Dynamic mapping point filtering using a pre-acquired image

An apparatus, comprising:

• a probe, configured for insertion into a body cavity of a patient and comprising an electrode configured 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.

A computer software product, operated in conjunction with a probe that is configured for insertion into a body cavity of a patient and includes an electrode for determining 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.