Anatomical model generation
Devices, systems, and methods of the present disclosure are directed to generating three-dimensional surface representations, of an anatomic structure such as a heart cavity. More specifically, a three-dimensional surface representation of the anatomic structure is constrained relative to one or more anchor portions corresponding to received input regarding the location of anatomic features of the anatomic structure. The resulting three-dimensional surface representation includes salient features of the anatomic structure and, therefore, can be useful as visualization tool during any of various different medical procedures, including, for example, cardiac ablation.
1. A method, comprising:
receiving a plurality of location signals indicative of locations of a medical device in an anatomic structure of a patient;
forming a three-dimensional data structure representing locations visited by the medical device within the anatomic structure;
receiving one or more anchor portions representing locations relative to the anatomic structure;
generating a three-dimensional surface representation of the anatomic structure of the patient,
wherein—
generating the three-dimensional surface representation of the anatomic structure of the patient includes a volumetric smoothing,
the three-dimensional surface representation of the anatomic structure of the patient is constrained to contain at least a portion of the three-dimensional data structure, and
the three-dimensional surface representation of the anatomic structure of the patient is constrained to exclude at least one of the anchor portions; and
displaying, on a graphical user interface, at least one of a two-dimensional projection of the three-dimensional data structure, the one or more anchor portions, and a two-dimensional projection of the three-dimensional surface representation.
2. The method of claim 1 , further comprising displaying, on the graphical user interface, the one or more anchor portions as annotations on the three-dimensional surface representation of the anatomic structure.
3. The method of claim 1 , further comprising displaying, on the graphical user interface, the one or more anchor portions as annotations on the three-dimensional data structure.
4. The method of claim 1 wherein receiving one or more anchor portions representing locations relative to the anatomic structure comprises receiving an input command from an operator.
5. The method of claim 1 wherein receiving one or more anchor portions representing locations relative to the anatomic structure comprises identifying a subset of the three-dimensional data structure.
6. The method of claim 1 wherein receiving one or more anchor portions representing locations relative to the anatomic structure comprises receiving a respective confidence level associated with each of the one or more anchor portions.
7. The method of claim 1 wherein receiving one or more anchor portions representing locations relative to the anatomic structure includes receiving, from one or more sensors disposed on the medical device, a signal indicative of contact between the medical device and tissue of the anatomic structure.
8. The method of claim 7 wherein the signal indicative of contact is indicative of a blood-tissue boundary of the anatomic structure of the patient.
9. The method of claim 7 wherein the signal indicative of contact includes one or more of to the following: a change in impedance detected by one or more electrodes of the medical device, a force detected by a force sensor of the medical device, an ultrasound signal of an ultrasound sensor of the medical device, a deformation of at least a portion of the medical device, and an amplitude derived from an electrogram detected by one or more electrodes of the medical device.
10. The method of claim 1 wherein the three-dimensional surface representation of the anatomic structure is a continuous mesh.
11. The method of claim 1 , further comprising determining whether the one or more anchor portions have been modified and, based on whether the one or more anchor portions have been modified, repeating the generating step.
12. The method of claim 11 wherein determining whether the one or more anchor portions have been modified includes determining whether one or more of previously identified anchor portions have been removed.
13. A non-transitory computer-readable storage medium for use in conjunction with a computer system, the computer-readable storage medium having stored thereon instructions that, when executed by the computer system, cause the computer system to perform operations comprising:
receiving a plurality of location signals indicative of locations of a medical device in an anatomic structure of a patient;
forming a three-dimensional data structure representing locations visited by the medical device within the anatomic structure;
receiving one or more anchor portions representing locations relative to the anatomic structure;
generating a three-dimensional surface representation of the anatomic structure of the patient,
wherein—
generating the three-dimensional surface representation of the anatomic structure of the patient includes a volumetric smoothing,
the three-dimensional surface representation of the anatomic structure of the patient is constrained to contain at least a portion of the three-dimensional data structure, and
the three-dimensional surface representation of the anatomic structure of the patient is constrained to exclude at least one of the anchor portions; and
displaying, on a graphical user interface, at least one of a two-dimensional projection of the three-dimensional data structure, the one or more anchor portions, and a two-dimensional projection of the three-dimensional surface representation.
14. A method, comprising:
forming a three-dimensional data structure based, at least in part, on received locations of an engagement portion of a cardiac catheter within a cardiac cavity of a human patient;
receiving one or more anchor portions representing locations relative to the cardiac cavity;
generating a three-dimensional surface representation of the cardiac cavity of the patient, wherein the three-dimensional surface representation of the cardiac cavity of the patient is constrained to exclude at least one of the anchor portions; and
displaying, on a graphical user interface, at least one of a two-dimensional projection of the three-dimensional data structure, the one or more anchor portions, and a two-dimensional projection of the generated three-dimensional surface representation.
15. The method of claim 14 wherein receiving one or more anchor portions representing locations relative to the cardiac cavity comprises receiving an input command from a user interface.
16. The method of claim 14 , further comprising displaying, on the graphical user interface, the one or more anchor portions as annotations on the three-dimensional surface representation of the heart cavity.
17. The method of claim 14 wherein receiving one or more anchor portions representing locations relative to the cardiac cavity comprises receiving one or more location signals indicative of one or more respective locations of the cardiac catheter in the cardiac cavity.
18. The method of claim 14 wherein receiving one or more anchor portions representing locations relative to the cardiac cavity comprises receiving, from a sensor disposed on the cardiac catheter, a signal indicative of a blood-tissue boundary of the heart cavity of the patient.
19. The method of claim 14 wherein receiving one or more anchor portions representing locations relative to the cardiac cavity comprises receiving a signal indicative of one or more of the following: a change in impedance detected by one or more electrodes of the cardiac catheter, a force detected by a force sensor of the cardiac catheter, a deformation of at least a portion of the cardiac catheter, and an amplitude derived from an electrogram detected by one or more electrodes of the cardiac catheter.