System and method for automatically registering three dimensional cardiac images with electro-anatomical cardiac mapping data

1. A computer-implemented method for automatically registering during an operative procedure a three dimensional (3D) pre-operative image of a heart with intra-operative electrophysiological (EP) points of a 3D electro-anatomical (EA) image map of the heart, the method performed by the computer comprising the steps of:

providing a segmented triangulated surface of the heart extracted from the pre-operative 3D image of the heart;

acquiring one or more EP points of the heart during an operative procedure;

selecting at least one EP point associated with a first cardiac chamber, and a first corresponding point on a surface of said first cardiac chamber from said segmented triangulated surface;

using said first corresponding points to register during said operative procedure the segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber;

selecting at least one or more EP points associated with a second cardiac chamber, and second corresponding points on a surface of said second cardiac chamber from said segmented triangulated surface; and

using said second corresponding points to register during said operative procedure the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber,

wherein the registration of said segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber are used to initialize the registration of the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber, and

wherein the registration of said segmented triangulated surface of said first and second cardiac chambers with EP points associated with said first and second cardiac chambers is represented by a rigid transformation matrix.

2. The method of claim 1 wherein registering the segmented triangulated surface with the EP points further comprises the steps of:

specifying a landmark point on the segmented triangulated surface that corresponds to an EP point;

solving a translation vector based on displacement between the landmark point and the EP point.

3. The method of claim 1 wherein registering the segmented triangulated surface with the EP points further comprises the steps of:

specifying at least three landmark points on the segmented triangulated surface that correspond to at least three EP points; and

performing a rigid transformation to minimize distances between the EP points and the corresponding landmark points.

4. The method of claim 3 wherein the at least three landmark points are not collinear.

5. The method of claim 1 wherein registering the segmented triangulated surface with the EP points comprises the steps of:

using an iterative process to identify a nearest corresponding point of each EP point to a landmark point on the segmented triangulated surface;

computing a transformation that minimizes a mean square error of the correspondence; and

continuing the iterations until an average point-to-point distance error is smaller than a predetermined threshold.

6. The method of claim 1 wherein registering the segmented triangulated surface with the EP points further comprises the steps of:

assigning one or more specific EP points a higher weight;

specifying landmark points on the segmented triangulated surface that correspond to the one or more specific EP points; and

performing a transformation to minimize distances between the specified EP points and the corresponding landmark points.

7. The method of claim 1 , further comprising tracking movement of a catheter placed in the heart.

8. A system for automatically registering during an operative procedure a three dimensional (3D) pre-operative image of a heart with intra-operative electrophysiological (EP) points of a 3D electro-anatomical (EA) image map of the heart, the system comprising:

a display for displaying the pre-operative images in a first supporting view and the intra-operative EA image maps in a second supporting view;

a processor for maintaining the pre-operative images and intra-operative EA maps of the anatomical structure, the processor performing the following steps,

providing a segmented triangulated surface of the heart extracted from the pre-operative 3D image of the heart;

acquiring one or more EP points of the heart during an operative procedure;

selecting at least one EP point associated with a first cardiac chamber, and a first corresponding point on a surface of said first cardiac chamber from said segmented triangulated surface;

using said first corresponding points to register during said operative procedure the segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber;

using said registration of the segmented triangulated surface of said first cardiac chamber with the EP points associated with said first cardiac chamber to guide a transition from displaying said first cardiac chamber to displaying a second cardiac chamber;

selecting at least one or more EP points associated with a second cardiac chamber, and second corresponding points on a surface of said second cardiac chamber from said segmented triangulated surface; and

using said second corresponding points to register during said operative procedure the segmented triangulated surface of said second cardiac chamber with the EP points associated with said second cardiac chamber,

wherein the registration of said segmented triangulated surface of said first and second cardiac chambers with EP points associated with said first and second cardiac chambers is represented by a rigid transformation matrix.

9. The system of claim 8 wherein registering the segmented triangulated surface with the EP points further comprises the steps of:

specifying a landmark point on the segmented triangulated surface that corresponds to an EP point;

solving a translation vector based on displacement between the landmark point and the EP point.

10. The system of claim 8 wherein registering the segmented triangulated surface with the EP points further comprises the steps of:

specifying at least three landmark points on the segmented triangulated surface that correspond to at least three EP points; and

performing a rigid transformation to minimize distances between the EP points and the corresponding landmark points.

11. The system of claim 10 wherein the at least three landmark points are not collinear.

12. The system of claim 8 wherein registering the segmented triangulated surface with the EP points comprises the steps of:

using an iterative process to identify a nearest corresponding point of each EP point to a landmark point on the segmented triangulated surface;

computing a transformation that minimizes a mean square error of the correspondence; and

continuing the iterations until an average point-to-point distance error is smaller than a predetermined threshold.

13. The system of claim 8 wherein registering the segmented triangulated surface with the EP points further comprises the steps of:

assigning one or more specific EP points a higher weight;

specifying landmark points on the segmented triangulated surface that correspond to the one or more specific EP points; and

performing a transformation to minimize distances between the specified EP points and the corresponding landmark points.

14. The system of claim 8 further comprising a catheter placed in the heart wherein said processor tracks movement of the catheter in the heart.

15. The method of claim 1 , wherein the second cardiac chamber is the same as the first cardiac chamber.

16. The system of claim 8 , wherein the second cardiac chamber is the same as the first cardiac chamber.

17. The method of claim 1 , wherein the method performed by the computer further comprises aligning the orientation of the segmented triangulated surface to an anterior posterior view.

18. The system of claim 8 , wherein the method performed by the processor further comprises aligning the orientation of the segmented triangulated surface to an anterior posterior view.