Biosense Webster (israel) Ltd.

Biosense Webster, Inc.

Fady Massarwa

Assaf Cohen

Natan Sharon Katz

Akram Zoabi

Asaf Merschon

Lior Zar

Sigal Altman

Ido Ilan

Sharona Ben Shushan

Aharon Turgeman

Benjamin Cohen

Yoav Lichtenstein

Eliahu Zino

Eid Adawi

Gil Zigelman

Itai Doron

Leonid Zaides

Liav Moshe Adi

Roy Urman

Meytal Segev

Elad Nakar

Yoav Benaroya

Jonathan Yarnitsky

Lior Greenbaum

Eliyahu Ravuna

Gal Bar Zohar

A method for generating a skeleton in an image of a cavity of an organ of a body includes receiving a map of the cavity, the map including surface voxels and interior voxels. A subset of the interior voxels is generated, of candidate locations to be on the skeleton. The subset is pruned by removing outlier candidate locations. Using a geometrical model including a statistical model, the candidate locations remaining in the pruned subset are spatially compressed. The compressed candidate locations are connected to produce one or more centerlines of the skeleton. At least the skeleton is displayed to user.

Skeletonization of medical images from incomplete and noisy voxel data

A system includes a display and a processor. The display is configured to display at least a map of an organ having tissue including first and second surfaces that are facing one another. The processor is configured to: (i) receive a first position of a first lesion formed by ablating the first surface, (ii) calculate on the second surface, a second position that is facing the first position, and (iii) display, over the map, a marker indicative of the second position for guiding a user to produce in the tissue a second lesion facing the first lesion.

Applying ablation signals to both sides of tissue

Systems and methods are disclosed for linking a point-list to a three-dimensional anatomy of the heart. Techniques disclosed include recording a point-list, where each entry in the point-list comprises data elements, and is associated with a location in the heart and a measurement. The associated measurement is acquired by an electrode of a catheter that is placed at the associated location in the heart. Techniques disclosed further include selecting one or more anchor points associated with a region of interest in the heart, then, for each entry in the recorded point-list, computing a data element of distance between the entry's associated location in the heart and the selected one or more anchor points, and manipulating entries in the point-list based on their respective data elements.

Point-list linking to three-dimensional anatomy

A method, includes receiving an anatomical map of a patient organ, the anatomical map including properties obtained at respective locations on a first surface of the organ. A design line produced on a second surface of the anatomical map, is received. One or more of the properties that, when falling along the design line, will be visualized thereon, are selected, and the one or more properties falling along the design line, are visualized.

Displaying annotations on design line formed on anatomical map

A method includes, receiving, on a surface of an anatomical map of a patient organ having a first presentation, a selection of a first selected region, which is intended to have a second presentation, different from the first presentation. A perimeter of the first selected region, and at least an unselected area positioned within the first selected region, are identified. A second selected region is produced, the second selected region includes the first selected region and the unselected area. The anatomical map, having the second presentation applied to the second selected region, is displayed.

Regional resolution in fast anatomical mapping

A system includes a display and a processor. The processor is configured to obtain a point cloud including multiple points representing different respective locations in a body of a subject, the points being labeled as corresponding to respective anatomical structures to which the locations, respectively, belong. The anatomical structures including a first structure and multiple second structures. The processor is further configured to compute a mesh including multiple triangles representing the anatomical structures, by applying a ball-pivoting algorithm to the point cloud with a constraint that none of the triangles include two of the points labeled as corresponding to different respective ones of the second structures. Other examples are also described.

Anatomical modeling with the ball-pivoting algorithm

A method includes calculating a first medial-axis tree graph of a volume of an organ of a patient in a first computerized anatomical map of the volume, acquired at a first time. A second medial-axis tree graph is calculated, of a volume of the organ of the patient in a second computerized anatomical map of the volume, acquired at a second time that is different from the first time. A deviation is detected and estimated, between the first and second tree-graphs. Using the estimated deviation, the first and second medial-axis tree graphs are registered with one another. Using the registered first and second tree graphs, the first and second computerized anatomical maps are combined.

Automatic registration of an anatomical map to a previous anatomical map

A method includes receiving or generating a volume map of at least a portion of a cavity of an organ of a body including a plurality of mapped locations, and a point cloud of locations in the cavity marked for treatment. The volume map is updated by removing a portion of the mapped locations, so that the locations marked for treatment fall on a surface of the volume map. Using the updated volume map, a map of at least a portion of the cavity is generated, the map including the locations marked for treatment. The map is displayed to user.

Automatic mesh reshaping of an anatomical map to expose internal points of interest

A system includes an input device and a processor. The processor is configured to add, to a point cloud representing an anatomical volume, multiple points corresponding to respective locations of a probe within the anatomical volume, to remove a subset of the points from the point cloud in response to an input received via the input device, subsequently to adding the points, and to add, to the point cloud, other points corresponding to respective subsequent locations of the probe within the anatomical volume, subsequently to removing the subset. Other embodiments are also described.

Real-time correction of anatomical maps

A method includes calculating a medial-axis tree graph of a volume of an organ of a patient in a computerized anatomical map of the volume. A predefined number of major branches in the tree graph are identified. Using the identified major branches, one or more known anatomical opening regions of the volume are identified in the anatomical map.

Automatic identification and processing of anatomical structures in an anatomical map

A method includes presenting, on a display, an electroanatomical (EA) map of a surface of a cavity of an organ. Input is received from a user, and, in response to the user input, a region of the EA map is locked to subsequent updates.

Fast anatomical mapping (FAM) reconstruction using surface update restrictions

A system includes a display and a processor. The processor is configured to compute a point P' on a virtual surface of a point cloud representing an anatomical volume, by projecting another point P, which corresponds to a location on an anatomical surface of the anatomical volume, onto the virtual surface. The processor is further configured to define a virtual sphere centered on a virtual line joining P to P&#x2032; such that P lies on a spherical surface of the virtual sphere, and to expand the point cloud throughout the virtual sphere or exclude the virtual sphere from the point cloud. The processor is further configured to regenerate the virtual surface such that, by virtue of having expanded the point cloud or excluded the virtual sphere, P lies on the virtual surface, and to display the regenerated virtual surface on the display. Other embodiments are also described.

Correcting anatomical maps

A method, including generating a three-dimensional (3D) map as a plurality of points illustrating a characteristic of a 3D heart chamber, the 3D heart chamber having an opening bounded by a perimeter. The method further includes transforming the perimeter into a closed two-dimensional (2D) figure having an interior. The plurality of points illustrating the characteristic are projected onto the interior of the 2D figure so as to generate a 2D map of the characteristic of the 3D heart chamber.

Valve view map

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.

Dynamic mapping point filtering using a pre-acquired image

A method for forming an electropotential map, including: measuring locations of points on a surface of a body organ, and measuring electrical potentials of a subset of the points. The method further includes assigning respective resistances to line segments joining the points so as to define a resistor mesh, and generating an electropotential map of the surface by applying an harmonic function to the resistor mesh responsive to the measured electrical potentials.

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Baka El Gharbiya, Israel

Fady Massarwa