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US 8,478,379 B2Granted
Probe visualization based on mechanical properties
AssigneeBiosense Webster, Inc.
InventorsDaniel Osadchy, Meir Bar-Tal
Life of this patent
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Abstract
A method for visualization includes receiving an input indicative of respective apparent coordinates of a plurality of points disposed along a length of a probe inside a body of a subject, and applying a model of known mechanical properties of the probe to the apparent coordinates so as to compute a cost function with respect to shapes that can be assumed by the probe in the body. A shape is chosen responsively to the cost function, and corrected coordinates of the points along the length of the probe are generated based on the shape. The representation of the probe using the corrected coordinates is then displayed.
Claims22
A method for visualization, comprising:
- receiving an input indicative of respective apparent coordinates of a plurality of points disposed along a length of a probe inside a body of a subject, wherein the probe comprises a plurality of position transducers along the length of the probe inside a body of a subject;
- applying a model of known mechanical properties of the probe to the apparent coordinates so as to compute a cost function with respect to shapes that can be assumed by the probe in the body;
- choosing a shape responsively to the cost function;
- generating corrected coordinates of the points along the length of the probe based on the shape;
- and
- displaying a representation of the probe using the corrected coordinates, wherein the cost function is computed by:
- calculating an intrinsic energy representing a deviation of the probe from a free shape of the probe;
- calculating a position error between the model of known mechanical properties of the probe and the input indicative of respective apparent coordinates of the plurality of points disposed along the length of the probe;
- calculating an orientation error between the model of known mechanical properties of the probe and the input indicative of respective apparent coordinates of the plurality of points disposed along the length of the probe;
- and calculating the cost function as a weighted average of the intrinsic energy, the position error and the orientation error.
7 more elements
A computer program product for controlling a peripheral device, the computer program product comprising:
- a computer readable medium being of a non-transitory nature and having computer usable code embodied therewith, the computer usable program code comprising:
- computer usable code configured for receiving an input indicative of respective apparent coordinates of a plurality of points disposed along a length of a probe inside a body of a subject, wherein the probe comprises a plurality of position transducers along the length of the probe inside a body of a subject;
- computer usable code configured for applying a model of known mechanical properties of the probe to the apparent coordinates so as to compute a cost function with respect to shapes that can be assumed by the probe in the body;
- computer usable code configured for choosing a shape responsively to the cost function;
- computer usable code configured for generating corrected coordinates of the points along the length of the probe based on the shape;
- and
- computer usable code configured for displaying a representation of the probe using the corrected coordinates, wherein the cost function is computed by:
- calculating an intrinsic energy representing a deviation of the probe from a free shape of the probe;
- calculating a position error between the model of known mechanical properties of the probe and an input indicative of respective apparent coordinates of the plurality of points disposed along the length of the probe;
- calculating an orientation error between the model of known mechanical properties of the probe and the input indicative of respective apparent coordinates of the plurality of points disposed along the length of the probe;
- and calculating the cost function as a weighted average of the intrinsic energy, the position error and the orientation error.
8 more elements
A probe visualization apparatus, comprising:
- an interface, which is configured to receive an input indicative of respective apparent coordinates of a plurality of points disposed along a length of a probe, wherein the probe comprises a plurality of position transducers along the length of the probe inside a body of a subject;
- and
- a processor, which is configured to
- receive the input from the interface;
- apply a model of known mechanical properties of the probe to the apparent coordinates so as to compute a cost function with respect to shapes that can be assumed by the probe in the body;
- choose a shape responsively to the cost function;
- and
- generate corrected coordinates of the plurality of position transducers along the length of the probe based on the shape, wherein the cost function is computed by the processor by:
- calculating an intrinsic energy representing a deviation of the probe from a free shape of the probe;
- calculating a position error between the model of known mechanical properties of the probe and an input indicative of respective apparent coordinates of the plurality of points disposed along the length of the probe;
- calculating an orientation error between the model of known mechanical properties of the probe and the input indicative of respective apparent coordinates of the plurality of points disposed along the length of the probe;
- and calculating the cost function as a weighted average of the intrinsic energy, the position error and the orientation error.
9 more elements
Dependencies are inferred from the claim text.