Rendering of diagnostic imaging data on a three-dimensional map

• US 6,650,927 B1
• Filed: 08/18/2000
• Issued: 11/18/2003
• Est. Priority Date: 08/18/2000
• Status: Active Grant

• Current Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Original Assignee: Biosense, Inc. (Cardinal Health, Inc.)
• Inventors: Keidar, Yaron
• Primary Examiner(s): Shaw, Shawna J.
• Application Number:
  US09/643,666
• Time in Patent Office: 1,187 Days
• Field of Search: 600/407, 600/424, 600/374, 600/508, 600/468, 128/899, 607/122
• US Class Current: 600/424
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/1077 Measuring of profiles
• CPC Class Codes: A61B 5/352 Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
• CPC Class Codes: A61B 5/721 using a separate sensor to detect motion or using motion information derived from signals other than the physiological signal to be measured
• CPC Class Codes: A61B 6/503 for diagnosis of the heart
• CPC Class Codes: A61B 8/0883 for diagnosis of the heart
• CPC Class Codes: A61B 8/5276 due to motion
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 2207/30048 Heart; Cardiac
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration

Abstract

A method and apparatus for mapping a structure in a body of a subject includes capturing a three-dimensional (3D) image of the structure comprising diagnostic information, and generating a 3D geometrical map of the structure using a probe inserted into the structure. The image is registered with the map, such that each of a plurality of image points in the image is identified with a corresponding map point in the map. The map is displayed such that the diagnostic information associated with each of the image points is displayed at the corresponding map point.

Claims

1. A method for mapping a structure in a body of a subject, comprising:

capturing a three-dimensional (3D) image of the structure comprising diagnostic information;

providing a probe having a position sensor for determining position and orientation information of the probe;

generating a 3D geometrical map of the structure using a probe inserted into the structure and using the position sensor of the probe by contacting the probe with multiple points on the structure, each point having position and orientation information associated therewith and defined as a map point on the map;

registering the image with the map, such that each of a plurality of image points in the image is identified with a corresponding map point in the map by performing a bullseye rendition of a stack of parallel slices of the image; and

displaying the map, such that the diagnostic information associated with each of the image points is displayed at the corresponding map point.

2. A method according to claim 1, wherein the diagnostic information is related to blood flow in the structure.

3. A method according to claim 2, wherein the diagnostic information comprises local perfusion data.

4. A method according to claim 1, wherein the diagnostic information comprises metabolic data.

5. A method according to claim 1, wherein the diagnostic information is related to uptake of a substance in tissue of the structure.

6. A method according to claim 1, wherein the diagnostic information is related to motion of the structure.

7. A method according to claim 1, wherein generating the geometrical map comprises bringing the probe into contact with the structure at a multiplicity of locations on the structure, and recording position coordinates of the probe at the locations.

8. A method according to claim 7, wherein recording the position coordinates comprises determining the coordinates using the position sensor in the probe.

9. A method according to claim 1, wherein registering the image with the map comprises applying a transformation to at least one of the image and the map so that following the transformation, the image and the map have a common axis and a common scale.

10. A method according to claim 9, wherein registering the image with the map comprises dividing the image into a plurality of parallel planar slices, perpendicular to the axis and mutually spaced along the axis, and wherein the plurality of image points are located in the slices.

11. A method according to claim 10, wherein registering the image with the map comprises finding an axial coordinate of each of the slices and an angular coordinate of each of the image points located in each of the slices, and identifying each of the image points with the map point having the same axial and angular coordinates.

12. A method according to claim 11, wherein the structure comprises a wall defining a cavity, and wherein identifying each of the image points with the map point comprises finding, at the axial and the angular coordinate, the image point that is within a section of the wall.

13. A method according to claim 1, wherein displaying the map comprises coloring the map to reflect the diagnostic information.

14. A method according to claim 1, and comprising performing a medical procedure on the structure guided by the diagnostic information displayed on the map.

15. A method according to claim 14, wherein performing the medical procedure comprises using the probe to perform the procedure locally at locations selected on the geometrical map.

16. A method according to claim 15, and comprising marking on the geometrical map the locations at which the procedure was performed.

17. A method according to claim 15, wherein performing the medical procedure comprises performing a therapeutic procedure.

18. A method according to claim 17, wherein the diagnostic information relates to local blood flow in the structure, and wherein performing the therapeutic procedure comprises performing a procedure for improving the local blood flow.

19. A method according to claim 15, wherein performing the medical procedure comprises performing a diagnostic procedure.

20. A method according to claim 1, wherein the structure comprises a heart of the subject, and wherein generating the geometrical map comprises mapping an endocardial surface in a ventricle of the heart.

21. Apparatus for mapping a structure in a body of a subject, comprising:

an imaging device, adapted to capture a three-dimensional (3D) image of the structure comprising diagnostic information;

a probe having a position sensor for determining position and orientation information of the probe and adapted to be inserted into the structure, so as to generate a 3D geometrical map of the structure based on position and orientation information using the position sensor;

a processor, coupled to the probe and to the imaging device, and adapted to register the 3D image with the 3D geometrical map by performing a bullseye rendition of a stack of parallel slices of the 3D image, such that each of a plurality of image points in the 3D image is identified with a corresponding map point in the 3D geometrical map; and

a display, coupled to be driven by the processor to display the 3D geometrical map, such that the diagnostic information associated with each of the image points is displayed at the corresponding map point.

22. Apparatus according to claim 21, wherein the diagnostic information is related to blood flow in the structure.

23. Apparatus according to claim 22, wherein the diagnostic information comprises local perfusion data.

24. Apparatus according to claim 21, wherein the diagnostic information comprises metabolic data.

25. Apparatus according to claim 21, wherein the diagnostic information is related to uptake of a substance in tissue of the structure.

26. Apparatus according to claim 21, wherein the diagnostic information is related to motion of the structure.

27. Apparatus according to claim 21, wherein to generate the geometrical map, the probe is brought into contact with the structure at a multiplicity of locations on the structure, and the processor records position coordinates of the probe at the locations.

28. Apparatus according to claim 27, wherein the position sensor is used for determining position information in the form of position coordinates.

29. Apparatus according to claim 21, wherein the processor is adapted to register the image with the map by applying a transformation to at least one of the image and the map so that following the transformation, the image and the map have a common axis and a common scale.

30. Apparatus according to claim 29, wherein the processor is further adapted to divide the image into a plurality of parallel planar slices, perpendicular to the axis and mutually spaced along the axis, wherein the plurality of image points are located in the slices.

31. Apparatus according to claim 30, wherein the processor is adapted to find an axial coordinate of each of the slices and an angular coordinate of each of the image points located in each of the slices, and to identify each of the image points with the map point having the same axial and angular coordinates.

32. Apparatus according to claim 31, wherein the structure comprises a wall defining a cavity, and wherein the processor is adapted to identify each of the image points with the map point by finding, at the axial and the angular coordinate, the image point that is within a section of the wall.

33. Apparatus according to claim 21, wherein the map is colored to reflect the diagnostic information.

34. Apparatus according to claim 21, and comprising a medical instrument adapted to perform a medical procedure on the structure guided by the diagnostic information displayed on the map.

35. Apparatus according to claim 34, wherein the medical instrument is contained in the probe, which is adapted to be used to perform the procedure locally at locations selected on the geometrical map.

36. Apparatus according to claim 35, wherein the processor is adapted to mark on the geometrical map the locations at which the procedure was performed.

37. Apparatus according to claim 35, wherein the medical procedure comprises a therapeutic procedure.

38. Apparatus according to claim 37, wherein the diagnostic information relates to local blood flow in the structure, and wherein the therapeutic procedure comprises a procedure for improving the local blood flow.

39. Apparatus according to claim 35, wherein the medical procedure comprises a diagnostic procedure.

40. Apparatus according to claim 21, wherein the geometrical map comprises a map of an endocardial surface in a ventricle of the heart.