMAGE
First Claim
1. A method, comprising:
- acquiring, from an imaging system, an image of a body cavity;
receiving first and second sets of mapping points from a probe having a location sensor and inserted into the body cavity;
performing, by a processor, a first registration between the mapping points in the first set and the image, each of the mapping points in the first set having a respective first point error value, the first registration having a first cumulative error value indicating a quality of the first registration;
generating, using the first registration, a three-dimensional (3D) anatomical map comprising the mapping points in the first set whose respective first point error values are less than a point error threshold;
performing a second registration between the mapping points in the first and the second sets and the image, each of the mapping points in the first and the second sets having a respective second point error value, the second registration having a second cumulative error value lower than the first cumulative error value; and
generating an updated 3D anatomical map comprising the mapping points in the first and the second sets whose respective second point error values are less than the point error threshold.
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Accused Products
Abstract
A method, including acquiring a body cavity image and receiving first and second sets of mapping points from a probe inserted into the cavity. A first registration, having a first cumulative error value, is performed between the first set'"'"'s mapping points and the image, each of the first set'"'"'s mapping points having a respective first point error value, and a 3D anatomical map is generated including the first set'"'"'s mapping points whose respective first point error values are less than a specified threshold. A second registration is performed between the received mapping points and the image, each of the received mapping points having a respective second point error value, the second registration having a second cumulative error value lower than the first cumulative error value, and an updated 3D anatomical map is generated including the received mapping points whose respective second point error values are less than the specified threshold.
17 Citations
19 Claims
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1. A method, comprising:
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acquiring, from an imaging system, an image of a body cavity; receiving first and second sets of mapping points from a probe having a location sensor and inserted into the body cavity; performing, by a processor, a first registration between the mapping points in the first set and the image, each of the mapping points in the first set having a respective first point error value, the first registration having a first cumulative error value indicating a quality of the first registration; generating, using the first registration, a three-dimensional (3D) anatomical map comprising the mapping points in the first set whose respective first point error values are less than a point error threshold; performing a second registration between the mapping points in the first and the second sets and the image, each of the mapping points in the first and the second sets having a respective second point error value, the second registration having a second cumulative error value lower than the first cumulative error value; and generating an updated 3D anatomical map comprising the mapping points in the first and the second sets whose respective second point error values are less than the point error threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus, comprising:
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a probe, configured for insertion into a body cavity of a patient and comprising a location sensor for measuring a position of a distal end of the probe inside the body cavity; and a processor configured; to acquire, from an imaging system, an image of the body cavity, to receive first and second sets of mapping points from the probe inserted into the body cavity, to perform a first registration between the mapping points in the first set and the image, each of the mapping points in the first set having a respective first point error value, the first registration having a first cumulative error value indicating a quality of the first registration, to generate, using the first registration, a three-dimensional (3D) anatomical map comprising the mapping points in the first set whose respective first point error values are less than a point error threshold, to perform a second registration between the mapping points in the first and the second sets and the image, each of the mapping points in the first and the second sets having a respective second point error value, the second registration having a second cumulative error value lower than the first cumulative error value, and to generate an updated 3D anatomical map comprising the mapping points in the first and the second sets whose respective second point error values are less than the point error threshold. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A computer software product, operated in conjunction with a probe that is configured for insertion into a body cavity of a patient and includes a location sensor for measuring a location of a distal end of the probe inside the body cavity, the product comprising a non-transitory computer-readable medium, in which program instructions are stored, which instructions, when read by a computer, cause the computer:
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to acquire, from an imaging system, an image of the body cavity, to receive first and second sets of mapping points from a probe inserted into the body cavity, to perform a first registration between the mapping points in the first set and the image, each of the mapping points in the first set having a respective first point error value, the first registration having a first cumulative error value indicating a quality of the first registration, to generate, using the first registration, a three-dimensional (3D) anatomical map comprising the mapping points in the first set whose respective first point error values are less than a point error threshold, to perform a second registration between the mapping points in the first and the second sets and the image, each of the mapping points in the first and the second sets having a respective second point error value, the second registration having a second cumulative error value lower than the first cumulative error value, and to generate an updated 3D anatomical map comprising the mapping points in the first and the second sets whose respective second point error values are less than the point error threshold.
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Specification