Three-dimensional reconstruction of intrabody organs
AssigneeBiosense, Inc.
InventorDaniel Reisfeld
Life of this patent
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Abstract
A method of reconstructing a map of a volume, including determining coordinates of a plurality of locations on a surface of the volume having a configuration, generating a grid of points defining a reconstruction surface in 3D space in proximity to the determined locations, for each of the points on the grid, defining a respective vector, dependent on a displacement between one or more of the points on the grid and one or more of the locations, and adjusting the reconstruction surface by moving substantially each of the points on the grid responsive to the respective vector, so that the reconstruction surface is deformed to resemble the configuration of the surface.
Claims22
A method of constructing a map of a body organ having a volume comprising:
- using a position sensor to come into contact with a body organ, said sensor indicating its position in the body;
- determining coordinates of a plurality of locations of the sensor on the organ, said coordinates having a configuration on a surface of the volume;
- generating a grid of points defining a reconstruction surface in 3D space in proximity to the determined locations;
- for each of the points on the grid, defining a respective vector, dependent on a displacement between one or more of the points on the grid and one or more of the locations;
- and
- adjusting the reconstruction surface by moving substantially each of the points on the grid responsive to the respective vector, so that the reconstruction surface is deformed to resemble the configuration of the surface.
A method of constructing a map of a body organ having a volume comprising:
- determining coordinates of a plurality of locations having a configuration on a surface of the volume;
- generating a grid of points defining a reconstruction surface in 3D space in proximity to the determined locations;
- for each of the points on the grid, defining a respective vector, dependent on a displacement between one or more of the points on the grid and one or more of the locations;
- and
- adjusting the reconstruction surface by moving substantially each of the points on the grid responsive to the respective vector, so that the reconstruction surface is deformed to resemble the configuration of the surface;
- wherein adjusting the surface comprises a rough adjustment stage and a flexible matching stage;
- and
- wherein the rough adjustment stage comprises moving each point on the grid toward a respective weighted center of mass of the determined locations, wherein locations closer to the point on the grid are given larger weight.
A method of constructing a map of a body organ having a volume comprising:
- determining coordinates of a plurality of locations having a configuration on a surface of the volume;
- generating a grid of points defining a reconstruction surface in 3D space in proximity to the determined locations;
- for each of the points on the grid, defining a respective vector, dependent on a displacement between one or more of the points on the grid and one or more of the locations;
- and
- adjusting the reconstruction surface by moving substantially each of the points on the grid responsive to the respective vector, so that the reconstruction surface is deformed to resemble the configuration of the surface;
- wherein adjusting the surface comprises a rough adjustment stage and a flexible matching stage;
- and
- wherein the flexible matching stage comprises selecting a grid point to e associated respectively with each of the determined locations.
Apparatus for constructing a map of a body organ having volume from coordinates of a plurality of determined locations having a configuration on a surface of the volume, comprising:
- a position sensor for generating coordinates on the surface of the organ;
- a processor, which receives the coordinates and generates a grid of points defining a reconstruction surface in 3D space in proximity to the determined locations, and
- which defines a respective vector for each of the points on the grid, dependent on a displacement between one or more of the points on the grid and one or more of the locations, and
- which adjusts the reconstruction surface by moving each of the points on the grid responsive to the respective vector, so that the reconstruction surface is deformed to resemble the configuration of the surface of the volume.
Dependencies are inferred from the claim text.