Dynamically changing transparency levels in sub-volumes of anatomical maps

Abstract

A method includes receiving a location of a tag in an anatomical map of an organ, the tag being formed in the organ in response to a medical procedure performed at the location. The transparency level is dynamically changed in a sub-volume of the anatomical map of the organ surrounding the label. The anatomical map is displayed using a first level of transparency, and a sub-volume surrounding the label is displayed using a second level of transparency different from the first level of transparency.

Description

Technical Field

[0001] The present disclosure relates generally to medical devices, and particularly to methods and systems for improving the presentation and visualization of features in anatomical maps. Background Art

[0002] Various techniques have been published for presenting features on anatomical maps. One of the challenges is visualizing features of interest while maintaining a clear representation of the three-dimensional structure of the organ. This combination is important for providing a user (e.g., a physician) with a clear visualization of features of interest within the internal volume of the organ in question while presenting the general structure of the organ.

[0003] 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: BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Figure 1 is a schematic illustration of a catheter-based electrophysiological mapping and ablation system according to one example of the present disclosure;

[0005] Figure 2A 、 Figure 2B 、 Figure 2C and Figure 2D is a schematic illustration of an electroanatomical (EA) map of cardiac tissue according to various examples of the present disclosure;

[0006] Figure 3 is a flow chart schematically illustrating a method for dynamically adjusting the transparency of a sub-volume in an EA map of a heart according to an example of the present disclosure.

[0007] Figure 4 is a flow chart schematically illustrating a method for dynamically adjusting the transparency of a sub-volume with ablation labels in an EA map of a heart according to another example of the present disclosure. DETAILED DESCRIPTION

[0008] Overview

[0009] Electroanatomical (EA) mapping of an organ (such as a heart) can include: (i) moving the distal tip of a catheter within the volume of the heart, (ii) acquiring electrophysiological (EP) signals on the inner and outer surfaces of the heart, and (iii) displaying labels indicating the acquired signals on the inner and outer surfaces of a three-dimensional (3D) EA map.

[0010] The examples of the present disclosure described below provide techniques for improving the visualization of labels on a 3D EA map of an organ (such as a patient's heart) by dynamically changing the transparency of selected portions of the EA map. In some examples, the EA map can be displayed using a transparent view, wherein the surface of the heart is displayed as transparent tissue to enable visualization of labels associated with the inner surface of the heart. When moving to the transparent view, the 3D effect (e.g., depth and 3D perception) of the EA map is lost. The loss of the 3D effect makes it difficult for a user (e.g., a physician) to understand the topography of the EA map.

[0011] In some examples, a system for visualizing a label without losing the 3D effect of an EA map includes a processor and a display device (also referred to herein as a display for simplicity). The processor is configured to receive (e.g., from a mapping catheter having sensing electrodes) a first position of a label located within an interior volume of an anatomical map of an organ and indicating a property of the organ at the first position. In this example, the organ includes a heart, and the property is based on an electrocardiogram (ECG) signal acquired by the catheter's electrodes.

[0012] In some examples, the catheter includes a position sensor configured to generate a position signal indicative of a position of a distal tip of the catheter. The processor is further configured to receive one or more second positions, the one or more second positions being positions of the catheter as it moves within the heart. In some examples, the processor is configured to maintain at least a threshold, and when a distance between the first position and at least one of the second positions is less than the threshold, the processor is configured to change a transparency level of a subvolume of the anatomical map containing the distal tip and the label. Figure 2C and Figure 2D Example implementations of these techniques are described in detail in .

[0013] In some examples, the display is configured to display the subvolume and the anatomical map to a user (e.g., a physician). In such examples, the processor is configured to maintain the 3D effect of the EA map and also provide the user with local information about a label that is located in close proximity to the distal tip. Note that, based on the disclosed techniques, the transparency level of the subvolume is changed only when both the distal tip and the label are located within the same subvolume. For example, when no label is located in close proximity to the distal tip, the processor does not change the transparency level of the EA map in order to maintain its 3D effect.

[0014] Additionally or alternatively, the processor may receive an EA map having a first transparency level and a tracked position of the distal tip. The processor is configured to dynamically change the transparency level in a subvolume surrounding the distal tip of the EA map in response to the tracked position. In such an example, the display is configured to: (i) display the EA map using a first transparency level, and (ii) display the subvolume surrounding the distal tip using a second transparency level different from the first transparency level. For example, the transparency level of the EA map may be opaque (e.g., showing only the outer surface of the heart), and only the subvolume with the distal tip is transparent so that the user can see the internal volume of the heart surrounding the distal tip (including internal anatomical structures, and optionally, labels). In other words, the EA map is opaque so as to maintain its 3D effect, and only the subvolume explored by the distal tip is transparent. Note that the changing transparency is dynamic because the transparency of the subvolume changes in response to movement of the distal tip. Below in Figure 2C and Figure 2D Example implementations of these techniques are described in detail in .

[0015] The disclosed technology customizes the dynamic visualization of features of interest in EA maps, and more specifically customizes the dynamic visualization of features of interest in anatomical maps of organs undergoing minimally invasive surgery.

[0016] System Description

[0017] Figure 1 is a schematic illustration of a catheter-based electrophysiological mapping and ablation system 10 according to one example of the present disclosure.

[0018] In some examples, the system 10 includes multiple catheters that are inserted percutaneously through the patient's vascular system into the chambers or vascular structures of the heart 12 by a physician 24. Typically, a delivery sheath catheter is inserted into the left atrium or right atrium near a desired location in the heart 12. One or more catheters can then be inserted into the delivery sheath catheter to reach the desired location within the heart 12. The multiple catheters may include catheters specifically for sensing intracardiac electrogram (IEGM) signals, catheters specifically for ablation, and / or catheters suitable for both sensing and ablation. An example catheter 14 configured for sensing IEGM is illustrated herein. In some embodiments, the physician 24 can place the distal tip 28 of the catheter 14 in close proximity to or in contact with the heart wall for sensing a target site in the heart 12. Additionally or alternatively, for ablation, the physician 24 can similarly place the distal end of the ablation catheter in contact with the target site for ablating the tissue to be ablated.

[0019] In this example, the catheter 14 includes one and preferably a plurality of electrodes 26, which are optionally distributed along the axis 22 at the distal tip 28 of the catheter 14. The electrodes 26 are configured to sense IEGM signals. The catheter 14 may further include a position sensor 29 embedded in or near the distal tip 28 for tracking the position and orientation of the distal tip 28. Optionally and preferably, the position sensor 29 is a magnetic-based position sensor that includes three magnetic coils for sensing three-dimensional (3D) position and orientation.

[0020] In some examples, a magnetic-based position sensor 29 can operate in conjunction with a positioning mat 25 that includes a plurality (e.g., three) magnetic coils 32 configured to generate a plurality (e.g., three) magnetic fields in a predefined workspace. The real-time position of the distal tip 28 of the catheter 14 can be tracked based on the magnetic field generated by the positioning mat 25 and sensed by the magnetic-based position sensor 29. Details of magnetic-based position sensing technology are described, for example, in U.S. Patents Nos. 5,391,199, 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.

[0021] In some examples, catheter 14 includes a contact force sensor 31 configured to sense a contact force applied by distal tip 28 to tissue of heart 12 and to generate a signal indicative of the sensed contact force.

[0022] In some examples, system 10 includes one or more electrode patches 38 positioned in contact with the skin of patient 23 to establish a position reference for impedance-based tracking of positioning pad 25 and electrodes 26. For impedance-based tracking, current is directed toward electrodes 26 and sensed at electrode skin patches 38, so that the position of each electrode can be triangulated via electrode patches 38. This technology is also referred to herein as Advanced Current Location (ACL), and details of impedance-based position tracking technology are described in U.S. Patents Nos. 7,536,218, 7,756,576, 7,848,787, 7,869,865, and 8,456,182. In some embodiments, magnetic-based position sensing and ACL can be used simultaneously, for example, to improve position sensing of one or more electrodes coupled to the shaft of a rigid catheter or to a flexible arm or spline at the distal tip of another catheter, such as the one available from Biosense Webster, Inc., 31A Technology Drive, Irvine, CA 92618. catheter or catheter.

[0023] In some examples, recorder 11 displays electrograms 21 captured using surface ECG electrodes 18 and intracardiac electrograms (IEGMs) captured using electrodes 26 of catheter 14. Recorder 11 may include pacing capabilities for pacing cardiac rhythms and / or may be electrically connected to a standalone pacemaker.

[0024] In some examples, the system 10 may include an ablation energy generator 50 adapted to conduct ablation energy to one or more of the electrodes at the distal tip of a catheter configured for ablation. The energy generated by the ablation energy generator 50 may include, but is not limited to, radiofrequency (RF) energy or pulsed field ablation (PFA) energy bursts (including monopolar or bipolar high voltage DC pulses that can be used to achieve irreversible electroporation (IRE), or a combination thereof. In this example, the catheter 14 includes an ablation electrode 33, but optionally includes a plurality of electrodes 33 (not shown) positioned at the distal tip 28 and configured to apply bursts of RF energy and / or PFA energy to tissue of the wall of the heart 12.

[0025] In some examples, a patient interface unit (PIU) 30 is an interface configured to establish electrical communication between catheters, electrophysiology equipment, a power source, and a 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, a positioning pad 25, surface ECG electrodes 18, electrode patches 38, an ablation energy generator 50, and a recorder 11. Optionally and preferably, the PIU 30 additionally has processing capabilities for enabling real-time calculation of the position of the catheters and for performing ECG calculations.

[0026] In some examples, the workstation 55 includes a storage device, a processor 77 with appropriate random access memory or storage having appropriate operating software stored therein, an interface 56 configured to exchange data signals (e.g., between the processor 77 and another entity of the system 10), and user interaction capabilities. The workstation 55 can provide multiple functions, optionally including: (1) three-dimensional (3D) modeling of the endocardial anatomy and rendering the model or anatomical map 20 for display on the display device 27; (2) displaying on the display device 27 an activation sequence (or other data) compiled from the recorded electrograms 21 as representative visual markers or images superimposed on the rendered anatomical map 20; (3) displaying the real-time position and orientation of multiple catheters within the heart chamber; and (4) displaying on the display device 27 a site of interest, such as where ablation energy has been applied or is intended to be applied. In some examples, the processor 77 is configured to receive a position signal from at least one of the position sensor 29 and the ACL. Based on the position signal, processor 77 is configured to track the position of distal tip 28 and display the position of distal tip 28 on map 20. A commercial product embodying elements of system 10 may be CARTO TM The 3 system was purchased from Biosense Webster, Inc., 31A Technology Drive, Irvine, CA 92618.

[0027] In some examples, processor 77 receives a signal from contact force sensor 31 indicating the contact force applied between ablation electrode 33 and the tissue to be ablated. In addition, processor 77 can store one or more contact force thresholds to provide physician 24 with an indication of whether the contact force applied between ablation electrode 33 and the tissue to be ablated is sufficient for planning an ablation mode (e.g., a first threshold for an RF-based ablation mode, and a different second threshold for a PFA-based ablation mode).

[0028] Figure 2A is a schematic illustration of an electroanatomical (EA) map 60A of tissue 44 of heart 12 according to one example of the present disclosure. EA map 60A, also referred to herein as map 60A for brevity, may replace, for example, the aforementioned Figure 1 at least a portion of the mapping map 20 .

[0029] In some examples, map 60A includes multiple subvolumes (SVs), such as SV 61 and SV 62 of heart 12. In this example, the outer surface of tissue 44 is displayed in map 60A so that the outer surface appears opaque and does not reveal the interior volume of heart 12. During EA mapping of heart 12, physician 24 positions distal tip 28 at a selected location on the surface of tissue 44, and processor 77 receives: (i) IEGM signals and / or ECG signals from electrodes 26, and (ii) a position signal indicating the position and orientation of distal tip 28. Based on the IEGM / ECG signals and the position signal, processor 77 is configured to display labels 63 indicating properties of heart 12 on the outer surface of tissue 44 of map 60A. For example, label 63 may indicate an activation sequence (e.g., a local activation time), which may show, for example, the velocity of EP waves propagating along surface 44. Note that electrodes 26 can also sense IEGM and / or ECG signals at the inner surface of tissue 44 (and other tissue of heart 12), but because the outer surface of tissue 44 appears opaque, labels at the inner volume of heart 12 are not displayed on map 60A. However, the opacity of the outer surface of tissue 44 provides physician 24 with a 3D effect of tissue 44 of heart 12, which can be used to sense additional signals at selected locations on the surface of tissue 44 and / or to apply ablation energy to selected locations on the surface of tissue 44.

[0030] Figure 2B is a schematic illustration of an EA map 60B of tissue 44 of heart 12 according to one example of the present disclosure. EA map 60B (also referred to herein as map 60B) may replace, for example, the above-described Figure 1 at least a portion of the mapping map 20 .

[0031] In some examples, processor 77 is configured to hide the outer surface of tissue 44 at SV 61 and SV 62, in other words, the outer surface is transparent. Therefore, in addition to label 63 (based on the signal collected on the outer surface of tissue 44), processor 77 is further configured to display label 64. Figure 2A and Figure 2B (and the following Figure 2C and Figure 2D), label 64 appears to be located within the interior volume of EA map 60B. In fact, label 64 is typically generated when electrode 26 is positioned against the surface of the inner wall of heart 12, and therefore, label 64 should be located on the surface of the inner wall of heart 12 in the EA map, rather than within the interior volume of the EA map. Such rendering inaccuracies may occur when generating the EA map. Such inaccuracies may occur due to movement, such as due to breathing of patient 23, and may also occur when physician 24 over-presses distal tip 28 against the inner wall of heart 12 during mapping. These phenomena are also known as tenting, and their properties and detection techniques are described in detail in, for example, U.S. Patent No. 8,523,787 to Ludwin et al. and U.S. Patent Application Publication 2022 / 0225925 to Cohen et al.

[0032] Note that in this presentation, physician 24 can see both label 63 and label 64 , but the 3D effect of heart 44 is lost in the presentation of map 60B .

[0033] Figure 2C is a schematic illustration of an EA map 60C of tissue 44 of heart 12 according to one example of the present disclosure. EA map 60C (also referred to herein as map 60C) may replace, for example, the above-described Figure 1 at least a portion of the mapping map 20 .

[0034] exist Figure 2C In the example of FIG6 , physician 24 moves distal tip 24 along the inner and outer surfaces of SV 62, and does not explore SV 61. In some examples, based on the locations of signals acquired by electrodes 26, processor 77 is configured to display the outer surface of tissue 44 (i) opaquely at SV 61 and (ii) transparently at SV 62. In such examples, processor 77 is configured to: (i) display to physician 24 both labels 63 and 64 located at the outer surface and the inner volume of heart 12, and (ii) maintain some 3D effect of map 60C by displaying the outer surface of tissue 44 opaquely at areas that are not explored and / or do not have any type of label, such as SV 61.

[0035] Figure 2D is a schematic illustration of an EA map 60D of tissue 44 of heart 12 according to one example of the present disclosure. EA map 60D (also referred to herein as map 60D) may replace, for example, the above-described Figure 1 at least a portion of the mapping map 20 .

[0036] In some examples, processor 77 is configured to dynamically change the transparency level in one or more subvolumes of EA map 60D surrounding distal tip 28 in response to the tracked position of distal tip 28. In the context of the present disclosure and the claims, the term "dynamically" refers to changing the transparency level in a selected subvolume of an EA map (e.g., any of EA maps 20 and 60A-60D) in less than about 2 seconds from the most recent movement of distal tip 28. Figure 2D In the example of , when distal tip 28 is positioned at subvolumes (SVs) 65 and SV 66, processor 77 is configured to change the transparency levels of SVs 65 and 66 so as to present both labels 63 and 64 located within SVs 65 and 66.

[0037] In the context of this disclosure and in the claims, the terms "about" or "approximately" for any numerical values or ranges indicate a suitable dimensional tolerance that allows the part or collection of components to function for the intended purpose described herein.

[0038] Note that distal tip 28 cannot be located at both SV 65 and SV 66 simultaneously. Figure 2D The embodiments of , in which distal tip 28 is present at both SV 65 and SV 66, cannot be implemented using a single distal tip 28 and are presented merely to describe two different (but related) implementations of the disclosed technology.

[0039] Reference is now made to illustration 69, which illustrates distal tip 28 positioned within SV 66 of EA map 60D. In the example of illustration 69, processor 77 is configured to change the transparency level of the surface of tissue 44 at SV 66 to display labels 63 and 64 within SV 66 and, optionally, distal tip 28. In this example, processor 77 is configured to dynamically change the transparency of EA map 60D at SV 66 based on the positions of labels 63 and 64 and in response to the position of distal tip 28. For example, processor 77 is configured to display the interior volume of SV 66 at a selected distance from distal tip 28 between approximately 1 mm and 15 mm.

[0040] In other examples, processor 77 is configured to display the interior volume of heart 12 at a predefined sub-volume surrounding distal tip 28 (eg, using a transparent view) regardless of the presence of labels or other types of annotations at the displayed interior volume.

[0041] In an alternative example, after applying ablation energy to tissue of heart 12 at a new location, processor 77 is configured to receive the new location and / or generate a new label (e.g., new label 64) at the new location. In such an example, processor 77 is configured to change the transparency of a new subvolume of the anatomical map (e.g., of map 60C or map 60D) surrounding new label 64. Note that the change in transparency is independent of the position of distal tip 28. For example, if new label 64 is generated at SV 66 while distal tip 28 is positioned at SV 65, processor 77 is configured to change the transparency of SV 66 even if distal tip 28 is not positioned within or in close proximity to SV 66.

[0042] In other examples, instead of using a predefined subvolume, processor 77 is configured to vary the size of the subvolume surrounding distal tip 28, e.g., to include or exclude tags 63 and 64 and other features of interest located around distal tip 28. For example, (i) where no tags 64 are located within a subvolume of approximately 20 mm surrounding distal tip 28, processor 77 may determine the size of the subvolume surrounding distal tip 28 to be approximately 3 mm from distal tip 28, and (ii) where tags 64 are located within a subvolume of approximately 5 mm surrounding distal tip 28, processor 77 may determine the size of the subvolume surrounding distal tip 28 to be approximately 10 mm or even 15 mm from distal tip 28.

[0043] Note that even if SV 62 includes tag 64 (e.g. Figure 2B and Figure 2C As shown in FIG. 2 , when distal tip 28 is not probing SV 62, its label 64 is of less interest to physician 24. Therefore, processor 77 is configured to visualize the opaque outer surface of SV 62 to the user (e.g., physician 24) in order to maintain the effect of the 3D topography of heart 12 at SV 62.

[0044] Referring now to illustration 67, distal tip 28 is shown positioned near SV 65 of EA map 60D. In the example of illustration 67, processor 77 is configured to change the transparency level of the surface of tissue 44 at SV 65 to display labels 63 and 64 (within SV 65) and distal tip 28 positioned therein. More specifically, processor 77 is configured to maintain a threshold for distance 68 between distal tip 28 and the nearest label 64 (label 64a in this example). Based on the stored positions of labels 64 in EA map 60D, the aforementioned threshold, and in response to the position of distal tip 28, processor 77 is configured to (i) identify when distance 68 (between distal tip 28 and label 64a) is less than the threshold, and (ii) dynamically change the transparency of EA map 60D at SV 65 to visualize the internal volume of heart 12 at SV 65 to physician 24 (and other users).

[0045] In some examples, based on the position signal indicating the tracked position of the distal tip 28, the processor 77 is configured to estimate the direction of movement of the distal tip 28. For example, based on the orientation of the distal tip 28, the processor 77 may estimate that the direction of movement is approximately parallel to the longitudinal axis 70 of the distal tip 28. In some examples, the processor 77 may define a first threshold along the direction of movement and a different second threshold along another direction different from the direction of movement. In this example, the processor 77 may set the first threshold to approximately 10 mm so that any of the labels 63 and 64 that are located less than 10 mm from the distal tip 28 along the direction of movement is presented to the physician 24 using a transparent view, for example. In addition, when one or more labels 64 are, for example, located at a distance greater than about 100 mm relative to the direction of movement (referred to herein as behind the distal tip 28), the physician 24 may be presented with a transparent view. θ In the case of an angled positioning of distal tip 28, processor 77 may set the second threshold to about 5 mm or even less because the distance between distal tip 28 and the tag behind it will increase during the next movement of distal tip 28. In the example of illustration 67, tag 64a is positioned at an acute angle relative to longitudinal axis 70 of distal tip 28, so that the threshold may be between about 8 mm and 10 mm.

[0046] Note that in response to movement of distal tip 28 away from SVs 65 and 66 , processor 77 is configured to again change the transparency of SVs 65 and 66 such that tissue 44 is opaque and thereby obstructs visibility of the interior volume of heart 12 at SVs 65 and 66 .

[0047] Figure 3 is a flow chart schematically illustrating a method for dynamically adjusting the transparency of one or more sub-volumes in an EA map 60 of the heart 12 according to one example of the present disclosure.

[0048] The method begins at a tag location receiving step 100, where the processor 77 receives the locations of the tags 63 and 64 within (a map of) the heart 12. Note that the processor 77 typically generates the anatomical map 20, but in other examples, the processor 77 may receive a map stored in any suitable memory of the system 10. Additionally, the processor 77 may receive the locations of the tags 63 and 64 within (a map of) the heart 12. Figure 2D , which may be used as a decision threshold for changing the transparency level of tissue 44 in response to the distance between distal tip 28 and nearest tag 64.

[0049] At catheter position tracking step 102, processor 77 receives position signals from position sensor 29 and / or from the ACL system indicating the position and orientation of distal tip 28 as moved within heart 12 by physician 24, as described above. Figure 1 and Figures 2A to 2D Described in detail in .

[0050] At decision step 104, processor 77 is configured to check whether the distance between distal tip 28 and the nearest label (or another type of predefined annotation) is less than a threshold value. Figure 2D As shown in the example of , processor 77 checks whether distance 68 (between distal tip 28 and tag 64a) is greater than or less than a threshold value stored in processor 77.

[0051] At a transparency change step 106 , in response to identifying that distance 68 is less than a threshold, processor 77 is configured to dynamically change the transparency level in subvolume 65 or any other subvolume of map 60D surrounding distal tip 28 and at least the nearest label 64a .

[0052] At display step 108, based on the changed transparency level received from processor 77, display device 27 is configured to display to physician 24 a subvolume surrounding both distal tip 28 and at least the nearest label (e.g., label 64a). Note that the method may loop back to step 102 if physician 24 moves distal tip 28, but the method ends at step 108 if physician 24 is not interested in exploring additional locations within heart 12. Generally, display device 27 is configured to: (i) display an anatomical map (e.g., EA map 60D) using a first transparency level (e.g., an opaque view of tissue 44), and (ii) display a subvolume (e.g., SV 66) surrounding distal tip 28 using a second transparency level (e.g., a transparent view) that is different from the first transparency level. Note that at Figures 2A to 2DIn the example shown, the subvolumes of heart 12 are either completely transparent or completely opaque. However, in other examples, processor 77 may determine any suitable transparency level for each subvolume of heart 12, which may be predefined or based on a feature of interest (e.g., label 64) located within the subvolume of interest of heart 12.

[0053] Referring to step 104, if the distance 68 is greater than the stored threshold, the method proceeds to an opaque view display step 110, where the processor 77 is configured to set an opaque view in the subvolume surrounding the distal tip 28. In this example, the interior volume of the heart 12 is obstructed by the tissue 44 of the heart 12 at the subvolume surrounding the distal tip 28, and as the physician 24 moves the distal tip 28 within the cavity (e.g., chamber) of the heart 12, the method loops back to step 102. Note that if the physician 24 is not interested in exploring additional locations within the heart 12, the method may end at step 110.

[0054] In an alternative example of step 110, processor 77 and display device 27 are configured to display the interior volume of heart 12 at a predefined area around distal tip 28 (e.g., using a transparent view). Figure 2D In one embodiment, shown in illustration 69 of FIG, processor 77 and display device 27 are configured to use a transparent view to display labels 63 and 64 within SV 66. In another embodiment, processor 77 and display device 27 may use a transparent view to display the internal volume surrounding distal tip 28 in heart 12, regardless of whether labels or other types of annotations are located at the displayed internal volume.

[0055] Figure 4 is a flow chart schematically illustrating a method for dynamically adjusting the transparency of a sub-volume having ablation labels 63 and 64 in an EA map 60 of a heart 12 according to another example of the present disclosure.

[0056] The method begins at an anatomical map display step 200, where the processor 77 displays the anatomical map 20 or at least a portion of the map 20, such as the one shown above. Figure 2A Map 60A is shown.

[0057] At a label receiving step 202, processor 77 receives the location of a new label 64 that was formed on the anatomical map in response to ablation energy applied to heart 12 at the location of the label. In some examples, processor 77 generates the label after controlling an ablation procedure at the aforementioned location, and thus, processor 77 may determine the location of the new label 64 rather than receiving the location of the new label 64.

[0058] At the transparency changing step 204 concluding the method, the processor 77 is configured to dynamically change the transparency level in the sub-volume of the anatomical map surrounding the new label 64, as described above. Figures 2B to 2D Examples of maps 60B-60D are shown.

[0059] Please note that Figure 3 In the method of , the transparency level of a selected subvolume in the anatomical map depends on the position of the distal tip 28. However, in Figure 4 In the method of , the transparency level of the sub-volume surrounding the new label 64 is changed regardless of the position of the distal tip 28.

[0060] In some examples, the anatomical map may have multiple labels, for example, a first label and a second label formed after ablating tissue at a first location and a second location, respectively. In such examples, processor 77 is configured to dynamically change the transparency level of the anatomical map in: (i) a first subvolume surrounding the first label, and then (ii) a second subvolume surrounding the second label, while maintaining the changed transparency level of the first subvolume. For example, (i) physician 24 may perform a first ablation, responsively generate a first label, and processor 77 renders the outer surface of the heart transparent at the first subvolume for displaying the first label, and then, (ii) in response to physician 24 performing a second ablation, generate a second label, and processor 77 (a) renders the outer surface of the heart transparent at the second subvolume for displaying the second label, and (b) maintains the transparency of the first subvolume for displaying the first label. In other words, the changed transparency levels of the first and second subvolumes are cumulative and follow the number of new labels formed after ablating tissue at new corresponding locations during the ablation procedure.

[0061] Example 1

[0062] A system (10) includes a processor (77) and a display (27). The processor is configured to receive, in an anatomical map (20, 60A-60D) of an organ (12), a tracked position of a distal tip (28) of a catheter (14) moving within the organ, and (b) dynamically change a transparency level in a subvolume (62, 65, 66) of the anatomical map of the organ surrounding the distal tip in response to the tracked position. The display is configured to (i) display the anatomical map using a first transparency level, and (ii) display the subvolume surrounding the distal tip using a second transparency level different from the first transparency level.

[0063] Example 2

[0064] The system of embodiment 1, wherein the organ comprises a heart and the distal tip of the catheter comprises one or both of: (i) one or more sensing electrodes configured to sense electroanatomical signals when placed in contact with tissue of the heart, and (ii) one or more ablation electrodes configured to apply ablation energy when placed in contact with the tissue of the heart.

[0065] Example 3

[0066] A system according to Example 2, wherein the anatomical map includes at least a label that is displayed at a given location on the anatomical map and indicates a property of the heart at the given location.

[0067] Example 4

[0068] A system as in Example 3 wherein the processor is configured to change the size of the subvolume in response to a distance between the tracked position of the distal tip and a position of the tag.

[0069] Example 5

[0070] A system according to embodiment 2, wherein the first transparency level comprises an opaque view of an outer surface of the anatomical map for visualizing a three-dimensional (3D) topography of the anatomical map to a user.

[0071] Example 6

[0072] A system as in Example 2, wherein the second transparency level comprises a fully transparent view of the outer surface in the subvolume of the anatomical map for displaying features of the organ within the subvolume surrounding the distal tip to a user.

[0073] Example 7

[0074] A system according to embodiment 1, wherein, when the distal tip moves and reaches a given position within the organ, the processor is configured to dynamically change the transparency level within two seconds after the distal tip has reached the given position.

[0075] Example 8

[0076] A system (10) comprising:

[0077] a processor (77) configured to receive: (i) a first position of a label (64a) located within an interior volume of an anatomical map (60D) of an organ (12) and indicative of a property of the organ at the first position, and (ii) one or more second positions of a distal tip (28) of a catheter (14) moving within the organ, wherein when a distance (68) between the first position and at least one of the second positions is less than a threshold, the processor is configured to change a transparency level of a subvolume of the anatomical map containing the distal tip and the label; and

[0078] A display (27) is configured to display the subvolumes and the anatomical map to a user (24).

[0079] Example 13

[0080] A method comprising:

[0081] receiving, in an anatomical map (60D) of an organ (12), a tracked position of a distal tip (28) of a catheter (14) moving within the organ;

[0082] dynamically changing a transparency level in a subvolume (62) of the anatomical map of the organ surrounding the distal tip in response to the tracked position; and

[0083] (i) displaying the anatomical map using a first level of transparency, and (ii) displaying the subvolume surrounding the distal tip using a second level of transparency different from the first level of transparency.

[0084] Example 19

[0085] A method comprising:

[0086] receiving, in an anatomical map (60AC, 60D) of an organ (12), a location of a tag (63, 64), the tag being formed in the organ in response to a medical procedure performed at the location;

[0087] dynamically changing a transparency level in a subvolume (62) of the anatomical map of the organ surrounding the label; and

[0088] (i) displaying the anatomical map using a first transparency level, and (ii) displaying the subvolume surrounding the label using a second transparency level different from the first transparency level.

[0089] Although the examples described herein primarily relate to techniques for dynamically varying the transparency level of a subvolume in a patient's heart during an electrophysiology (EP) procedure, the methods and systems described herein may also be used in other applications, such as dynamically displaying internal volumes or surfaces in any other suitable organ of a patient.

[0090] It should 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 the combinations and subcombinations 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. The documents incorporated by reference into this patent application are considered an integral part of this application, unless any term defined in these incorporated documents conflicts with the definition explicitly or implicitly given in this specification, in which case only the definition in this specification shall be considered.

Claims

1. A method comprising: receiving, in an anatomical map of an organ, a location of a tag formed in the organ in response to a medical procedure performed at the location; dynamically changing a transparency level in a subvolume of the anatomical map of the organ surrounding the label; as well as (i) displaying the anatomical map using a first transparency level, and (ii) displaying the subvolume surrounding the label using a second transparency level different from the first transparency level.

2. The method according to claim 1, wherein The organ includes a heart, the medical protocol includes ablative energy applied to tissue of the heart at the location, and the label indicates the ablative energy applied to the tissue.

3. A system comprising: A processor configured to: receiving a tracked position of a distal tip of a catheter in an anatomical map of an organ, the distal tip being moved within the organ and presented on the anatomical map; as well as dynamically changing a transparency level in a subvolume of the anatomical map of the organ surrounding the distal tip in response to the tracked position; as well as A display is configured to (i) display the anatomical map using a first transparency level and (ii) display the subvolume surrounding the distal tip using a second transparency level different from the first transparency level.

4. The system according to claim 3, wherein: The organ includes a heart, and the distal tip of the catheter includes one or both of: (i) one or more sensing electrodes configured to sense electroanatomical signals when placed in contact with tissue of the heart, and (ii) one or more ablation electrodes configured to apply ablation energy when placed in contact with the tissue of the heart.

5. The system according to claim 4, wherein: The anatomical map includes at least a label that is displayed at a given location on the anatomical map and indicates a property of the heart at the given location.

6. The system according to claim 5, wherein: The processor is configured to change a size of the subvolume in response to a distance between the tracked position of the distal tip and a position of the tag.

7. The system according to claim 4, wherein: The first transparency level includes an opaque view of an outer surface of the anatomical map for visualizing a three-dimensional (3D) topography of the anatomical map to a user.

8. The system according to claim 4, wherein: The second transparency level includes a fully transparent view of the exterior surface in the sub-volume of the anatomical map for displaying features of the organ within the sub-volume surrounding the distal tip to a user.

9. The system according to claim 3, wherein: When the distal tip moves and reaches a given position within the organ, the processor is configured to dynamically change the transparency level within two seconds after the distal tip has reached the given position.

10. A system comprising: a processor configured to receive: (i) a first position of a tag within an interior volume of an anatomical map of an organ and indicative of a property of the organ at the first position, and (ii) one or more second positions of a distal tip of a catheter moving within the organ, wherein when a distance between the first position and at least one of the second positions is less than a threshold, the processor is configured to change a transparency level of a subvolume of the anatomical map containing the distal tip and the tag; and A display is configured to display the subvolume and the anatomical map to a user.

11. The system according to claim 10, wherein: The processor is configured to estimate a direction of movement of the distal tip based on the one or more second positions, and wherein the threshold comprises: (i) a first threshold along the direction of movement, and (ii) a second threshold along a given direction other than the direction of movement, the second threshold being different from the first threshold.

12. The system according to claim 10, wherein: The processor is configured to apply a first transparency level to the anatomical map and to apply a second transparency level, different from the first transparency level, to the subvolume of the anatomical map containing the distal tip and the label.

13. The system according to claim 10, wherein: The second transparency level is greater than the first transparency level for displaying the subvolume containing at least the distal tip and the label to the user.

14. The system according to claim 10, wherein: The organ includes a heart, and the tag is based on at least one of an electrocardiogram signal and an intracardiac electrogram signal acquired when the distal tip is in the first position.

15. A method comprising: receiving, in an anatomical map of the organ, a tracked position of a distal tip of a catheter moved within the organ; dynamically changing a transparency level in a subvolume of the anatomical map of the organ surrounding the distal tip in response to the tracked position; as well as (i) displaying the anatomical map using a first level of transparency, and (ii) displaying the subvolume surrounding the distal tip using a second level of transparency different from the first level of transparency.

16. The method according to claim 15, wherein The organ includes a heart, and the distal tip of the catheter includes one or both of: (i) one or more sensing electrodes for sensing electroanatomical signals when placed in contact with tissue of the heart, and (ii) one or more ablation electrodes for applying ablation energy when placed in contact with the tissue of the heart.

17. The method according to claim 16, wherein The anatomical map includes at least a label that is displayed at a given location on the anatomical map and indicates a property of the heart at the given location.

18. A method according to claim 17 and comprising varying the size of the sub-volume in response to a distance between the tracked position of the distal tip and the position of the tag.

19. The method according to claim 15, wherein Displaying the anatomical map includes displaying an opaque view of an outer surface of the anatomical map for visualizing a three-dimensional (3D) topography of the anatomical map to a user.

20. The method according to claim 15, wherein Displaying the subvolume surrounding the distal tip includes displaying a fully transparent view of an outer surface in the subvolume of the anatomical map for visualizing features of the organ within the subvolume surrounding the distal tip to a user.

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