System and method for automatically registering three dimensional cardiac images with electro-anatomical cardiac mapping data
First Claim
1. A computer-implemented method for automatically registering during an operative procedure a three dimensional (3D) pre-operative image of a heart with intra-operative electrophysiological (EP) points of a 3D electro-anatomical (EA) image map of the heart, the method performed by the computer comprising the steps of:
- providing a segmented triangulated surface of the heart extracted from the pre-operative 3D image of the heart;
acquiring one or more EP points of the heart during an operative procedure;
selecting at least one EP point associated with a first cardiac chamber, and a first corresponding point on a surface of said first cardiac chamber from said segmented triangulated surface;
using said first corresponding points to register during said operative procedure the segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber;
selecting at least one or more EP points associated with a second cardiac chamber, and second corresponding points on a surface of said second cardiac chamber from said segmented triangulated surface; and
using said second corresponding points to register during said operative procedure the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber,wherein the registration of said segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber are used to initialize the registration of the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber, andwherein the registration of said segmented triangulated surface of said first and second cardiac chambers with EP points associated with said first and second cardiac chambers is represented by a rigid transformation matrix.
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Abstract
A system and method for automatically registering a three dimensional (3D) pre-operative image of an anatomical structure with intra-operative electrophysiological (EP) points of a 3D electro-anatomical (EA) image map of the anatomical structure is disclosed. The pre-operative image is displayed in a first supporting view. The intra-operative EA image map is displayed in a second supporting view. An alignment of the pre-operative image with the intra-operative map is performed by identifying at least one corresponding point on each image. The view of the pre-operative image is integrated with the EA map based on the alignment.
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Citations
18 Claims
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1. A computer-implemented method for automatically registering during an operative procedure a three dimensional (3D) pre-operative image of a heart with intra-operative electrophysiological (EP) points of a 3D electro-anatomical (EA) image map of the heart, the method performed by the computer comprising the steps of:
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providing a segmented triangulated surface of the heart extracted from the pre-operative 3D image of the heart; acquiring one or more EP points of the heart during an operative procedure; selecting at least one EP point associated with a first cardiac chamber, and a first corresponding point on a surface of said first cardiac chamber from said segmented triangulated surface; using said first corresponding points to register during said operative procedure the segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber; selecting at least one or more EP points associated with a second cardiac chamber, and second corresponding points on a surface of said second cardiac chamber from said segmented triangulated surface; and using said second corresponding points to register during said operative procedure the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber, wherein the registration of said segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber are used to initialize the registration of the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber, and wherein the registration of said segmented triangulated surface of said first and second cardiac chambers with EP points associated with said first and second cardiac chambers is represented by a rigid transformation matrix. - View Dependent Claims (2, 3, 4, 5, 6, 7, 15, 17)
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8. A system for automatically registering during an operative procedure a three dimensional (3D) pre-operative image of a heart with intra-operative electrophysiological (EP) points of a 3D electro-anatomical (EA) image map of the heart, the system comprising:
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a display for displaying the pre-operative images in a first supporting view and the intra-operative EA image maps in a second supporting view; a processor for maintaining the pre-operative images and intra-operative EA maps of the anatomical structure, the processor performing the following steps, providing a segmented triangulated surface of the heart extracted from the pre-operative 3D image of the heart; acquiring one or more EP points of the heart during an operative procedure; selecting at least one EP point associated with a first cardiac chamber, and a first corresponding point on a surface of said first cardiac chamber from said segmented triangulated surface; using said first corresponding points to register during said operative procedure the segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber; using said registration of the segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber to guide a transition from displaying said first cardiac chamber to displaying a second cardiac chamber; selecting at least one or more EP points associated with a second cardiac chamber, and second corresponding points on a surface of said second cardiac chamber from said segmented triangulated surface; and using said second corresponding points to register during said operative procedure the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber, wherein the registration of said segmented triangulated surface of said first and second cardiac chambers with EP points associated with said first and second cardiac chambers is represented by a rigid transformation matrix. - View Dependent Claims (9, 10, 11, 12, 13, 14, 16, 18)
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Specification