Automated tool for identifying and correcting heave artifacts in anatomical mapping

Abstract

The subject of the invention is an automated tool for identifying and correcting heave artifacts in anatomical mapping. The invention provides an electroanatomical map. The electroanatomical map is generated from first positional information defining an initial map surface. Second location information is collected and used to determine an updated map surface. A difference between the initial map surface and the updated map surface corresponds to a change in the map. A first raised analysis volume is determined based on at least a portion of the updated map surface. Third positional information is acquired and used to define a second raised analysis volume. The change in the map is identified as potentially corresponding to a bump based on whether the first bump analysis volume fails to overlap a predetermined amount with the second bump analysis volume.

Description

Technical Field

[0001] The present invention relates to anatomical mapping. More specifically, the present invention relates to the detection and correction of bulge artifacts in anatomical mapping. Background Art

[0002] Currently, catheter-based radiofrequency (RF) ablation for pulmonary vein isolation is the primary treatment for atrial fibrillation (AF). RF ablation requires a very accurate mapping.

[0003] For example, during an electrophysiology (EP) procedure, an anatomical map of a heart chamber is generated. Fast anatomical mapping (FAM) is an algorithm for constructing such an anatomical map from electrical signals captured by a catheter on the myocardium. The anatomical map is used to guide a physician to a desired ablation site.

[0004] During an EP procedure, errors occur in an electroanatomical map due to "bulges". For example, a bulge occurs when a catheter hits a tissue wall, causing a protrusion in the map. In such an example, the protrusion does not represent the anatomical structure being mapped. Improvements are needed to detect and correct bulge errors during the procedure, so as to present a more accurate electroanatomical map to the physician. Summary of the Invention

[0005] According to one or more embodiments, methods and systems are provided for detecting and correcting errors in an electroanatomical map. The electroanatomical map is generated using a catheter positioned in a human body, and the error is a result of a bulge in the electroanatomical map caused by the catheter hitting a tissue wall. As the catheter moves within the body, first position information defining an initial map surface of the electroanatomical map is acquired. After acquiring the first position information, second position information is acquired using the catheter and an updated map surface is determined based on the second position information. The difference between the initial map surface and the updated map surface corresponds to a change in the map. A first bulge analysis volume is determined based on at least a portion of the updated map surface. After acquiring the second position information, third position information is acquired using the catheter, where the third position information is used to define a second bulge analysis volume relative to the second position information. Based on whether the first bulge analysis volume fails to overlap a predetermined amount with the second bulge analysis volume, the change in the map is identified as potentially corresponding to a bulge. A visual representation including the electroanatomical map is presented to a user on a user interface, where the visual representation provides a visual indication that the change in the map potentially corresponds to a bulge. The user interface is operable to remove the change in the map from the visual representation.

[0006] In some embodiments, the first bulge analysis volume corresponds to a spherical volume centered at a point on the updated mapping surface. In some examples, based on whether the third position information is within the spherical volume, a change in the mapping is identified as potentially corresponding to a bulge.

[0007] In some embodiments, an offset surface is determined by projecting a predetermined distance from the updated mapping surface, and the first bulge analysis volume corresponds to the volume between the updated mapping surface and the offset surface.

[0008] In some embodiments, based on whether the previously acquired position information is within the first bulge analysis volume, a change in the mapping is identified as potentially corresponding to a bulge.

[0009] In some embodiments, based on whether the volume corresponding to the change in the mapping is less than a threshold, the change in the mapping is identified as potentially corresponding to a bulge.

[0010] In some embodiments, a predetermined amount of overlap for identifying a bulge corresponds to the ratio between the dimensions of the first bulge analysis volume and the second bulge analysis volume.

[0011] In some embodiments, the electroanatomical mapping is a rapid anatomical mapping generated during a cardiac ablation procedure.

[0012] According to one or more embodiments, the techniques for detecting and correcting bulges described herein can be implemented as a method, apparatus, system, and / or computer program product. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] A more detailed understanding can be obtained from the following detailed description taken in conjunction with the accompanying drawings by way of example, in which like reference numerals in the drawings indicate like elements, and in which:

[0014] Figure 1 An example catheter-based electrophysiological mapping and ablation system according to one or more embodiments is depicted;

[0015] Figure 2 is a block diagram of an example system for remotely monitoring and transmitting biometric data according to one or more embodiments;

[0016] Figure 3 is a system diagram of an example computing environment in communication with a network according to one or more embodiments;

[0017] Figure 4 is a system diagram of an example computing environment according to one or more embodiments;

[0018] Figure 5A is a rear view illustrating an example of a bulge according to one or more embodiments;

[0019] Figure 5B is Figure 5A a side view of an example;

[0020] Figure 6A depicts a set of data points using a catheter according to one or more embodiments;

[0021] Figure 6B depicts determining an initial mapping surface based on the data points shown in Figure 6A ;

[0022] Figure 7A depicts another set of data points using a catheter according to one or more embodiments;

[0023] Figure 7B depicts determining an updated mapping surface based on the data points shown in Figure 7A ;

[0024] Figure 8 depicts an initial mapping surface, an updated mapping surface, and an offset surface according to one or more embodiments;

[0025] Figure 9A and Figure 9B depicts data point acquisitions identified as bulges according to one or more embodiments;

[0026] Figure 10A and Figure 10B depicts data point acquisitions not identified as bulges according to one or more embodiments;

[0027] Figure 11A and Figure 11B depicts data point acquisitions not identified as bulges according to one or more embodiments;

[0028] Figure 12 depicts a user interface identifying regions on an electroanatomical map as potentially corresponding to bulges; and

[0029] Figure 13 shows a method according to one or more embodiments. Detailed Description

[0030] The present disclosure relates to a method and / or system for anatomical mapping. The method and / or system includes processor-executable code or software that is necessarily rooted in the processing operations performed by, and the processing hardware of, a medical device configured to perform anatomical mapping. For purposes of explanation, anatomical mapping is described herein with respect to mapping the heart. However, any anatomical structure, body part, organ, or portion thereof may be the target for mapping using the techniques described herein.

[0031] According to one or more embodiments, the methods and systems disclosed herein generate an anatomical map of the endocardial surface of the heart, including the left atrium (LA). The map may be a three-dimensional (3D) model or a combination of multiple 3D models. The methods and systems may generate and edit the map of the heart and provide real-time or post-processing maps during and in conjunction with an EP procedure (e.g., ablation procedure). By way of example, the methods and systems may detect bulge errors in an initial visualization (e.g., output of a FAM) and provide the user with an opportunity to correct such errors, thereby improving the operation and results of anatomical mapping.

[0032] Reference Figure 1 is made to, which shows an example system, shown as system 100 (e.g., a medical device and / or a catheter-based electrophysiological mapping and ablation system), in which one or more features of the subject matter herein may be implemented according to one or more embodiments. All or part of system 100 may be used to collect information (e.g., biometric data) and / or to implement bulge detection and correction techniques as described herein. In some examples, the bulge error and correction techniques are implemented using processor-executable code or software that is stored on the memory of system 100 and is necessarily rooted in the processing operations performed by system 100 and the processing hardware of the system. As described herein, system 100 may generate a map (also referred to as a visualization), detect bulge errors therein, and provide an opportunity for an operator to correct such errors during a medical procedure.

[0033] Figure 1 Shown are recorder 11, heart 12, catheter 14, model or anatomical map 20, electrogram 21, spline 22, patient 23, physician 24 (which represents any medical professional, technician, clinician, operator, clinical support specialist, clinical interpretation specialist, or healthcare personnel, etc.), position pad 25, one or more electrodes 26, display device 27, distal tip 28, sensor 29, coil 32, patient interface unit (PIU) 30, electrode skin patch 38, ablation energy generator 50, and workstation 55. It should also be noted that each element and / or item of system 100 represents one or more of that element and / or that item. Figure 1The example system 10 shown implements the embodiments disclosed herein. The disclosed embodiments of the present invention can be similarly applied using other system components and settings. Additionally, system 10 can include additional components, such as elements for sensing electrical activity, wired or wireless connectors, processing and display devices, or other components.

[0034] System 10 includes a plurality of catheters 14 that are inserted by a physician 24 through the patient's vascular system via the skin into the chambers or vascular structures of the heart 12. Typically, a delivery sheath catheter is inserted into the left atrium or right atrium near the desired location within the heart 12. Then, a plurality of catheters can be inserted into the delivery sheath catheter to reach the desired location. The plurality of catheters 14 can include catheters dedicated to sensing intracardiac electrogram (IEGM) signals, catheters dedicated to ablation, and / or catheters dedicated to both sensing and ablation. An example catheter 14 configured for sensing IEGM is shown herein. The physician 24 places the distal end 28 of the catheter 14 in contact with the heart wall for sensing a target site within the heart 12. For ablation, the physician 24 similarly brings the distal end of the ablation catheter to the target site for ablation.

[0035] Catheter 14 is an exemplary catheter that includes one and preferably a plurality of electrodes 26 optionally distributed on a plurality of splines 22 at the distal end 28 and configured to sense IEGM signals. Additionally, catheter 14 can further include a sensor 29 embedded in or near the distal end 28 for tracking the position and orientation of the distal end 28. Optionally and preferably, the position sensor 29 is a magnetic-based position sensor that includes three magnetic coils for sensing 3D position and orientation. According to one or more embodiments, the shape and parameters of catheter 14 vary based on whether catheter 14 is for diagnostic or ablation purposes, the type of arrhythmia, the patient's anatomy, and other factors that affect catheter maneuverability (e.g., the ability to contact without bending the surface and the tracked portion of catheter 14). The shape and parameters of catheter 14 also affect the accuracy of the anatomical mapping. Large spherical single-shot catheters for ablating pulmonary veins in seconds have become popular but require guidance from fluoroscopy, CT / MRI, or additional mapping catheters. The bulge error detection and correction operations described herein address the drawbacks of catheter 14 by identifying and correcting mapping errors that may be generated when catheter 14 impacts the tissue wall during an EP procedure as described herein.

[0036] The sensor 29 (e.g., a location or magnetic-based sensor) can operate with the position pad 25, which includes a plurality of magnetic coils 32 configured to generate a magnetic field in a predefined workspace. The real-time positioning of the distal end 28 of the catheter 14 can be tracked based on the magnetic field generated by the position pad 25 and sensed by the sensor 29. Details of magnetic-based position sensing techniques are described in U.S. Pat. Nos. 5,539,199, 5,443,489, 5,558,091, 6,172,499, 6,239,724, 6,332,089, 6,484,118, 6,618,612, 6,690,963, 6,788,967, and 6,892,091.

[0037] The system 10 includes one or more electrode patches 38 positioned to contact the skin of the patient 23 to establish a position reference for impedance-based tracking of the position pad 25 and the electrodes 26. For impedance-based tracking, current is directed towards the electrodes 26 and sensed at the patches 38 (e.g., electrode skin patches) such that the position of each electrode can be triangulated via the patches 38. Details of impedance-based position tracking techniques are described in U.S. Pat. Nos. 7,536,218, 7,756,576, 7,848,787, 7,869,865, and 8,456,182, which are incorporated herein by reference.

[0038] The recorder 11 displays the electrogram 21 captured with the electrodes 18 (e.g., body surface electrocardiogram (ECG) electrodes) and the intracardiac electrogram (IEGM) captured with the electrodes 26 of the catheter 14. The recorder 11 can include pacing capabilities for pacing the heart rhythm and / or can be electrically connected to an independent pacemaker.

[0039] The system 10 can include an ablation energy generator 50 adapted to conduct ablation energy to one or more of the electrodes 26 at the distal end 28 of the catheter 14 configured for ablation. The energy generated by the ablation energy generator 50 can include, but is not limited to, radiofrequency (RF) energy or pulsed field ablation (PFA) energy (including monopolar or bipolar high voltage DC pulses that can be used to achieve irreversible electroporation (IRE)), or a combination thereof.

[0040] The PIU 30 is an interface configured to establish electrical connectivity between the catheter, the electrophysiology equipment, the power supply, and the workstation 55 for controlling the operation of the system 10. The electrophysiology equipment of the system 10 may include, for example, a plurality of catheters 14, position pads 25, body surface ECG electrodes 18, electrode patches 38, an ablation energy generator 50, and a recorder 11. Optionally and preferably, the PIU 30 further includes processing capabilities for performing real-time calculations of the position of the catheter and for performing ECG calculations.

[0041] The workstation 55 includes a memory, a processor unit with a memory or storage device in which appropriate operating software is loaded, and user interface capabilities. The workstation 55 may provide a plurality of functions, optionally including: performing three-dimensional (3D) modeling of the endocardial anatomy and rendering the model or anatomical map 20 (e.g., visualizing) for display on the display device 27; displaying the activation sequence (or other data) compiled from the recorded electrograms 21 as representative visual markers or images superimposed on the rendered anatomical map 20 on the display device 27; displaying the real-time position and orientation of a plurality of catheters within the heart chambers; and displaying a site of interest, such as where ablation energy has been applied, on the display device 27. A commercial product embodying the elements of the system 10 may be the CARTO TM 3 system, which is available from Biosense Webster, Inc., 31A Technology Drive, Irvine, CA 92618. Note that modeling the endocardial anatomy in 3D may include generating its surface as a triangular mesh.

[0042] For example, the system 10 may be part of a surgical system (e.g., a system sold by Biosense Webster) configured to obtain biometric data (e.g., anatomical and electrical measurements of a patient's organ such as the heart 12 and those as described herein) and perform a cardiac ablation procedure. More specifically, the treatment of cardiac conditions such as arrhythmias typically requires obtaining a detailed map of the heart tissue, chambers, veins, arteries, and / or electrical pathways. For example, a prerequisite for successful catheter ablation is that the cause of the arrhythmia is accurately located within the chambers of the heart 12. Such localization can be accomplished via an electrophysiology study during which electrical potentials are detected and spatially resolved using mapping catheters (e.g., catheter 14) introduced into the chambers of the heart 12. This electrophysiology study (so-called electroanatomical mapping) thus provides 3D mapping data that can be displayed on the display device 27. In many cases, the mapping function and the treatment function (e.g., ablation) are provided by a single catheter or a group of catheters, such that the mapping catheter also operates as a treatment catheter simultaneously.

[0043] Figure 2is a block diagram of an example system 100 for remotely monitoring and transmitting biometric data (i.e., patient biometrics). In Figure 2 the example shown, system 100 includes a patient biometric monitoring and processing device 102 associated with patient 104, a local computing device 106, a remote computing system 108, a first network 110, patient biometric sensors 112, a processor 114, a user input (UI) sensor 116, a memory 118, a second network 120, and a transmitter-receiver (i.e., transceiver) 122.

[0044] According to one or more embodiments, the patient biometric monitoring and processing device 102 can be a device that is inside the patient's body (e.g., subcutaneously implantable), such as Figure 1 catheter 14. The patient biometric monitoring and processing device 102 can be inserted into the patient's body via any suitable means, including oral injection, surgical insertion via a vein or artery, an endoscopic procedure, or a laparoscopic procedure.

[0045] According to one or more embodiments, the patient biometric monitoring and processing device 102 can be a device that is outside the patient's body, such as Figure 1 electrode patch 38. For example, as described in more detail below, the patient biometric monitoring and processing device 102 can include an attachable patch (e.g., which attaches to the patient's skin). The monitoring and processing device 102 can also include a catheter, a probe, a blood pressure cuff, a scale, a bracelet or smartwatch biometric tracker, a glucose monitor, a continuous positive airway pressure (CPAP) machine, or almost any device that can provide input related to the patient's health or biometrics.

[0046] According to one or more embodiments, the patient biometric monitoring and processing device 102 can include both components that are inside the patient and components that are outside the patient.

[0047] Figure 2 A single patient biometric monitoring and processing device 102 is shown in

[0048] One or more patient biometric monitoring and processing devices 102 may collect biometric data (e.g., patient biometrics such as electrical signals, blood pressure, temperature, blood glucose level, or other biometric data), and receive at least a portion of the biometric data representing the collected patient biometrics and additional information associated with the collected patient biometrics from one or more other monitoring and processing devices 102. The additional information may be, for example, diagnostic information and / or additional information obtained from additional devices such as wearable devices. Each patient biometric monitoring and processing device 102 may process data, including its own biometric data and data received from one or more other patient biometric monitoring and processing devices 102.

[0049] Biometric data (e.g., patient biometrics, patient data, or patient biometric data) may include one or more of local activation time (LAT), electrical activity, topology, bipolar mapping, reference activity, ventricular activity, dominant frequency, impedance, or other data. The LAT may be a time point corresponding to the threshold activity of local activation calculated based on a normalized initial starting point. The electrical activity may be any applicable electrical signal that can be measured based on one or more thresholds and can be sensed and / or enhanced based on signal-to-noise ratio and / or other filters. The topology may correspond to the physical structure of a body part or a portion of a body part, and may correspond to the variation of the physical structure with respect to different parts of the body part or with respect to different body parts. The dominant frequency may be a frequency or frequency range prevalent at a portion of a body part, and may be different in different parts of the same body part. For example, the dominant frequency of the PV of the heart may be different from the dominant frequency of the right atrium of the same heart. The impedance may be a resistance measurement at a given region of a body part.

[0050] Examples of biometric data include, but are not limited to, patient identification data, intracardiac electrocardiogram (IC ECG) data, bipolar intracardiac reference signals, anatomical and electrical measurements, trajectory information, body surface (BS) ECG data, historical data, brain biometrics, blood pressure data, ultrasound signals, radio signals, audio signals, two-dimensional or three-dimensional image data, blood glucose data, and temperature data. Biometric data can generally be used for monitoring, diagnosing, and treating any number of various diseases such as cardiovascular diseases (e.g., arrhythmias, cardiomyopathies, and coronary artery diseases) and autoimmune diseases (e.g., type I and type II diabetes). Note that the BS ECG data may include data and signals collected from electrodes on the patient's surface, the IC ECG data may include data and signals collected from electrodes within the patient's body, and the ablation data may include data and signals collected from tissue that has been ablated. Additionally, the BS ECG data, IC ECG data, and ablation data together with catheter electrode positioning data may be derived from one or more procedural recordings.

[0051] In Figure 2 Figure 2 , network 110 is an example of a short-range network (e.g., a local area network (LAN) or a personal area network (PAN)). Any of a variety of short-range wireless communication protocols (e.g., Bluetooth, Wi-Fi, Zigbee, Z-Wave, near field communication (NFC), ultra-wideband, or infrared (IR)) may be used to send information between the patient biometric monitoring and processing device 102 and the local computing device 106 via network 110.

[0052] Network 120 may be a wired network, a wireless network, or include one or more wired and wireless networks. For example, network 120 may be a remote network (e.g., a wide area network (WAN), the Internet, or a cellular network). Any of a variety of remote wireless communication protocols (e.g., TCP / IP, HTTP, 3G, 4G / LTE, or 5G / new radio) may be used to send information via network 120.

[0053] The patient biometric monitoring and processing device 102 may include a patient biometric sensor 112, a processor 114, a UI sensor 116, a memory 118, and a transceiver 122. The patient biometric monitoring and processing device 102 may continuously or periodically monitor, store, process, and transmit any number of various biometric data via network 110. Examples of biometric data include electrical signals (e.g., ECG signals and brain biometrics), blood pressure data, blood glucose data, and temperature data. Biometric data may be monitored and transmitted for the treatment of any number of various diseases, such as cardiovascular diseases (e.g., arrhythmia, cardiomyopathy, and coronary artery disease) and autoimmune diseases (e.g., type I and type II diabetes).

[0054] The patient biometric sensor 112 may include, for example, one or more sensors configured to sense the type of biometric data. For example, the patient biometric sensor 112 may include electrodes configured to acquire electrical signals (e.g., cardiac signals, brain signals, or other bioelectrical signals), a temperature sensor, a blood pressure sensor, a blood glucose sensor, a blood oxygen sensor, a pH sensor, an accelerometer, and a microphone.

[0055] As described in more detail below, the patient biometric monitoring and processing device 102 may be an ECG monitor for monitoring the ECG signals of the heart (e.g., heart 12). The patient biometric sensor 112 of the ECG monitor may include one or more electrodes for acquiring ECG signals. The ECG signals may be used for the treatment of various cardiovascular diseases as well as for anatomical mapping.

[0056] The transceiver 122 may include a separate transmitter and receiver. Alternatively, the transceiver 122 may include a transmitter and receiver integrated into a single device.

[0057] The processor 114 can be configured to store biometric data collected by the patient biometric sensor 112 in the memory 118 and transmit the biometric data across the network 110 via the transmitter of the transceiver 122. Data from one or more other patient biometric monitoring and processing devices 102 can also be received by the receiver of the transceiver 122, as described in more detail herein. By way of example, the bulge error detection and correction techniques described herein are implemented as processor-executable code or software that can be stored on the memory 118 (as shown) and executed by the processor 114. As another example, the bulge error and correction techniques are implemented as code stored and executed on the local computing device 106 and / or the remote computing system 108. Thus, the operation of the bulge error and correction techniques must be rooted in the processing operations performed by the system 100 and in the processing hardware of the system.

[0058] According to one or more embodiments, the system 100 is used to generate an initial visualization (e.g., an electroanatomical map) on a display (e.g., the display device 27) during an ablation procedure. The initial visualization is generated from data points sensed by a catheter positioned within the patient. Based on these data points, the system 100 generates an increasing number of initial mapped surface associated with such data points for display. During the procedure, more data points are collected using the catheter 14, including, for example, data points collected when the catheter impacts a tissue wall. Using the more data points, the initial mapped surface is updated for display. The difference between the initial mapped surface and the updated mapped surface corresponds to a change in the map, and the techniques described herein (in conjunction with, for example, FIGS. 5 to Figure 12 ) analyze this change to determine whether this is the result of a bulge error or may be the result of a bulge error. In an overview manner, in one example, in conjunction with this analysis, an offset surface is determined by adding an offset to at least a portion of the updated mapped surface. The offset surface defines at least a portion of a first bulge analysis volume. Additional data points (again using the catheter 14) are collected and used to define a second bulge analysis volume. According to an embodiment of the analysis techniques disclosed herein, based on whether the first bulge analysis volume fails to overlap a predetermined amount with the second bulge analysis volume, the change in the map is identified as potentially corresponding to a bulge. In the case where a bulge is detected, a visual representation including the electroanatomical map is presented to the user on the user interface, where the visual representation provides a visual indication that the change in the map potentially corresponds to a bulge. The user interface can be operated by the user to delete the change in the map from the visual representation. Alternatively, the data associated with the change in the map is automatically deleted.

[0059] In some embodiments of the bulge analysis techniques disclosed herein, a spherical volume centered on a point on an updated mapping surface is determined, and changes in the mapping within the spherical volume are identified as potentially corresponding to a bulge based on additional location information (e.g., sensed data points) collected subsequently. In some embodiments, changes in the mapping are identified as potentially corresponding to a bulge based on whether previously acquired location information is within a first bulge analysis volume. In some embodiments, changes in the mapping are identified as potentially corresponding to a bulge based on whether a volume corresponding to the change in the mapping is greater than a threshold.

[0060] According to one or more embodiments, the patient biometric monitoring and processing device 102 includes a UI sensor 116, which can be, for example, a piezoelectric sensor or a capacitive sensor configured to receive user input (e.g., a tap or a touch). For example, in response to the patient 104 tapping or contacting the surface of the patient biometric monitoring and processing device 102, the UI sensor 116 can be controlled to achieve capacitive coupling. Gesture recognition can be implemented via any of various capacitive types, such as resistive capacitive, surface capacitive, projected capacitive, surface acoustic wave, piezoelectric, and infrared touch. The capacitive sensor can be provided at a small area or along the length of the surface such that a tap or touch on the surface activates the monitoring device.

[0061] As described in more detail below, the processor 114 can be configured to selectively respond to different tap patterns (e.g., a single tap or a double tap) of a capacitive sensor, which can be the UI sensor 116, such that different tasks of the patch (e.g., acquisition, storage, or transmission of data) can be activated based on the detected pattern. In some embodiments, an audible feedback can be given to the user from the patient biometric monitoring and processing device 102 when a gesture is detected.

[0062] The local computing device 106 of system 100 communicates with the patient biometric monitoring and processing device 102 and may be configured to act as a gateway to the remote computing system 108 via the second network 120. For example, the local computing device 106 may be, for example, a smart phone, a smart watch, a tablet computer, or other portable intelligent device configured to communicate with other devices via the network 120. Alternatively, the local computing device 106 may be a fixed or stand-alone device, such as a fixed base station including, for example, modem and / or router capabilities, a desktop computer or laptop computer that uses an executable program to transfer information between the patient biometric monitoring and processing device 102 and the remote computing system 108 via the radio module of the PC, or a USB dongle. Biometric data may be transferred between the local computing device 106 and the patient biometric monitoring and processing device 102 via a short-range wireless network 110, such as a local area network (LAN) (e.g., a personal area network (PAN)), using a short-range wireless technology standard (e.g., Bluetooth, Wi-Fi, ZigBee, Z-wave, and other short-range wireless standards). In some embodiments, the local computing device 106 may also be configured to display the acquired patient electrical signals and information associated with the acquired patient electrical signals, as described in more detail herein.

[0063] In some embodiments, the remote computing system 108 may be configured to receive at least one of the monitored patient biometrics and information associated with the monitored patient via the network 120 as a remote network. For example, if the local computing device 106 is a mobile phone, the network 120 may be a wireless cellular network, and information may be transferred between the local computing device 106 and the remote computing system 108 via a wireless technology standard such as any of the wireless technologies described above. As described in more detail below, the remote computing system 108 may be configured to provide (e.g., visually display and / or auditorily provide) at least one of the patient biometrics and associated information to the physician 24.

[0064] Figure 3 is a system diagram of an example of a computing environment 200 that communicates with the network 120. In some cases, the computing environment 200 is incorporated into a public cloud computing platform (e.g., Amazon Web Services or Microsoft Azure), a hybrid cloud computing platform (e.g., HP Enterprise OneSphere), or a private cloud computing platform.

[0065] As Figure 3 shown, the computing environment 200 includes a computer system 210 on which the various embodiments described herein may be implemented, and the computer system is Figure 1 the workstation 55, Figure 2 the local computing device 106, and / or Figure 2An example of the remote computing system 108. By way of example, the bump detection and correction techniques described herein are implemented as processor-executable code or software that can be stored on the system memory 231 (as shown) and executed by the processor 220, and are rooted in the processing operations performed in the computing environment 200 and in the processing hardware of the computing environment.

[0066] The computer system 210 can perform various functions via the processor 220, which may include one or more processors. These functions can include analyzing the monitored biometric data and associated information and providing (e.g., via the display 266) alerts, additional information, or instructions based on thresholds and parameters determined by a physician or algorithm-driven. These functions can include the operation of the bump error and correction techniques as described herein. As described in more detail herein, the computer system 210 can be used to provide Figure 1 a physician 24 (e.g., via the display 266) with a patient information dashboard such that such information can enable the physician 24 to identify patients with more urgent needs than others and prioritize that patient.

[0067] As Figure 3 shown, the computer system 210 can include a communication mechanism (e.g., bus 221) or other communication mechanisms for transferring information within the computer system 210. The computer system 210 also includes one or more processors 220 coupled to the bus 221 for processing information. The processor 220 can include one or more CPUs, GPUs, or any other processor known in the art.

[0068] The computer system 210 also includes a system memory 230 coupled to the bus 221 for storing information and instructions to be executed by the processor 220. The system memory 230 may include computer-readable storage media in the form of volatile and / or non-volatile memory, such as read-only system memory (ROM) 231 and / or random access memory (RAM) 232. The system memory RAM 232 may include other dynamic storage devices (e.g., dynamic RAM, static RAM, and synchronous DRAM). The system memory ROM 231 may include other static storage devices (e.g., programmable ROM, erasable PROM, and electrically erasable PROM). In addition, the system memory 230 may be used to store temporary variables or other intermediate information during the execution of instructions by the processor 220. The basic input / output system 233 (BIOS) may contain routines for transferring information between elements within the computer system 210 (e.g., during the boot process), and the routines may be stored in the system memory ROM 231. The RAM 232 may contain data and / or program modules that may be immediately accessible to and / or currently being operated on by the processor 220. The system memory 230 may additionally include, for example, an operating system 234, application programs 235, other program modules 236, and program data 237.

[0069] The illustrated computer system 210 also includes a disk controller 240 coupled to the bus 221 to control one or more storage devices for storing information and instructions, such as a hard disk 241 and a removable media drive 242 (e.g., a floppy disk drive, a CD drive, a tape drive, and / or a solid state drive). Storage devices may be added to the computer system 210 using an appropriate device interface (e.g., Small Computer System Interface (SCSI), Integrated Device Electronics (IDE), Universal Serial Bus (USB), or FireWire).

[0070] The computer system 210 may also include a display controller 265 coupled to the bus 221 to control a monitor or display 266, such as a cathode ray tube (CRT) or a liquid crystal display (LCD), to display information to a computer user. The illustrated computer system 210 includes a user input interface 260 and one or more input devices, such as a keyboard 262 and a pointing device 261, for interacting with a computer user and providing information to the processor 220. The pointing device 261 may be, for example, a mouse, a trackball, or a pointing stick, for transmitting direction information and command selections to the processor 220 and for controlling the movement of a cursor on the display 266. The display 266 may provide a touchscreen interface that may allow input to supplement or replace the communication of direction information and command selections by the pointing device 261 and / or the keyboard 262.

[0071] In response to one or more sequences of one or more instructions contained in a memory (e.g., system memory 230) being executed by processor 220, computer system 210 may perform some or each of the functions and methods described herein. Such instructions may be read into system memory 230 from another computer-readable medium such as, for example, hard disk 241 or removable media drive 242. Hard disk 241 may contain one or more data repositories and data files used by the embodiments described herein. The data repository contents and data files may be encrypted to enhance security. Processor 220 may also be employed in a multiprocessing arrangement to execute one or more sequences of instructions contained in system memory 230. In alternative embodiments, hardwired circuitry may be used in place of or in combination with software instructions. Accordingly, the embodiments are not limited to any specific combination of hardware circuitry and software.

[0072] As described above, computer system 210 may include at least one computer-readable medium or memory for holding instructions programmed according to embodiments described herein (e.g., embodiments of bump error detection and correction techniques) and for containing data structures, tables, records, or other data described herein. As used herein, the term computer-readable medium refers to any non-transitory tangible medium that participates in providing instructions to processor 220 for execution. Computer-readable media may take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-limiting examples of non-volatile media include optical discs, solid state drives, magnetic disks, and magneto-optical disks such as hard disk 241 or removable media drive 242. Non-limiting examples of volatile media include dynamic memory such as system memory 230. Non-limiting examples of transmission media include coaxial cables, copper wire, and fiber optics, including the wires that make up bus 221. Transmission media can also take the form of acoustic or light waves, such as acoustic or light waves generated during radio wave and infrared data communications.

[0073] Computing environment 200 may also include computer system 210, which operates in a networked environment using logical connections to local computing device 106 and one or more other devices, such as, for example, a personal computer (laptop or desktop computer), a mobile device (e.g., a patient mobile device), a server, a router, a network PC, a peer device, or other common network nodes, and generally includes many or all of the elements described above with respect to computer system 210. When used in a networked environment, computer system 210 may include a modem 272 for establishing communications over network 120 (e.g., the Internet). Modem 272 may be connected to system bus 221 via network interface 270 or via another suitable mechanism.

[0074] As Figure 2 andFigure 3 As shown, network 120 can be any network or system known in the art, including the Internet, intranet, local area network (LAN), wide area network (WAN), metropolitan area network (MAN), direct connection or series of connections, cellular phone network, or any other network or medium capable of facilitating communication between computer system 210 and other computers (e.g., local computing device 106).

[0075] Figure 4 is a block diagram of an example device 400 that can implement one or more features of the present disclosure. For example, device 400 can be local computing device 106. Device 400 can include, for example, a computer, gaming device, handheld device, set-top box, television, mobile phone, or tablet. Device 400 includes a processor 402, a memory 404, a storage device 406, one or more input devices 408, and one or more output devices 410. Device 400 may also optionally include an input driver 412 and an output driver 414. It should be understood that device 400 can include Figure 4 additional components not shown, including an artificial intelligence accelerator.

[0076] In various alternatives, processor 402 includes a central processing unit (CPU), a graphics processing unit (GPU), a CPU and GPU on the same die, or one or more processor cores, where each processor core can be a CPU or GPU. In various alternatives, memory 404 is on the same die as processor 402 or is located separately from processor 402. Memory 404 includes volatile or non-volatile memory, such as random access memory (RAM), dynamic RAM, or cache. By way of example, the bump error detection and correction techniques described herein are implemented as processor-executable code or software that can be stored on memory 404 (as shown) and executed by processor 402, and are rooted in the processing operations performed by example device 400 and the processing hardware of the example device.

[0077] Storage device 406 includes fixed or removable storage devices, such as hard disk drives, solid state drives, optical discs, or flash drives. Input device 408 includes, but is not limited to, a keyboard, keypad, touch screen, touchpad, detector, microphone, accelerometer, gyroscope, biometric scanner, or network connector (e.g., a wireless local area network card for transmitting and / or receiving wireless IEEE 802 signals). Output device 410 includes, but is not limited to, a display device, speaker, printer, haptic feedback device, one or more lights, antenna, or network connection (e.g., a wireless local area network card for transmitting and / or receiving wireless IEEE 802 signals).

[0078] The input driver 412 communicates with the processor 402 and the input device 408, and allows the processor 402 to receive input from the input device 408. The output driver 414 communicates with the processor 402 and the output device 410, and allows the processor 402 to send output to the output device 410. Note that the input driver 412 and the output driver 414 are optional components, and if the input driver 412 and the output driver 414 do not exist, the device 400 will operate in the same manner. The output driver 414 includes an acceleration processing device ("APD") 416 that communicates with the display device represented by the output device 410. The APD 416 receives compute commands and graphics rendering commands from the processor 402, processes those compute commands and graphics rendering commands, and provides pixel output to the display device for display. As described in further detail below, the APD 416 includes one or more parallel processing units to perform computations according to the single instruction multiple data ("SIMD") paradigm. Thus, although various functions are described herein as being performed by or in conjunction with the APD 416, in various alternative embodiments, the functions described as being performed by the APD 416 are additionally or alternatively performed by other computing devices having similar capabilities that are not driven by the host processor (e.g., the processor 402) and that provide graphics output to the display device. For example, any processing system expected to perform processing tasks according to the SIMD paradigm may perform the functions described herein. Alternatively, a computing system not expected to perform processing tasks according to the SIMD paradigm is expected to perform the functions described herein.

[0079] Figure 5A and Figure 5B Depicted are a posterior view and a side view of an electroanatomical map of a heart with a bulge error according to one or more embodiments. In both the posterior view and the side view, the surface 501 of the heart is depicted. In the example, the surface 501 has been determined by the system 10 (either alone or in part) based on position data points collected by the catheter 14 during a cardiac procedure. As the physician moves the catheter 14 during the procedure, the catheter 14 may strike a tissue wall, resulting in a bulge. More specifically, during the strike, the catheter 14 collects data points in the volume in which the catheter 14 causes the tissue wall to deform. Based on the set of data points within the deformed volume, the system 10 updates the surface 501 to include the surface 502 as part of the cardiac map. The surface 502 corresponds to the bulge error because it does not accurately reflect the heart surface, but rather represents a deformed version of the heart surface caused by the set of data points during the strike of the catheter 14 against the tissue wall. In contrast, when the catheter 14 moves parallel to the tissue wall (as shown by the path 503), no such strike occurs. When the catheter moves parallel to the tissue wall in this manner, the position data points collected using the catheter 14 correspond to the actual volume of the heart, and thus can be used by the system 10 to accurately update the surface 501 based on additional position data.

[0080] Figure 6A Depicts a set of data points of using catheter 14 during a medical procedure according to one or more embodiments. Data point 601 corresponds to the position sensed by the catheter as the catheter 14 moves through the heart during the procedure. As Figure 6B shown, based on the collected data points 601, the system 100 determines an initial mapping surface 602 of the volume of a portion of the heart. Continuing with the same example, Figure 7A Depicts a set of subsequent data points 703 from the catheter as the catheter 14 moves to a new position during the procedure. As a result of these additional data points, the portion of the calculated surface 602 corresponding to portion 702 is recalculated (or updated) based on points 703. Figure 7B Depicts the determination of the updated mapping surface. The updated mapping surface includes the portion of the previous surface 602 that does not correspond to portion 702 and surface portion 704.

[0081] Figure 7A The difference between the mapping surface shown as Figure 7B and the mapping surface shown as Figure 8 (discussed below) depicts several parameters for evaluating one or more of these factors.

[0082] Now turning to Figure 8 , another view of the initial mapping surface 602 (from Figure 6B ) and the updated mapping surface 704 (from Figure 7B ) is shown. The FAM volume 703a generally corresponds to the additional data points 703 used for surface reconstruction (shown in Figure 7A and Figure 7B ). In one example of Figure 8 , the FAM volume 703a corresponds to (or is defined relative to) the position data points collected by the catheter in the last X milliseconds (ms) of the procedure. In Figure 8In [the figure], surface 801 corresponds to an offset surface that follows the shape of the mapped surface 704 of the tracking update but is offset from 704 by a predetermined distance. In some embodiments, surface 801 is determined by projecting a predetermined distance at an angle orthogonal thereto from the updated mapped surface 704. Those skilled in the art will understand that the offset surface 801 is not limited to the illustrated embodiment, and the offset surface 801 can vary by shape and / or distance from the updated mapped surface 704. As described below, the offset surface 801 is applied in conjunction with an analysis of whether the changes in the mapped diagram (as described above) correspond to one or more factors related to the bulge.

[0083] Still referring to Figure 8 , a volume 802 is also shown. In the illustrated embodiment, volume 802 corresponds to a sphere centered on vertex 803 of the updated mapped surface 704. Volume 802 is also used in conjunction with an analysis of whether the changes in the mapped diagram (as described above) correspond to one or more factors related to the bulge. When volume 802 corresponds to a sphere, the sphere is not limited to the specific radius shown (e.g., the radius can be greater than the radius shown, even large enough to intersect the initial mapped surface 602) or limited to the midpoint shown (e.g., the midpoint can be located on other parts of the updated mapped surface 704, or Figure 8 elsewhere in [the figure]]. Additionally, volume 802 can take other shapes, including, for example, an ellipsoid.

[0084] Factor #1: Whether the first analysis volume and the second analysis volume (sufficiently) overlap ?

[0085] Analysis factor #1 considers the overlap between two bulge analysis volumes, which will be described in conjunction with Figure 9A and Figure 9B as follows. Referring to Figure 9A , for factor #1, the first bulge analysis volume corresponds to volume 802, which in the illustrated example corresponds to a sphere centered on vertex 803 of the updated mapped surface 704. As described above, in some examples, the FAM volume 703a corresponds to the position data points collected by the catheter in the last X ms. In one embodiment, the catheter collected additional position data points in the next Y ms. With these additional data points (by Figure 9A and Figure 9BThe FAM volume associated with (or defined relative to) the region 901 in [example] corresponds to the second bulge analysis volume. In various embodiments of factor #1, the overlap between the first bulge analysis volume and the second bulge analysis volume is analyzed to determine whether factor #1 is satisfied. In some embodiments, factor #1 simply considers whether there is any overlap between the first bulge analysis volume and the second bulge analysis volume. In other embodiments, if there is some overlap, the factor considers whether the amount of overlap exceeds a threshold. Various parameters can be used to determine such a threshold, including making the threshold based on the ratio of the size of the first bulge analysis volume to the second bulge analysis volume, and / or the proximity of additional data points to volume 802, center 803, updated mapping surface 704, and / or offset surface 801.

[0086] In cases such as Figure 9A and Figure 9B shown, where there is no overlap between the first bulge analysis volume and the second bulge analysis volume, factor #1 indicates that the change in the mapping can be attributed to (or potentially attributed to) bulge error. In other embodiments where any overlap is compared to a threshold, factor #1 indicates that the change in the mapping can be attributed to (or potentially attributed to) bulge error when the threshold of overlap is not exceeded. In the Figure 9A example, there is no overlap between the first bulge analysis volume (e.g., defined by volume 802) and the second bulge analysis volume (corresponding to additional data points collected in the next Yms exemplified by region 901), and system 100 determines that data point 703 is associated with a bulge based on this lack of overlap. Thus, as Figure 9B shown, the updated mapping surface 704 is removed from the mapping, and the mapping surface 602 is restored to the shape it had before data point 703 was collected. Further details on how the user interface of system 100 can operate to displace such bulge errors are discussed later below.

[0087] Factor #2: Is there a subsequent acquisition in the offset volume? ?

[0088] As described above, in some examples, the FAM volume 703a corresponds to the position data points collected by the catheter in the last X ms of the procedure, and the catheter collects additional position data points in the next Y ms. Factor #2 considers whether any of these additional position data points (or a threshold amount of additional position data points) fall within the volume (referred to as the "offset volume") between the updated mapping surface 704 and the surface 801. In some embodiments, the surface 801 (offset surface) is determined by projecting a predetermined distance from the updated mapping surface 704 at an angle orthogonal thereto. In some examples, the magnitude and / or area associated with the offset used to determine the offset surface 801 is adjusted based on the type of catheter used. For example, the offset is adjusted based on whether the catheter is a focus "push" design or a fixed "push" design (such as the Optrell TM catheter). Additionally, the offset can be adjusted based on catheter mechanics (such as the shaft-to-tip angle) because these mechanics may be related to the forces applied to the tissue wall when the catheter impacts the tissue wall. Additionally, in embodiments where information from a CT scan is integrated with the mapping information, the offset can be adjusted so that it does not overlap with structures previously identified in the CT scan.

[0089] In the example shown, the volume corresponding to the additional position data points collected by the catheter in the next Y ms is illustrated by region 1001 (in Figure 10A and Figure 10B ) and also corresponds to the second bulge analysis volume. In some embodiments, factor #2 simply considers whether any data points in the second bulge analysis volume (corresponding to region 1001) are within the offset volume (between the updated mapping surface 704 and the surface 801). In other embodiments, if one or more of these additional data points are within the offset volume, factor #2 considers whether the quantity and / or position of these additional data points within the offset volume exceeds a threshold. Similarly, various parameters can be used to determine this threshold, including, for example, making the threshold based on the ratio of the size of the second bulge analysis volume to the offset volume, and / or the proximity of the additional data points in the second bulge analysis volume to the updated mapping surface 704 and / or the offset surface 801.

[0090] In cases such as Figure 10A shown, where there is no overlap (or insufficient overlap) between the volume 802 and the additional data points (1001), factor #2 indicates that the change in the mapping can be attributed to (or potentially attributed to) bulge error. However, in Figure 10A and Figure 10B the example of, factors #1 and #2 are considered in combination to analyze whether the change in the mapping is the result of (or potentially the result of) a bulge. Regarding Figure 10AIn an example, the analysis of Factor #1 shows an overlap between the bulge analysis volume 802 and a second bulge analysis volume (corresponding to additional data points exemplified by region 1001), indicating that the change in the map associated with data point 703 is not associated with a bulge. In Figure 10A and Figure 10B In an example, considering Factor #1 and Factor #2 in combination, and only when both factors indicate a bulge error, is the change in the map determined to be (or potentially be) the result of a bulge. Since in Figure 10A Factor #1 indicates no bulge error while Factor #2 indicates a bulge error, system 100 determines that data point 703 is not associated with a bulge. Thus, the updated map surface 704 is not removed (as in Figure 9B ). Instead, the updated map surface 70 as a starting point to further update the map to reflect the additional data points in the second bulge analysis volume (1001). This further update of surface 704 is reflected in surface portion 704a, which now accommodates the points associated with the second bulge analysis volume (1001).

[0091] It should be understood that although in the examples of Figure 10A and Figure 10B Factor #1 and Factor #2 are considered together when evaluating whether a change in the map corresponds to a bulge error, the bulge error analysis can alternatively be based on Factor #2 alone, or in combination with one or both of Factor #3 and Factor #4, as discussed below.

[0092] Factor #3: Is there a previous acquisition in the changing area? ?

[0093] [[ID=Z2]]Based on whether the catheter 14 has previously acquired data points corresponding to the FAM volume 703a, Factor #3 evaluates whether the change in the map (associated with data point 703) corresponds to a bulge. The application of Factor #3 is shown in Figure 11A and Figure 11B In this example, prior to collecting the data point 703 (which defines the FAM volume 703a), data points defining volume 1101 have previously been collected. In some embodiments, Factor #3 simply considers whether there is any overlap between the FAM volume 703a and 1101. In other embodiments, if there is some overlap, the factor considers whether the amount of overlap exceeds a threshold. Various parameters can be used to determine such a threshold, including making the threshold based on the ratio of the size of volume 703a to 1101.

[0094] In such as Figure 11A and Figure 11BIn the case shown, where there is an overlap between volumes 703a and 1101, Factor #3 indicates that the changes in the mapping are not attributable to bulge errors. In other embodiments where the amount of such overlap is compared to a threshold, Factor #3 indicates that the changes in the mapping are not attributable to bulge errors when the overlap threshold is not exceeded. In Figure 11A the example of Figure 9B , because there is a high overlap between the FAM volume 703a and volume 1101, the system determines, based on this overlap, that data point 703 is not associated with a bulge. Accordingly, the updated mapping surface 704 is not removed from the mapping as in

[0095] the case of Figure 11A and Figure 11B . It should be understood that while in the examples of

[0096] Factor #4: Total acquisition volume < threshold

[0097] Factor #3 is considered alone when evaluating whether the changes in the mapping correspond to bulge errors, the bulge error analysis may alternatively be based on Factor #3 in combination with one or more of the other factors discussed herein.

[0098] In one example, Factor #4 considers whether the size of the total collected volume (the volume from the start of mapping) is less than a predetermined threshold. If the total collected volume is less than the threshold, Factor #4 tends to indicate that the changes in the mapping are not the result of a bulge (or potentially not the result of a bulge). In another example, Factor #4 considers whether the ratio of volume 703a to the total collected volume (the volume from the start of mapping) is greater than a predetermined threshold. If the ratio is greater than the threshold, Factor #4 tends to indicate that the changes in the mapping are not the result of a bulge (or potentially not the result of a bulge).

[0098] Using Factor #4 is particularly advantageous in the early stages of establishing an electroanatomical mapping when fewer location data points (e.g., location data points of the heart) have been collected. Factor #4 can be considered alone when evaluating whether the changes in the mapping correspond to bulge errors. Alternatively, the bulge error analysis is based on Factor #4 in combination with one or more of the other factors discussed herein.

[0099] Now refer to Figure 12, a user interface 1200 is shown that identifies a region 1203 in the electroanatomical map 1201 as potentially corresponding to a bulge error. In cases where the above analysis (applying one or more of factors #1 to 4) indicates that a change in the map (associated with, for example, additional data point 703) is potentially the result of a bulge error, the region 1203 of potential bulge error is marked for the operator (using, for example, the thick arrow 1202 shown). The user interface 1200 then provides the operator with the option to remove the updated map surface 704 associated with region 1203 from the map and restore the previous map surface 602 associated with region 1203 to the shape it had prior to the acquisition of data point 703.

[0100] Now turning to Figure 13 , a method 1300 according to one or more exemplary embodiments is shown. Method 1300 is rooted in Figure 1 a workstation 55, Figure 2 a local computing device 106, Figure 2 a remote computing system 108, and / or Figure 4 an example device 400 and is an example set of operations performed by them. Method 1300 shows an example of how system 10 generates and presents a map of an anatomical structure (e.g., one or more 3D models) on a user interface, detects bulge errors, and provides (via the user interface) a function that allows an operator to edit the map by removing bulge errors, for example, during an EP procedure (e.g., an ablation procedure).

[0101] Method 1300 begins at block 1301, where as the catheter moves within the body, first position information defining an initial map surface of an electroanatomical map is acquired. In one example, the first position information corresponds to data points 601 ( Figure 6A ). The first position information is used to determine the initial map surface (such as, for example, surface 602 ( Figure 6B )). As described herein, the initial map surface is used to generate an electroanatomical map corresponding to an initial visualization presented on a display.

[0102] The initial visualization is a map of an anatomical structure. For example, the initial visualization can be a 3D rendering of a heart chamber and includes a rendering of the catheter within the heart chamber (in its actual position). The visualization can include various features, including one or more labels (e.g., ), one or more catheters, one or more inner surface points (e.g., points), one or more ultrasound controls, and / or one or more points.

[0103] In block 1302, second position information is acquired using the catheter. In one example, the second position information corresponds to data point 703 ( Figure 7A)。The second position information is used to determine the updated mapping surface (such as, for example, surface 704( Figure 7B ))). The updated mapping surface is used to generate an electroanatomical map corresponding to another initial visualization presented on the display.

[0104] In block 1303, the system 100 determines the difference between the initial mapping surface and the updated mapping surface corresponding to the change in the map caused by the second position information. Also in block 1303, the system determines a first bulge analysis volume based on at least a portion of the updated mapping surface. In some embodiments, the first bulge analysis volume is a spherical volume centered on a point on the updated mapping surface. In some embodiments, an offset surface is determined by projecting a predetermined distance from the updated mapping surface, and the first bulge analysis volume corresponds to the volume between the updated mapping surface and the offset surface.

[0105] In block 1304, a catheter is used to acquire third position information representing additional data points (e.g., illustrated as 901( Figure 9A ) or 1001( Figure 10A )). The third position information is used to define a second bulge analysis volume relative to the second position information.

[0106] In block 1305, based on whether the first bulge analysis volume fails to overlap a predetermined amount with the second bulge analysis volume, the change in the map is identified as potentially corresponding to a bulge.

[0107] In block 1306, a visual representation including the electroanatomical map is presented to the user on the user interface. The visual representation provides a visual indication that the change in the map potentially corresponds to a bulge (e.g., Figure 12 arrow 1202 in). In this step, the user interface can be operated by the user to not remove the change in the map geometry from the visual representation.

[0108] In some embodiments, a spherical volume centered on a point on the updated mapping surface is determined, and based on the third position information within the spherical volume, the change in the map is identified as potentially corresponding to a bulge.

[0109] In some embodiments, based on whether the previously acquired position information is within the first bulge analysis volume, the change in the map is identified as potentially corresponding to a bulge.

[0110] In some embodiments, based on whether the volume corresponding to the change in the map is less than a threshold, the change in the map is identified as potentially corresponding to a bulge.

[0111] In some embodiments, a predetermined amount of overlap used to identify the bumps corresponds to a ratio between the dimensions of a first bump analysis volume and a second bump analysis volume.

[0112] In some embodiments, the electroanatomical map is a rapid anatomical map generated during a cardiac ablation procedure.

[0113] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, segment, or portion of instructions, which includes one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by a system based on dedicated hardware that performs the specified functions or acts, or by a combination of dedicated hardware and computer instructions.

[0114] While the features and elements have been described specifically above, those of ordinary skill in the art will appreciate that each feature or element can be used alone or in any combination with other features and elements. Additionally, the methods described herein can be implemented in a computer program, software, or firmware incorporated in a computer-readable medium for execution by a computer or processor. As used herein, a computer-readable medium should not be construed as a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0115] Examples of computer-readable media include electronic signals transmitted via a wired or wireless connection and computer-readable storage media. Examples of computer-readable storage media include, but are not limited to, registers, cache memories, semiconductor memory devices, magnetic media (e.g., internal hard disks and removable disks), magneto-optical media, optical media (e.g., compact discs (CDs) and digital versatile discs (DVDs)), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), and memory sticks. A processor associated with software can be used to implement a radio frequency transceiver used in a terminal, a base station, or any host computer.

[0116] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It should also be understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0117] The description of the various embodiments herein is presented for purposes of illustration but is not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for detecting and correcting errors in an electroanatomical map generated using a catheter positioned within a human body, wherein, The error is a result of a bulge in the electroanatomical map caused by the catheter hitting the tissue wall, and the method includes: As the catheter moves within the body, acquiring first position information that defines an initial map surface of the electroanatomical map; After acquiring the first position information, using the catheter to acquire second position information and determining an updated map surface based on the second position information; wherein, the difference between the initial map surface and the updated map surface corresponds to a change in the map; Determining a first bulge analysis volume based on at least a portion of the updated map surface; After acquiring the second position information, using the catheter to acquire third position information, wherein the third position information is used to define a second bulge analysis volume relative to the second position information; Identifying that the change in the map potentially corresponds to a bulge based on whether the first bulge analysis volume fails to overlap a predetermined amount with the second bulge analysis volume; and Presenting a visual representation including the electroanatomical map to a user on a user interface, wherein the visual representation provides a visual indication that the change in the map potentially corresponds to a bulge; wherein the user interface is operable to delete the change in the map from the visual representation.

2. The method according to claim 1, the method further includes: wherein, The first bulge analysis volume is a spherical volume centered on points on the updated boundary surface; wherein the identifying step further includes identifying that the change in the map potentially corresponds to a bulge based on whether the third position information is within the spherical volume.

3. The method according to claim 1, the method further includes: Determining an offset surface by projecting a predetermined distance from the updated map surface; and and wherein the first bulge analysis volume is the volume between the updated map surface and the offset surface.

4. The method according to claim 1, wherein, The identifying step further includes identifying that the change in the map potentially corresponds to a bulge based on whether previously acquired position information is within the first bulge analysis volume.

5. The method according to claim 1, wherein, The identifying step further includes identifying that the change in the map potentially corresponds to a bulge based on whether the volume corresponding to the change in the map is less than a threshold.

6. The method according to claim 1, wherein The predetermined amount of the overlap corresponds to the ratio between the sizes of the first bulge analysis volume and the second bulge analysis volume.

7. The method according to claim 1, wherein The catheter is positioned in a human heart.

8. The method according to claim 7, the method further includes generating the electroanatomical map during a cardiac ablation procedure.

9. A system for detecting and correcting errors in an electroanatomical map generated using a catheter positioned within a human body, wherein, The error is a result of a bulge in the electroanatomical map caused by the catheter hitting the tissue wall, and the system includes: A memory that stores the electroanatomical map; A processor that is coupled to the memory; and A user interface that is coupled to the processor; wherein the processor is configured to perform operations including the following: As the catheter moves within the body, acquire first position information defining an initial map surface of the electroanatomical map; After acquiring the first position information, use the catheter to acquire second position information and determine an updated map surface based on the second position information; wherein, the difference between the initial map surface and the updated map surface corresponds to a change in the map; Determine a first bulge analysis volume based on at least a portion of the updated map surface; After acquiring the second position information, use the catheter to acquire third position information, wherein the third position information is used to define a second bulge analysis volume relative to the second position information; Identify that the change in the map potentially corresponds to a bulge according to whether the first bulge analysis volume fails to overlap a predetermined amount with the second bulge analysis volume; and Present a visual representation including the electroanatomical map to a user on the user interface, wherein the visual representation provides a visual indication that the change in the map potentially corresponds to a bulge; wherein the user interface is operable to delete the change in the map from the visual representation.

10. The system according to claim 9, wherein, The processor is further configured to: Determine the first bulge analysis volume as a spherical volume centered at a point on the updated map surface; and Identify that the change in the map potentially corresponds to a bulge according to whether the third position information is within the spherical volume.

11. The system according to claim 9, wherein The processor is further configured to: Determine an offset surface by projecting a predetermined distance from the updated map surface; and Determine the first bulge analysis volume as the volume between the updated map surface and the offset surface.

12. The system according to claim 9, wherein, The processor is further configured to identify that the change in the map potentially corresponds to a bulge according to whether previously acquired position information is within the first bulge analysis volume.

13. The system according to claim 9, wherein The processor is further configured to identify that the change in the map potentially corresponds to a bulge according to whether the volume corresponding to the change in the map is less than a threshold.

14. The system according to claim 9, wherein, The predetermined amount of the overlap corresponds to the ratio between the sizes of the first bulge analysis volume and the second bulge analysis volume.

15. The system according to claim 9, wherein The catheter is positioned within the human heart.

16. The system according to claim 15, wherein, The processor is further configured to generate the electroanatomical map during a cardiac ablation procedure.

17. A non-transitory computer-readable medium storing instructions, the instructions, when executed by a processor, cause the processor to perform operations including the following: As the catheter moves within the body, acquire first position information defining an initial map surface of the electroanatomical map; After collecting the first position information, the catheter is used to collect second position information and an updated mapping surface is determined based on the second position information; wherein, The difference between the initial map surface and the updated map surface corresponds to a change in the map; Determine a first bulge analysis volume based on at least a portion of the updated map surface; After collecting the second location information, the catheter is used to collect third location information, wherein the third location information is used to define a second bulge analysis volume relative to the second location information; Identify that the change in the mapping potentially corresponds to a bulge based on whether the first bulge analysis volume fails to overlap a predetermined amount with the second bulge analysis volume; and Present a visual representation of the electroanatomical mapping to the user on the user interface, wherein the visual representation provides a visual indication that the change in the mapping potentially corresponds to a bulge; wherein the user interface is operable to delete the change in the mapping from the visual representation.

18. The non-transitory computer-readable storage medium according to claim 17, wherein, The instructions further cause the processor to: Determine the first bulge analysis volume as a spherical volume centered at a point on the updated mapping surface; and Identify that the change in the mapping potentially corresponds to a bulge based on whether the third location information is within the spherical volume.

19. The non-transitory computer-readable medium according to claim 17, wherein, The instructions further cause the processor to identify that the change in the mapping potentially corresponds to a bulge based on whether previously collected location information is within the first bulge analysis volume.

20. The non-transitory computer-readable medium according to claim 17, wherein The instructions further cause the processor to identify that the change in the mapping potentially corresponds to a bulge based on whether the volume corresponding to the change in the mapping is less than a threshold.

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