System and method for complex geometry modeling of anatomy using multiple surface models

• US 7,988,639 B2
• Filed: 12/29/2006
• Issued: 08/02/2011
• Est. Priority Date: 05/17/2006
• Status: Active Grant

• Current Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Original Assignee: St. Jude Medical (Abbott Laboratories Incorporated)
• Inventors: Starks, Daniel R.
• Primary Examiner(s): Patel; Niketa I
• Assistant Examiner(s): Lavert; Nicole F
• Application Number:
  US11/647,275
• Publication Number:
  US 20070270705A1
• Time in Patent Office: 1,677 Days
• Field of Search: 600/424, 600/506, 600/508
• US Class Current: 600/508
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• 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: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 2210/41 Medical

Abstract

Disclosed herein are methods and systems for creating a complex model of the human anatomy. The anatomy may be modeled using multiple geometries. Generally, a plurality of line-of-sight models may be combined into a composite model. Multiple clouds of points may be used to create surface models which may then be merged into a common volume. The resulting composite model may include portions that are not within a line of sight of a mean center point of the composite model. The surface models may be modeled using polygons, including for example, triangles. Disclosed herein are also ways in which electrophysiology data and/or other information may be mapped from a measurement point to a point on the composite model.

Claims

1. A method of creating a surface model of an anatomy, comprising:

obtaining a first plurality of location points defining a first section of the anatomy, said first plurality of location points having a first mean center point from which a line of sight may be drawn to every location point of the first plurality of location points;

generating a first three-dimensional surface model of the first section of the anatomy using the first plurality of location points;

obtaining a second plurality of location points defining a second section of the anatomy, said second plurality of location points having a second mean center point from which a line of sight may be drawn to every location point of the second plurality of location points, wherein said second section of the anatomy includes at least an area of the anatomy that is not included within the first section of the anatomy, and wherein at least one location point of the second plurality of location points is not within a line of sight of the first mean center point;

generating a second three-dimensional surface model of the second section of the anatomy using the second plurality of location points; and

combining the first three-dimensional surface model with the second three-dimensional surface model to create a composite three-dimensional surface model for the first and second sections of the anatomy.

2. The method of claim 1, wherein the process of generating a first three-dimensional surface model comprises:

generating a first three-dimensional surface model of the first section of the anatomy using the first plurality of location points, wherein said first three-dimensional surface model comprises a plurality of polygons; and

wherein the process of generating a second three-dimensional surface model comprises generating a second three-dimensional surface model of the second section of the anatomy using the second plurality of location points, wherein said second three-dimensional surface model comprises a plurality of polygons.

3. The method of claim 2, wherein the combining process comprises:

identifying a plurality of polygons of the first three-dimensional surface model lying wholly outside a volume of the second section of the anatomy;

identifying a plurality of polygons of the second three-dimensional surface model lying wholly outside a volume of the first section of the anatomy; and

defining a composite three-dimensional surface model comprising the plurality of identified polygons lying wholly outside the volume of the second section of the anatomy and the plurality of identified polygons lying wholly outside the volume of the first section of the anatomy.

4. The method of claim 3, wherein the polygons are defined by a plurality of edges, the method further comprising:

for each polygon of the first three-dimensional surface model that intersects with a polygon of the second three-dimensional surface model, trimming along lines of intersection so as to discard portions of one or more intersecting polyhedrons that are interior to one of the first and second three-dimensional surface models, thereby creating a plurality of trimmed edges;

defining new polyhedrons that use as a vertex at least one vertex of an intersecting polyhedron of the one or more intersecting polyhedrons and using as additional vertices points at which trimmed edges meet lines of intersection, the new polyhedrons defining an intersection surface area; and

supplementing the composite three-dimensional model by adding the new polyhedrons that define the intersection surface area.

5. The method of claim 4, further comprising generating topological information for the new polyhedrons.

6. The method of claim 4, further comprising:

projecting a line from a measurement point P to one of the first mean center point and the second mean center point, and determining a point P1 on the surface of the composite three-dimensional model at which the projected line intersects the composite three-dimensional model; and

associating measurement information from the measurement point P with the point P1 on the surface of the composite three-dimensional model.

7. The method of claim 4, further comprising:

determining a point P2 on the surface of the composite three-dimensional model that is closest to a measurement point P; and

associating measurement information from the measurement point P with the point P2 on the surface of the composite three-dimensional model.

8. The method of claim 2, wherein the polygons used to model the first and second sections of the anatomy are triangles, and wherein the triangles are defined by a plurality of edges.

9. The method of claim 8, where in the combining process comprises:

identifying a plurality of triangles of the first three-dimensional surface model lying wholly outside a volume of the second section of the anatomy;

identifying a plurality of triangles of the second three-dimensional surface model lying wholly outside a volume of the first section of the anatomy;

for each triangle of the first three-dimensional surface model that intersects with a triangle of the second three-dimensional surface model, trimming along lines of intersection so as to discard portions of the triangles that are interior to one of the first and second three-dimensional surface models, thereby creating a plurality of trimmed edges; and

defining new triangles that define an intersection surface area, each new triangle using as a first vertex a vertex of an intersecting triangle and using as second and third vertices points at which trimmed edges of one or more intersecting triangles meet lines of intersection; and

defining a composite three-dimensional surface model comprising;

a) the plurality of identified triangles lying wholly outside the volume of the second section;

b) the plurality of identified triangles lying wholly outside the volume of the first section; and

c) the new triangles that define the intersection surface area.

10. The method of claim 1, wherein the first three-dimensional surface model is disjointed from the second three-dimensional surface model.

11. The method of claim 1, further comprising:

obtaining a cardiac electrophysiology map comprising position information identifying a plurality of measurement locations and electrophysiology measurements made at each of the plurality of measurement locations;

identifying location points in the composite three-dimensional surface model that are proximate the measurement locations for the identified plurality of measurement locations; and

assigning at least one electrophysiology level for a measurement location to an identified location point in the composite three-dimensional surface model based on a degree of proximity between the identified location point and the measurement location.

12. The method of claim 1, further comprising:

inserting a measurement electrode within a portion of the heart;

placing the measurement electrode at a plurality of locations along a surface of the heart;

receiving position information for each of the plurality of locations along the surface of the heart;

recording electrical activity at each of the plurality of locations along the surface of the heart;

projecting a line from a measurement point to one of the first mean center point and the second mean center point;

determining a point on the surface of the composite three-dimensional surface model at which the projected line intersects the composite three-dimensional surface model; and

associating the recorded electrical activity with the point on the surface of the composite three-dimensional surface model at which the projected line intersects the composite three-dimensional surface model.

13. A system for presenting complex cardiac geometries to a physician comprising:

a modeling processor to generate a first three-dimensional model of a first portion of a heart comprising position information for a plurality of location points within the first portion of the heart and a second three-dimensional model of a second portion of the heart comprising position information for a plurality of location points within the second portion of the heart,

wherein the second portion of the heart includes at least one area of the heart that is not included in the first portion of the heart; and

a geometry processor to combine the first three-dimensional model with the second three-dimensional model to create a combined geometric model for the first and second portions of the heart, wherein at least one point on a surface of said combined geometric model is not within a line of sight of a mean center point of the combined geometric model.

14. The system of claim 13, wherein the modeling processor further comprises a display device to present the combined geometric model for the first and second portions of the heart.

15. The system of claim 13, wherein the modeling processor further comprises:

a catheter having an electrode in a distal end of the catheter; and

a localization system to determine the location of the electrode.

16. The system of claim 13, wherein each of the first and second three dimensional models comprises a plurality of triangles;

wherein the geometry processor adds a plurality of triangles to connect the first three-dimensional model to the second-three dimensional model; and

wherein the geometry processor generates data representative of a combination of the first three-dimensional model, the second three-dimensional model and the plurality of triangles added to connect the first three-dimensional model to the second three-dimensional model.

17. The system of claim 13, wherein each of the first and second three dimensional models comprises a plurality of triangles defined by edges, and wherein at least one triangle from the plurality of triangles comprising the first three dimensional model intersects along a line of intersection with at least one triangle from the plurality of triangles comprising the second three dimensional model, and wherein the geometry processor creates a combined geometric model comprising:

a) a first plurality of triangles from the first three-dimensional model lying wholly outside a volume of the second three-dimensional model;

b) a second plurality of triangles from the second three-dimensional model lying wholly outside a volume of the first three-dimensional model;

c) at least one transition triangle having three vertices;

a first vertex that is common to a triangle of one of the first and second three-dimensional models that intersects with a triangle from the other of the first and second three dimensional models;

a second vertex that is defined by a point at which an edge of a triangle from the first three dimensional model intersects with the second three dimensional model; and

a third vertex that is defined by a point at which an edge of a triangle from the second three dimensional model intersects with the first three dimensional model;

wherein said combined geometric model has a mean center point from which at least one portion of the combined geometric model is not within a line of sight.

18. A method of creating a three-dimensional model of an anatomy, comprising:

obtaining a first three-dimensional model of a first portion of an anatomy, said first three-dimensional model comprising position information for a plurality of location points within the first portion of the anatomy;

obtaining a second three-dimensional model of a second portion of the anatomy, said second three-dimensional model comprising position information for a plurality of location points within the second portion of the anatomy,

wherein at least one of the first and second portions of the anatomy includes at least one area of the anatomy that is not included in the other of the first and second portions of the anatomy;

wherein at least one of the first three-dimensional model and the second three-dimensional model is a line-of-sight geometry for which the following condition is met;

every portion of the three-dimensional model is visible from a mean center point of the three dimensional model; and

combining the first three-dimensional model with the second three-dimensional model to create a composite geometric model for the first and second portions of the anatomy, said composite geometric model having a mean center point and at least one portion not in a line of sight from the mean center point.

19. The method of claim 18, wherein the step of obtaining a first three-dimensional model comprises:

inserting an electrode within a first portion of an anatomy;

placing the electrode at a plurality of location points along a surface of the first portion of the anatomy;

receiving position information for each of the plurality of location points along the surface of the first portion of the anatomy; and

generating a first three-dimensional model of the first portion of the anatomy comprising position information for each of the plurality of location points within the first portion of the anatomy.

20. The method of claim 19, wherein the step of obtaining a second three-dimensional model comprises:

receiving a data file comprising position information for each of a plurality of location points along a surface of the second portion of the anatomy; and

generating a second three-dimensional model of the second portion of the anatomy comprising position information for each of the plurality of location points within the second portion of the anatomy from the data file.

21. The method of claim 20, wherein the first and second three-dimensional models further comprise information formatted to identify three-dimensional spaces using a plurality of triangular facets, and wherein the step of combining the first three-dimensional model with the second three-dimensional model comprises:

drawing a plurality of triangles to connect the first three-dimensional model to the second-three dimensional model; and

generating data representative of a combination of the first three-dimensional model, the second three-dimensional model and the plurality of triangles drawn to connect the first three-dimensional model to the second three-dimensional model.

22. The method of claim 20, wherein the first and second three-dimensional models further comprise information formatted to identify three-dimensional spaces using a plurality of triangles, and wherein the step of combining the first three-dimensional model with the second three-dimensional model comprises:

identifying a plurality of triangles of the first three-dimensional model lying wholly outside a volume of the second three-dimensional model;

identifying a plurality of triangles of the second three-dimensional model lying wholly outside a volume of the first three-dimensional model;

for each triangle of the first three-dimensional model that intersects with a triangle of the second three-dimensional model, trimming edges of the triangle along lines of intersection so as to discard portions of the triangles that are interior to one of the first and second three-dimensional models, thereby creating a plurality of trimmed edges;

defining new triangles that use as a vertex at least one vertex of an intersecting triangle and that use as additional vertices points at which trimmed edges meet lines of intersection, the new triangle defining an intersection surface area; and

defining a composite geometric model for the first and second portions of the anatomy, said composite geometric model comprising;

a) the plurality of identified triangles lying wholly outside the volume of the second three-dimensional model;

b) the plurality of identified triangles lying wholly outside the volume of the first three-dimensional model; and

c) the new triangles that define the intersection surface area;

wherein said composite geometric model has a mean center point from which at least one portion of the composite geometric model is not within a line of sight.