Tissue mapping and visualization systems
Visualization and ablation systems and catheters. The systems can capture a plurality of different 2D images of the patient's anatomy adjacent an expandable member, each of which visualizes at least one part of the patient that is in contact with the expandable membrane, tag each of the plurality of different 2D images with information indicative of the position and orientation of a locational element when each of the plurality of different 2D images was captured, create a patient map, wherein creating the patient map comprises placing each of the plurality of different 2D images at the corresponding tagged position and orientation into a 3 space, and display the patient map.
1. A method of using a cardiac visualization catheter to create a patient map, the method comprising:
positioning an ablation catheter within a patient adjacent tissue to be mapped, the ablation catheter comprising an expandable member that includes an expandable membrane,
a camera disposed within the expandable membrane, the camera having a field of view, the camera orientated such that the camera field of view includes a portion of the expandable membrane when the expandable membrane is expanded, and
a magnetic sensor with a fixed position and orientation relative to the camera, wherein the position and orientation of the magnetic sensor are defined in a global frame of reference and detectable by a magnetic sensor detector;
delivering a fluid into the expandable membrane to at least partially inflate the expandable membrane;
contacting the patient with at least a portion of the expandable membrane;
capturing, with the camera, a plurality of different 2D images of the patient's anatomy adjacent the expandable member, each of which visualizes at least one part of the patient that is in contact with the expandable membrane;
tagging each of the plurality of different 2D images with information indicative of the position and orientation of the magnetic sensor when each of the plurality of different 2D images was captured;
creating a patient map, wherein creating the patient map comprises placing each of the plurality of different 2D images at a corresponding tagged position and orientation into a 3D space; and
displaying the patient map.
2. The method of claim 1 , wherein the ablation catheter includes a plurality of cameras disposed within the expandable membrane, each of the plurality of cameras having a different field of view, the magnetic sensor having a fixed position and orientation relative to each of the cameras, and wherein capturing a plurality of different 2D images with the camera comprises capturing a plurality of different 2D images with the plurality of cameras, and wherein the tagging step comprises tagging the plurality of different 2D images with information indicative of the position and orientation of the magnetic sensor when each of the plurality of 2D images was captured.
3. The method of claim 1 wherein creating the patient map comprises projecting the plurality of different 2D images onto a 2D plane, and wherein displaying the patient map comprises displaying the 2D plane.
4. The method of claim 1 , wherein the patient map comprises a 2D patient map projected on a surface defined in a 3D volume where the surface is non planar.
5. The method of claim 1 , further comprising mapping at least one natural landmark into the patient map.
6. The method of claim 5 wherein mapping at least one natural landmark into the patient map comprises mapping at least one pulmonary vein ostium into the patient map.
7. The method of claim 1 , further comprising mapping at least one electrical landmark into the patient map.
8. The method of claim 7 , wherein mapping at least one electrical landmark into the patient map comprises mapping at least one electrical landmark selected from the group consisting of: an electrophysiological landmark, a rotor, a nerve cell cluster, a nerve disposed on an inner wall of the heart, and a nerve extending adjacent the heart.
9. The method of claim 7 , wherein mapping at least one electrical landmark into the patient map comprises sensing electrical activity of tissue in the heart, and mapping a location of aberrant electrical activity.
10. The method of claim 1 , further comprising mapping at least one created landmark into the patient map.
11. The method of claim 10 wherein mapping at least one created landmark into the patient map comprises mapping a zone indicative of where the expandable membrane has made contact with tissue, or has not made contact with tissue.
12. The method of claim 11 , further comprising distinguishing a color in the plurality of images that indicates that contact with tissue has been made from a color in the plurality of images that indicates that contact with tissue has not been made.
13. The method of claim 10 , wherein mapping at least one created landmark into the patient map comprises mapping into the patient map a region of tissue into which ablation energy has been delivered.
14. The method of claim 10 further comprising injecting a dye into the tissue, and mapping the location of the dye into the patient map.
15. The method of claim 1 , wherein the camera has a reference frame, the camera reference frame in a fixed position and orientation relative to the magnetic sensor, and wherein tagging each of the plurality of different images with information indicative of the position and orientation of the magnetic sensor when each of the plurality of images was captured comprises determining a position vector in the camera field of view in the global frame of reference.
16. The method of claim 15 wherein determining the position vector comprises using a known distance between the camera and a first scaling element carried by the expandable membrane.
17. The method of claim 15 wherein determining the position vector comprises estimating by calculating a distance between the camera and a point on the tissue.
18. The method of claim 17 wherein estimating by calculating a distance between the camera and a point on the tissue uses a change in a known dimension of a marker carried by the expandable member within the image.
19. The method of claim 1 , wherein delivering fluid into the expandable membrane includes creating a fluid pressure within the membrane that is greater than a threshold, the created fluid pressure creating a substantially constant distance between the camera and the expandable member when the expandable member is pressed against atrial tissue.
20. The method of claim 19 , wherein pressing the expandable member against atrial tissue causes the atrial tissue to deform around the expandable member due to the created fluid pressure.