Displaying orthographic projection view and endoscopic view of selected plane in three-dimensional anatomical image

Abstract

A method includes inserting a catheter into an organ of a patient and selecting a plane of interest (POI) in a three-dimensional (3D) image of the organ. A first image is generated that includes an endoscopic view of the 3D image from a direction facing the POI. A second image is generated that includes a cross-sectional view of the 3D image sheared by the POI, and the first image and the second image are displayed to a user.

Description

Technical Field

[0001] The present disclosure relates generally to graphical user interfaces, and in particular to methods and systems for displaying orthographic and endoscopic views of a selected common plane in a three-dimensional (3D) anatomical image. Background Art

[0002] Various techniques have been published for visualizing organs in multiple perspectives and using virtual imaging.

[0003] For example, U.S. Patent No. 7,477,768 describes a method for generating a three-dimensional visualization image of an object (such as an internal organ) using volume visualization technology. Related technologies include: a multi-scan imaging method; a multi-resolution imaging method; and a method for generating a skeleton of a complex three-dimensional object. Related applications include simulated cystoscopy, simulated laryngoscope, simulated angiography, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The present disclosure will be more fully understood through the following detailed description of examples of the present disclosure in conjunction with the accompanying drawings, in which:

[0005] Figure 1 is a schematic illustration of a catheter-based localization-tracking and ablation system according to an example of the present disclosure;

[0006] Figure 2 is a schematic illustration of a three-dimensional (3D) visualization of a heart using a combination of external and endoscopic views according to an example of the present disclosure;

[0007] Figure 3A is a schematic illustration of a clipping plane (CP) of a selected plane of interest (POI) in a heart according to an example of the present disclosure;

[0008] Figure 3B is a schematic illustration of a selected plane of interest (POI) in a heart according to an example of the present disclosure;

[0009] Figure 3C is a schematic illustration of a cross-sectional view of a selected POI in a heart according to an example of the present disclosure;

[0010] Figure 4 is a schematic illustration of 3D visualization of a pulmonary vein (PV) using a combination of a cross-sectional view cut by a selected plane of interest (POI) in a 3D image and an endoscopic view from a direction facing the selected POI according to an example of the present disclosure; and

[0011] Figure 5To schematically illustrate a flow chart of a method for visualizing a heart using a combination of a cross-sectional view cut by a selected POI of a 3D image and an endoscopic view from a direction facing the selected POI according to an example of the present disclosure. DETAILED DESCRIPTION

[0012] Overview

[0013] Examples of the present disclosure described below provide improved techniques for displaying a combination of different views of at least a portion of an organ of a patient to a user of a catheter-based position tracking and ablation system.

[0014] In the present example, the organ comprises a heart, which is intended to be ablated using any suitable technique, such as radiofrequency (RF) ablation, for treating arrhythmias in the patient's heart. In RF ablation, a user of the system (e.g., a physician) inserts a catheter into the heart, and based on electrophysiological (EP) mapping of the heart, the user selects one or more sites in the cardiac tissue that are intended to receive RF ablation signals. In response to application of the ablation signal, tissue cells in the ablation site are killed and transformed into ablation lesions that are unable to conduct electrophysiological signals. Because tissue ablation is invasive and generally irreversible, it is important to apply the RF signal very accurately to the tissue at the selected site. Therefore, physicians typically require a combination of: (i) an overall view of the heart, and (ii) a high-resolution image of the site intended to be ablated.

[0015] In some examples, a catheter-based position tracking and ablation system includes a catheter configured to perform ablation, a processor, and a display. The catheter may include the following Figure 1 One or more position sensors of the position tracking system described in the present invention are configured to generate a position signal indicating the position of the catheter in the heart.

[0016] In some examples, the processor is configured to receive an anatomical image of the heart and a position signal and display the position of a distal tip assembly (DEA) of the catheter superimposed on a three-dimensional map of the heart. The physician can navigate the DEA to the ablation site and then apply an RF signal to the tissue at the selected ablation site.

[0017] In some examples, the processor is configured to display various types of images to the physician. For example, a three-dimensional (3D) image of an external view of the heart, along with an endoscopic view of the site or portion intended to be ablated. Figure 2 The endoscopic view is generated using a virtual camera as described in detail in .

[0018] The endoscopic view provides the physician with anatomical details of the portion of the heart that is intended to be ablated. These anatomical details are important for planning ablations, but may not be sufficient because the endoscopic view provides the physician with a perspective image, making anatomical elements located closer to the virtual camera appear larger than other anatomical elements located farther away from the virtual camera. In addition, when viewing the endoscopic view, the physician may lose a sense of orientation of the image within the heart because he / she may not observe features in the anatomical structure (e.g., veins) in the way that they appear in the external view, and such features improve the sense of orientation. Therefore, separate images of the external view and the endoscopic view can provide the physician with sufficient imaging for performing ablation under optimal conditions.

[0019] In other examples, the processor is configured to generate: (i) a cross-sectional view clipped by a plane of interest (POI) selected in the 3D image of the heart, and (ii) an endoscopic view from a direction facing the selected POI. In some examples, the processor is configured to generate a clipping plane (also referred to herein as a clipping plane) of the POI and rotate the image of the POI so that the orientation of the cross-sectional view of the POI is similar to the orientation of the endoscopic view. It should be noted that the cross-sectional view is not affected by the topographical features of the portion of the heart in question and only presents a graphical representation of the topographical features. In other words, the cross-sectional view ignores the topographical features and thus provides the physician with a supplementary view of the portion in question.

[0020] In some examples, the processor is configured to generate an endoscopic image by: (i) positioning a virtual camera at a given position and at a given orientation within a 3D image of the heart, and (ii) defining one or more imaging parameters, such as, but not limited to, magnification and / or one or more viewing angles.

[0021] In some examples, the processor is configured to select a given position and a given orientation of the virtual camera to display a portion of the heart that includes one or more of the ablation sites.

[0022] In some examples, the processor is configured to generate an image of a cross-sectional view of the POI by generating a graphical representation of a clipping plane of the POI and then displaying the cross-sectional view of the clipping plane on the display. In such examples, the processor is configured to present a field of view (FOV) of both: (i) the endoscopic image, and (ii) the cross-sectional view of the clipping plane of the POI in an orientation parallel to a plane of the system display.

[0023] In some examples, the FOVs can be on a side-by-side presentation system display. In such examples, the physician can see two FOVs simultaneously.

[0024] In other examples, the processor is configured to display two FOVs (also referred to herein as first and second images) on a display by switching back and forth between display of the first image and the second image. In one specific implementation, the processor is configured to: (i) display the first image when a first range of zoom values ​​is applied to the system display, and (ii) display the second image when a second range of zoom values ​​different from the first range of zoom values ​​is applied to the display. In another specific implementation, the processor is configured to display a 3D image of an external view of the heart instead of the first image or the second image. In this specific implementation, the processor can apply a third range of zoom values ​​different from the first range of zoom values ​​and the second range of zoom values ​​to the display, whereby the physician can switch back and forth between the three images using the zoom in and zoom out functions of the processor on the system display.

[0025] In alternative examples, the processor may use any other suitable configuration to customize the presentation of the three images described above.

[0026] The disclosed technology improves the visualization of a patient's organs (e.g., the heart) during tissue ablation and other kinds of minimally invasive medical procedures. Such procedures typically require both: (i) an overall view image that is not distorted by the topographical features of the organ in question, and (ii) a high-resolution image of the same plane of interest in the organ in question. This combination provides physicians with improved imaging that helps improve the quality of tissue ablation and other kinds of medical procedures.

[0027] System Description

[0028] Figure 1 Schematic illustration of a catheter-based positioning-tracking and ablation system 20 according to an example of the present disclosure. In some examples, the system 20 includes a catheter 22 (in this example, an expandable cardiac catheter described below) and a console 24. In the examples described herein, the catheter 22 can be used for any suitable therapeutic purpose and / or diagnostic purpose, such as but not limited to sensing electroanatomical (EA) information in the tissue in question and applying ablation signals to tissue of the heart 26 (inset 25). In the context of the present disclosure, the term "information" refers to the spatial position of the distal end of the catheter and the electrocardiogram (ECG) signal sensed by the electrodes of the catheter 22.

[0029] In some examples, the console 24 includes a processor 42 (typically a general purpose computer) having a suitable front end and interface circuitry for receiving signals from the catheter 22 and for controlling other components of the system 20 described herein. The processor 42 can be programmed in software to perform the functions used by the system and is configured to store data for the software in a memory 50. For example, the software can be downloaded to the console 24 in electronic form over a network, or the software can be provided on a non-transitory tangible medium such as an optical, magnetic or electronic memory medium. Alternatively, an application specific integrated circuit (ASIC) or any suitable type of programmable digital hardware component can be used to perform some or all of the functions of the processor 42.

[0030] Reference is now made to Illustration 25. In some examples, catheter 22 includes a distal tip assembly 40 having an expandable member (e.g., a balloon or basket) and a shaft 23 for inserting DEA 40 to a target location for ablation of tissue in heart 26. During an electrophysiological (EP) mapping and / or ablation procedure, a physician 30 inserts catheter 22 through the vasculature of a patient 28 lying on an operating table 29. The physician 30 moves DEA 40 to a target location in heart 26 using a manipulator 32 near the proximal end of catheter 22, which is connected to an interface circuit of a processor 42. In this example, the target location may include tissue having one or more sites intended to be ablated by DEA 40.

[0031] In some examples, catheter 22 includes a position sensor 39 of a position tracking system that is coupled to a distal end of catheter 22, e.g., proximate DEA 40. In this example, position sensor 39 includes a magnetic position sensor, but in other examples, any other suitable type of position sensor (e.g., other than magnetic-based) may be used.

[0032] Now return to see Figure 1 In some examples, during navigation of DEA 40 in heart 26, processor 42 receives signals from magnetic position sensor 39 in response to a magnetic field from external field generator 36, e.g., for measuring the position of DEA 40 in heart 26. In some examples, console 24 includes drive circuit 34 configured to drive magnetic field generator 36. Magnetic field generator 36 is placed at a known location external to patient 28, e.g., below table 29.

[0033] In some examples, processor 42 is configured to display the tracked position of DEA 40 superimposed on an image 44 of heart 26 , which is typically a three-dimensional (3D) image, for example, on a display 46 of console 24 .

[0034] Position sensing methods using external magnetic fields are implemented in various medical applications, for example, in the CARTO TM The system is implemented in the present invention and is described in detail in U.S. Patent Nos. 5,391,199, 6,690,963, 6,484,118, 6,239,724, 6,618,612 and 6,332,089, PCT Patent Publication No. WO 96 / 05768, and U.S. Patent Application Publication Nos. 2002 / 0065455A1, 2003 / 0120150A1 and 2004 / 0068178A1.

[0035] Shows a combination of an external view of the patient's heart and an endoscopic view of parts of the heart

[0036] Figure 2 is a schematic illustration of (i) an external view 54 and (ii) an endoscopic view 66 presented side-by-side in a 3D image 44 of the heart 26 in accordance with an embodiment of the present disclosure.

[0037] Reference is now made to the 3D image of the external view 54 of the heart 26. In some examples, the processor 42 is configured to generate a virtual camera at a given position within the external view 54 of the heart 26 and at a given orientation.

[0038] In some examples, the processor 42 is configured to define a 3D field of view (FOV) 52 (shown as a virtual cone) of the virtual camera 55. The processor 42 is configured to define the 3D FOV 52 by determining imaging parameters of the virtual camera 55. For example, one or more viewing angles (e.g., three viewing angles) define the direction and opening angle of the cone, and the magnification may define the magnification of the endoscopic view 66 of the 3D portion 38 and anatomical features within the 3D FOV 52 imaged by the virtual camera 55. It should be noted that the virtual image generated by the virtual camera 55 is based on any suitable pre-acquired anatomical image and / or anatomical mapping information stored in the memory 50 and / or the processor 42. For example, the processor 42 may receive one or both of the following: (i) a computed tomography (CT) image acquired by a CT imaging system, and (ii) a rapid anatomical map (FAM) of the heart 26 generated by moving a catheter at a registered position within a cavity of the heart 26.

[0039] In this example, the 3D FOV 52 acquires a portion 38 of the heart 26 having, in particular, two pulmonary veins (PVs) 33. In this example, the ablation procedure includes PV detachment of one or both of the PVs 33, and the DEA includes a balloon having an ablation electrode disposed on an expandable member of the balloon. During the PV detachment procedure, the physician 30 inserts the balloon into the ostium of the selected PV 33, and then inflates the balloon to place the ablation electrode in contact with the tissue intended to be ablated. After verifying sufficient contact force between the ablation electrode and the tissue, the physician 30 can use the system 20 to apply a radio frequency (RF) signal to the electrode for ablating the tissue.

[0040] Reference is now made to the endoscopic view 66. In some examples, the endoscopic view 66 (also referred to herein as the "first image") provides the physician 30 with anatomical details of the PV 33 and the tissue surrounding the PV 33. The anatomical details are important for planning ablations, but may not be sufficient because the endoscopic view 66 is a perspective image, such that anatomical elements located closer to the virtual camera 55 appear larger than other anatomical elements located farther from the virtual camera 55. In addition, when viewing the endoscopic view 66, the physician 30 may lose a sense of orientation of the image because he / she may not observe the endoscopic view 66 of the features in the anatomical structure in the same way that the features are presented in the external view. For example, veins and other anatomical features may help the physician improve a sense of orientation while performing a procedure within the heart 26. Therefore, the combination of the external view 54 and the endoscopic view 66 may not provide the physician 30 with adequate optimal imaging for performing ablation of one or more PVs 33.

[0041] Figure 3A is a schematic illustration of a clipping plane (CP) of a selected plane of interest (POI) 77 shown in an external view 54 of a heart 26 according to an example of the present disclosure.

[0042] In some examples, processor 42 is configured to select POI 77 based on: (i) the position of the virtual camera within the 3D image of the external view 54 of heart 26 (described above); Figure 2 ), and (ii) the orientation of the virtual camera, and optionally the context Figure 2 Imaging parameters of the endoscopic view 66.

[0043] In some examples, Figure 3A , processor 42 defines POI 77 within the volume of the full map of heart 26 and generates a clipping plane (CP) for POI 77. It should be noted that the portion of heart 26 that is not "imaged" by virtual camera 55 is removed from the image and POI 77 is positioned at Figure 3A At the edge of the map shown in .

[0044] Figure 3B is a schematic illustration of a plane of interest (POI) 77 selected by processor 42 to define a portion of external view 54 of heart 26 according to an example of the present disclosure.

[0045] In some examples, processor 42 is configured to generate POI 77 that provides physician 30 with: (i) a graphical representation of a clipping plane for POI 77, and (ii) a cross-sectional view of the clipping plane for POI 77 presented on a display. Figure 3B In the example, the orientation of the presented POI 77 is not parallel to the above Figure 2 The orientation of the endoscopic view 66 is affected, and therefore, the physician 30 cannot see the anatomical elements of the cross-sectional view of the clipping plane of the POI 77.

[0046] Figure 3C is a schematic illustration of an image of a cross-sectional view 88 of a POI 77 according to an example of the present disclosure.

[0047] In some examples, processor 42 is configured to rotate Figure 3B The cross-sectional view 88 is generated by using the image shown in FIG. 1 so that the POI 77 is parallel to the display 46 of the console 24 (in the above Figure 1 ).

[0048] In some examples, the image of cross-sectional view 88 includes a cross-sectional view of the 3D image of a selected portion of heart 26 cut out by POI 77 (described above). Figure 3A and Figure 3B ). In some examples, the image of cross-sectional view 88 includes a cross-sectional view 88 of PV 33 and tissue of a surrounding wall of a corresponding chamber (eg, atrium) of heart 26.

[0049] Enables endoscopic views along with cross-sections of 3D images cut by selected planes of interest Figure 1 Start display

[0050] Figure 4 Schematic illustration of 3D visualization of heart 26 tissue and pulmonary vein (PV) 33 using (i) a cross-sectional view 88 of a 3D image of the heart cropped by POI 77 and (ii) an endoscopic view 66 from a direction facing POI 77 presented side by side according to an example of the present disclosure.

[0051] In some examples, processor 42 is configured to present (e.g., to physician 30) the following: (i) an endoscopic view 66 generated using virtual camera 55, as described above; Figure 2 and (ii) a cross-sectional view 88 of the 3D image of the heart 26 cut by the POI 77, which is described above. Figure 3C and the generation of this cross-sectional view is described above. FIG. 3A to FIG. 3C In this example, the processor 42 is configured to display the endoscopic view 66 and the cross-sectional view 88 side by side on the display 46, but in other embodiments, the processor 42 may display these images using any other suitable display configuration, as will be described below. Figure 5 Described in .

[0052] In some examples, during a tissue ablation procedure, physician 30 controls virtual camera 55 to generate a desired endoscopic view 66, and then controls processor 42 to generate a cross-sectional view 88 of the 3D image of heart 26 cropped by POI 77. It should be noted that the cross-sectional view of the 3D image cropped by POI 77 is not affected by the topographical features of PV 33 and / or the portion of heart 26. However, cross-sectional view 88 does present a graphical representation of the topographical features of heart 26 and PV 33. In other words, cross-sectional view 88 ignores the topographical features and thereby provides the physician with a supplemental view of the portion of interest (and PV 33). On the one hand, as described above, Figure 2 As described in , endoscopic view 66 provides physician 30 with a high resolution image of PV 33, but may have distortions in the sizes of displayed cardiac elements and the distances between them. On the other hand, cross-sectional view 88 displays proportional sizes of elements of heart 26 and the distances between cardiac elements from the same line of sight (e.g., viewing angle).

[0053] In some examples, physician 30 may use cross-sectional view 88 to estimate the actual size of PV 33 and the actual distance between two PVs. Based on this estimate, physician 30 and / or processor 42 may select a site in endoscopic view 66 for applying an RF ablation signal to tissue of heart 26. In addition, when physician 30 marks the selected ablation site on endoscopic view 66, processor 42 is configured to present a mark of the same ablation site on cross-sectional view 88.

[0054] In other examples, physician 30 and / or processor 42 may mark the ablation site on cross-sectional view 88 , and processor 42 may present the same ablation site on endoscopic view 66 .

[0055] In both examples, the physician 30 can see markings of one or more selected ablation sites displayed simultaneously on: (i) the high-resolution image of the endoscopic view 66, and (ii) the scaled image of the cross-sectional view 88. This side-by-side presentation helps the physician 30 to accurately and conveniently determine the ablation sites, and thus improve the quality of the ablation procedure.

[0056] Figure 5As an example according to the present disclosure, a flow chart of a method for displaying a cross-sectional view 88 of a 3D image of the heart 26 cropped by the POI 77 and an endoscopic view 66 from a direction facing the POI 77 is schematically shown.

[0057] The method begins at a POI selection step 100, where the physician inserts the DEA 40 into a cavity of the heart 26 in question and selects: (i) the position of the virtual camera 55 within the 3D image of the heart 26, and (ii) the imaging parameters (e.g., orientation and magnification) of the virtual camera 55 for viewing the portion of interest in the heart 26.

[0058] In some examples, based on the illumination direction and imaging parameters of virtual camera 55 , processor 42 is configured to select POI 77 within the 3D image of heart 26 .

[0059] At the first image generation step 102, the processor 42 is configured to generate a first image, i.e., an endoscopic view 66, based on the selected position and imaging parameters of the virtual camera 55. It should be noted that the endoscopic view 66 is generated from a direction facing the POI 77, as described above in Figure 2 and Figure 3A Described in detail in .

[0060] In a second image generation step 104, the processor 42 is configured to generate a second image. In this example, the second image includes a cross-sectional view 88 of the 3D image of the selected portion of the heart 26 cut out by the POI 77, as described above. FIG. 3A to FIG. 3C It should be noted that POI 77 is common to the first image and the second image, and therefore, both the first image and the second image present the same portion of the heart 26 from the same direction, as described above. Figure 4 Described in detail in .

[0061] At the display step 106 concluding the method, the processor 42 is configured to display the first image and the second image to the physician 30 and / or any other user of the system 20. In some examples, the processor 42 is configured to display (on the display 46) the endoscopic view 66 and the cross-sectional view 88 side by side, as described above. Figure 4 In addition, the processor 42 is configured to display one or more markers of the selected corresponding sites intended to be ablated using the DEA 40 on one or both of the endoscopic view 66 and the cross-sectional view 88, as described above. Figure 4 Described in .

[0062] In other examples, the processor 42 is configured to switch back and forth between display of the endoscopic view 66 and the cross-sectional view 88 on the display 46. For example, the processor 42 is configured to: (i) display the endoscopic view 66 when a first range of zoom values ​​is applied to the display 46, and (ii) display the cross-sectional view 88 when a second range of zoom values ​​different from the first range of zoom values ​​is applied to the display 46.

[0063] In an alternative embodiment, the processor 42 is configured to display a 3D image of the heart 26 (e.g., the above-described 3D image of the heart 26) when a third range of scaling values ​​different from the first range of scaling values ​​and the second range of scaling values ​​is applied to the display 46. Figure 2 External view 54, or above Figure 3A ) rather than the endoscopic view 66 or the cross-sectional view 88.

[0064] For the sake of conceptual clarity, the Figure 5 In other examples, the processor 42 is configured to display two or more images of a selected portion of the heart 26 using any suitable display configuration. In addition, this particular configuration of a graphical user interface (GUI) is shown by way of example in order to illustrate certain problems solved by the examples of the present disclosure and to demonstrate the application of these examples in enhancing the performance of such mapping and ablation systems. However, the examples of the present disclosure are by no means limited to this particular class of example systems and / or medical applications, and the principles described herein may be similarly applied to other classes of medical systems for performing any suitable class of medical procedures that require a combination of high resolution imaging and scaled images of the tissue in question and present them using a suitable GUI configuration.

[0065] The examples described herein are primarily directed to generating multiple types of imaging, presentation of a selected portion of a patient's heart, and selection of a site in the selected portion for ablating tissue. The methods and systems described herein may also be used in other applications, such as any system utilizing an endoscopic view. For example, in an ear, nose, and throat (ENT) application, an endoscopic view is used to navigate an ENT tool to the sinus of a patient's ENT system.

[0066] Example 1

[0067] A method comprising:

[0068] (i) inserting a catheter (22) into an organ (26) of a patient (28) and selecting a plane of interest (POI) (77) in a three-dimensional (3D) image (54) of the organ (26);

[0069] (ii) generating a first image comprising an endoscopic view (66) of the 3D image (54) from a direction facing the POI (77);

[0070] (iii) generating a second image, the second image comprising a cross-sectional view (88) of the 3D image (54) cropped by the POI (77); and

[0071] (iv) displaying the first image and the second image to a user (30).

[0072] Example 2

[0073] The method according to embodiment 1, wherein generating the second image includes generating a graphical representation of a clipping plane of the POI, and displaying a cross-sectional view of the clipping plane.

[0074] Example 3

[0075] The method according to embodiment 1, wherein generating the first image includes positioning a virtual camera at a given position and a given orientation within the 3D image of the organ, and defining one or more imaging parameters for generating the endoscopic view.

[0076] Example 4

[0077] A method according to Example 3, wherein the organ includes a heart and the 3D image includes a 3D image of at least a portion of the heart, wherein positioning the virtual camera includes selecting the given position and the given orientation of the virtual camera for displaying the portion of the heart, and wherein limiting the one or more imaging parameters in the virtual camera includes limiting one or both of the following items: (i) magnification, and (ii) one or more viewing angles, thereby producing the endoscopic view.

[0078] Example 5

[0079] The method according to Example 3, wherein the portion includes one or more pulmonary veins (PVs), and wherein the first image and the second image are used to perform a PV separation procedure in at least one of the PVs.

[0080] Example 6

[0081] The method according to embodiments 1 to 5, wherein displaying the first image and the second image comprises displaying the first image and the second image side by side.

[0082] Example 7

[0083] The method according to embodiments 1 to 5, wherein displaying the first image and the second image includes switching back and forth between display of the first image and the second image.

[0084] Example 8

[0085] A method according to Example 7, wherein the switching back and forth between the displays includes displaying the first image when a first range of zoom values ​​is applied to the display, and displaying the second image when a second range of zoom values ​​different from the first range of zoom values ​​is applied to the display.

[0086] Example 9

[0087] The method according to Embodiment 8, wherein the method includes displaying the 3D image instead of the first image or the second image when a third range of scaling values ​​different from the first range of scaling values ​​and the second range of scaling values ​​is applied to the display.

[0088] Example 10

[0089] A system (22), comprising:

[0090] (i) a processor (42) configured to: (i) receive a signal from a patient (28) having an organ

[0091] (ii) generating a first image including a plane of interest (POI) (77) in a three-dimensional (3D) image (54) of (26), the first image comprising a first image from a direction facing the POI (77);

[0092] and (iii) generating a second image including the 3D image (54) cropped by the POI (77).

[0093] a cross-sectional view (88); and

[0094] (ii) a display (46) configured to display the first image and the second image to a user (30).

[0095] Embodiment 11

[0096] A system according to embodiment 10, wherein the processor is configured to generate the second image by: (i) generating a graphical representation of a clipping plane of the POI, and (ii) displaying the cross-sectional view of the clipping plane on the display.

[0097] Example 12

[0098] A system according to embodiment 10, wherein the processor is configured to generate the first image by: (i) positioning a virtual camera at a given position and at a given orientation within the 3D image of the organ, and (ii) limiting one or more imaging parameters for generating the endoscopic view.

[0099] Embodiment 13

[0100] A system according to embodiment 10, wherein the organ includes a heart and the 3D image includes a 3D image of at least a portion of the heart, wherein the processor is configured to select the given position and the given orientation of the virtual camera for displaying the portion of the heart, and wherein the processor is configured to limit one or both of the following items in the virtual camera: (i) magnification, and (ii) one or more viewing angles, thereby producing the endoscopic view.

[0101] Embodiment 14

[0102] The system of Example 13, wherein the portion includes one or more pulmonary veins (PVs), and wherein the first image and the second image are used to perform a PV separation procedure in at least one of the PVs.

[0103] Embodiment 15

[0104] A system according to embodiments 10 to 14, wherein the processor is configured to display the first image and the second image side by side on the display.

[0105] Example 16

[0106] The system according to embodiments 10 to 14, wherein the processor is configured to display the first image and the second image on the display by switching back and forth between display of the first image and the second image.

[0107] Embodiment 17

[0108] A system according to embodiment 16, wherein the processor is configured to: (i) display the first image when a first range of scaling values ​​is applied to the display, and (ii) display the second image when a second range of scaling values ​​different from the first range of scaling values ​​is applied to the display.

[0109] Embodiment 18

[0110] A system according to embodiment 16, wherein the processor is configured to display the 3D image instead of the first image or the second image when a third range of scaling values ​​different from the first range of scaling values ​​and the second range of scaling values ​​is applied to the display.

[0111] It should therefore be understood that the above embodiments are cited by way of example, and the present disclosure is not limited to what is specifically shown and described above. On the contrary, the scope of the present disclosure includes combinations and sub-combinations of the various features described above, as well as variations and modifications thereof, which will occur to those skilled in the art upon reading the above description, and which are not disclosed in the prior art.

Claims

1. A method, comprising: inserting a catheter into an organ of a patient and selecting a plane of interest (POI) in a three-dimensional (3D) image of the organ; generating a first image comprising an endoscopic view of the 3D image from a direction facing the POI; generating a second image, the second image comprising a cross-sectional view of the 3D image cut by the POI; as well as The first image and the second image are displayed to a user.

2. The method according to claim 1, wherein: Generating the second image includes generating a graphical representation of a clipping plane of the POI, and displaying the cross-sectional view of the clipping plane.

3. The method according to claim 1, wherein: Generating the first image comprises positioning a virtual camera at a given position and in a given orientation within the 3D image of the organ and defining one or more imaging parameters for generating the endoscopic view.

4. The method according to claim 3, wherein: The organ comprises a heart, and the 3D image comprises a 3D image of at least a portion of the heart, wherein positioning the virtual camera comprises selecting the given position and the given orientation of the virtual camera for displaying the portion of the heart, and wherein defining the one or more imaging parameters in the virtual camera comprises defining one or both of: (i) magnification, and (ii) one or more viewing angles, thereby producing the endoscopic view.

5. The method according to claim 3, wherein: The portion includes one or more pulmonary veins (PVs), and wherein the first image and the second image are used to perform a PV separation procedure in at least one of the PVs.

6. The method according to claim 1, wherein: Displaying the first image and the second image includes displaying the first image and the second image side by side.

7. The method according to claim 1, wherein: Displaying the first image and the second image includes switching back and forth between display of the first image and the second image.

8. The method according to claim 7, wherein: Switching back and forth between the displays includes displaying the first image when a first range of scaling values ​​is applied to the display, and displaying the second image when a second range of scaling values ​​different from the first range of scaling values ​​is applied to the display.

9. A method according to claim 8, and comprising displaying the 3D image instead of the first image or the second image when a third range of scaling values ​​different from the first range of scaling values ​​and the second range of scaling values ​​is applied to the display.

10. A system, comprising: a processor configured to: (i) receive a selection of a plane of interest (POI) in a three-dimensional (3D) image of an organ of a patient, (ii) generate a first image comprising an endoscopic view of the 3D image from a direction facing the POI, and (iii) generate a second image comprising a cross-sectional view of the 3D image cropped by the POI; and A display is configured to display the first image and the second image to a user.

11. The system according to claim 10, wherein: The processor is configured to generate the second image by: (i) generating a graphical representation of a clipping plane of the POI, and (ii) displaying the cross-sectional view of the clipping plane on the display.

12. The system according to claim 10, wherein: The processor is configured to generate the first image by: (i) positioning a virtual camera at a given position and in a given orientation within the 3D image of the organ, and (ii) defining one or more imaging parameters for generating the endoscopic view.

13. The system according to claim 10, wherein: The organ comprises a heart, and the 3D image comprises a 3D image of at least a portion of the heart, wherein the processor is configured to select the given position and the given orientation of the virtual camera for displaying the portion of the heart, and wherein the processor is configured to define one or both of the following in the virtual camera: (i) a magnification, and (ii) one or more viewing angles, thereby producing the endoscopic view.

14. The system according to claim 13, wherein: The portion includes one or more pulmonary veins (PVs), and wherein the first image and the second image are used to perform a PV separation procedure in at least one of the PVs.

15. The system according to claim 10, wherein: The processor is configured to display the first image and the second image side by side on the display.

16. The system of claim 10, wherein: The processor is configured to display the first image and the second image on the display by switching back and forth between the display of the first image and the second image.

17. The system of claim 16, wherein: The processor is configured to: (i) display the first image when a first range of scaling values ​​is applied to the display, and (ii) display the second image when a second range of scaling values ​​different from the first range of scaling values ​​is applied to the display.

18. The system of claim 16, wherein: The processor is configured to display the 3D image instead of the first image or the second image when a third range of scaling values ​​different from the first range of scaling values ​​and the second range of scaling values ​​is applied to the display.

Images