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 representing locations, within an anatomic structure of a patient, visited by a tip section of a medical device;
forming, based on the plurality of location signals, a three-dimensional data structure representing volumes, within the anatomic structure, occupied by the medical device at the locations corresponding to the plurality of location signals;
identifying, in the three-dimensional data structure, one or more anchor portions corresponding to a blood-tissue boundary of the anatomic structure, wherein identifying the one or more anchor portions includes receiving, from one or more sensors or a user input device, one or more signals indicative of contact between the tip section of the medical device and at least a portion of blood-tissue boundary corresponding to an anatomic feature of the anatomic structure; and
generating, based on the three-dimensional data structure, and the one or more anchor portions, a three-dimensional surface representation of the anatomic structure of the patient containing at least a portion of the three-dimensional data structure,
wherein generating the three-dimensional surface representation includes constraining the three-dimensional surface representation relative to the one or more anchor portions such that, in comparison to an absence of the constraint, (a) the generated three-dimensional surface representation is positioned closer to the one or more anchor portions and (b) accuracy of the anatomic feature in the three-dimensional surface representation is increased.
2 . The method of claim 1 wherein receiving the one or more signals indicative of the contact includes receiving an input command from a user identifying a location visited by the tip section of the medical device as an anchor portion of the one or more anchor portions.
3 . The method of claim 1 wherein the method further comprises displaying the three-dimensional data structure on a graphical user interface, and wherein
receiving the one or more signals indicative of the contact includes receiving, based at least in part on the display of the three-dimensional data structure, an input command from a user identifying an anchor portion of the one or more anchor portions; and
the anchor portion corresponds to a position of the anatomic feature reflected in the display of the three-dimensional data structure.
4 . The method of claim 1 wherein identifying the one or more anchor portions further includes:
determining, based at least in part on the one or more signals indicative of the contact, a consistency and/or duration of the contact between the tip section of the medical device and at least the portion of the blood-tissue boundary corresponding to the anatomic feature; and
identifying an anchor portion of the one or more anchor portions based at least in part on the determined consistency and/or duration of the contact.
5 . The method of claim 1 wherein identifying the one or more anchor portions includes determining, based at least in part on the one or more signals indicative of the contact, a direction of a contact force between at least the portion of the blood-tissue boundary corresponding to the anatomic feature and the tip section of the medical device.
6 . The method of claim 5 wherein generating the three-dimensional surface representation of the anatomic structure includes constraining, based at least in part on the determined direction of the contact force, a normal direction of a portion of the three-dimensional surface representation corresponding to at least the portion of the blood-tissue boundary of the anatomic feature.
7 . The method of claim 1 wherein constraining the three-dimensional surface representation relative to the one or more anchor portions further includes constraining the three-dimensional surface representation such that the three-dimensional surface representation passes through an anchor portion of the one or more anchor portions.
8 . The method of claim 1 wherein constraining the three-dimensional surface representation relative to the one or more anchor portions further includes constraining the three-dimensional surface representation such that the three-dimensional surface representation passes within a set distance of an anchor portion of the one or more anchor portions.
9 . The method of claim 1 wherein receiving the one or more signals indicative of the contact includes receiving the one or more signals indicative of the contact from at least one of the one or more sensors that is disposed along the medical device.
10 . The method of claim 9 wherein:
the one or more sensors include one or more electrodes;
the one or more signals indicative of the contact include an electrical signal captured by the one or more electrodes; and
identifying the one or more anchor portions further includes detecting the contact based at least in part on a change in the electrical signal.
11 . The method of claim 10 wherein:
the electrical signal includes an intracardiac electrogram; and
the change in the electrical signal includes an amplitude derived from the electrogram.
12 . The method of claim 10 wherein:
the electrical signal includes an impedance signal; and
the change in the electrical signal includes a change in impedance.
13 . The method of claim 9 wherein:
the one or more sensors include a force sensor; and
identifying the one or more anchor portions further includes detecting, based at least in part on the one or more signals indicative of the contact, (i) a magnitude of a contact force between the tip section of the medical device and at least the portion of the blood-tissue boundary corresponding to the anatomic feature, (ii) a direction of the contact force between the tip section of the medical device and at least the portion of the blood-tissue boundary corresponding to the anatomic feature, or (iii) a combination thereof.
14 . The method of claim 9 wherein the one or more sensors include an ultrasound sensor.
15 . The method of claim 1 wherein:
the one or more signals indicative of the contact include one or more signals indicative of deformation of at least a portion of the tip section of the medical device;
identifying the one or more anchor portions further includes detecting the contact; and
detecting the contact includes detecting, based at least in part on the one or more signals indicative of the deformation of at least the portion of the tip section, (i) a magnitude of the deformation, (ii) a direction of the deformation, or (iii) a combination thereof.
16 . The method of claim 1 wherein:
the method further comprises displaying at least a subset of the one or more anchor portions on a graphical user interface; and
displaying at least the subset of the one or more anchor portions includes displaying at least the subset of the one or more anchor portions on a projection of the three-dimensional surface representation, on a projection of a three-dimensional data structure formed based at least in part on the plurality of location signals, or on a combination thereof.
17 . The method of claim 16 wherein displaying at least the subset of the one or more anchor portions includes displaying at least the subset of the one or more anchor portions as one or more annotations that include (a) a tag of the anatomic feature, (b) a tag of a location for application of treatment, (c) a tag of a location of a lesion resulting from applied treatment, or (d) any combination thereof.
18 . The method of claim 1 wherein the anatomic feature corresponds to a locally concave surface feature along a generally convex portion of the blood-tissue boundary of the anatomic structure.
19 . The method of claim 1 wherein:
the anatomic structure is a heart cavity; and
the anatomic feature corresponds to or is positioned proximate an ostium of a vessel along the blood-tissue boundary of the heart cavity, a carina proximate the ostium, or a combination thereof.
20 . The method of claim 1 wherein constraining the three-dimensional surface representation relative to the one or more anchor portions further includes constraining the three-dimensional surface representation such that an anchor portion of the one or more anchor portions is outside of the three-dimensional surface representation.