Dynamic mapping point filtering using a pre-acquired image

• US 9,572,535 B2
• Filed: 12/05/2013
• Issued: 02/21/2017
• Est. Priority Date: 12/05/2013
• Status: Active Grant

• Current Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Original Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Inventors: Shushan, Sharona Ben, Merschon, Asaf, Massarwa, Fady
• Primary Examiner(s): Do, Anh
• Application Number:
  US14/097,875
• Publication Number:
  US 20150157267A1
• Time in Patent Office: 1,174 Days
• Field of Search: 382/285, 382/128, 382/131, 382/115, 382/270, 250/208.1, 600/103, 600/409
• US Class Current: 1/1
• CPC Class Codes: A61B 2576/023 for the heart
• CPC Class Codes: A61B 5/0044 for the heart
• CPC Class Codes: A61B 5/0073 by tomography, i.e. reconstruction of 3D images from 2D projections A61B5/0066 takes precedence
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/318 Heart-related electrical modalities, e.g. electrocardiography [ECG]
• CPC Class Codes: A61B 5/6852 Catheters
• CPC Class Codes: A61B 5/6869 Heart
• CPC Class Codes: A61B 5/6885 Monitoring or controlling sensor contact pressure
• CPC Class Codes: A61B 5/7221 Determining signal validity, reliability or quality A61B5/7207 and A61B5/7217 take precedence
• CPC Class Codes: A61B 5/7235 Details of waveform analysis A61B5/349 takes precedence
• CPC Class Codes: A61B 5/742 using visual displays A61B5/339 takes precedence
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/461 Displaying means of special interest
• CPC Class Codes: A61B 6/503 for diagnosis of the heart
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 2210/41 Medical

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.

Claims

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.

2. The method according to claim 1, and comprising presenting the 3D anatomical map and the updated 3D anatomical map on a display.

3. The method according to claim 1, wherein the body cavity comprises a heart, and wherein the probe comprises an intracardiac catheter.

4. The method according to claim 1, wherein the 3D anatomical map comprises an electroanatomical map.

5. The method according to claim 1, wherein the second registration is performed upon a specific time period elapsing after the first registration.

6. The method according to claim 1, wherein the second registration is performed upon the second set having a specific number of mapping points.

7. The method according to claim 1, and comprising, prior to performing the first registration, specifying the point error threshold.

8. The method according to claim 1, wherein the first point error value for a given mapping point indicates a first quality of the given mapping point relative to the first registration, and wherein the second point error value for the given mapping point indicates a second quality of the given mapping point relative to the second registration.

9. The method according to claim 8, and comprising prior to the second registration, calculating a respective first point error value for each of the mapping points in the second set, and including, in the first map, the mapping points in the second set whose respective first point error values are less than the point error threshold.

10. An apparatus, comprising:

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.

11. The apparatus according to claim 10, and comprising a display, and wherein the processor is configured to present the 3D anatomical map and the updated 3D anatomical map on a display.

12. The apparatus according to claim 10, wherein the body cavity comprises a heart, and wherein the probe comprises an intracardiac catheter.

13. The apparatus according to claim 10, wherein the 3D anatomical map comprises an electroanatomical map.

14. The apparatus according to claim 10, wherein the processor is configured to perform the second registration upon a specific time period elapsing after the first registration.

15. The apparatus according to claim 10, wherein the processor is configured to perform the second registration upon the second set having a specific number of mapping points.

16. The apparatus according to claim 10, wherein the processor is configured, prior to performing the first registration, to specify the point error threshold.

17. The apparatus according to claim 10, wherein the first point error value for a given mapping point indicates a first quality of the given mapping point relative to the first registration, and wherein the second point error value for the given mapping point indicates a second quality of the given mapping point relative to the second registration.

18. The apparatus according to claim 17, wherein the processor is configured, prior to the second registration, to calculate a respective first point error value for each of the mapping points in the second set, and to include, in the first map, the mapping points in the second set whose respective first point error values are less than the point error threshold.

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:

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.