System and method for localization-based medical rendering

Abstract

The invention relates to a system and a method for positioning-based medical rendering. Systems and methods for automatically generating a location-based medical rendering of an improved anatomical rendering, such as a 4D ICE image set, are disclosed. According to some embodiments, a method includes obtaining images and position data from a catheter having a distal tip equipped with an ultrasound imaging device and a position sensor, processing the position data of the ultrasound imaging device to determine a volumetric field of view (FOR) of the imaging device in a patient's body; obtaining a model of at least a portion of the body anatomy present within the OR; and optionally using the model: (i) adjusting capture parameters of the ultrasound imaging device based on the model to optimize capture of the body anatomy of interest by the ultrasound imaging device wherein the appearance of its surrounding tissue is attenuated; and / or (ii) cropping an image captured from the OR of the imaging device to the body anatomy of interest.

Description

Technical Field

[0001] The present invention relates generally to imaging and medical visualization methods, and in particular to visualization of anatomical structures acquired by in vivo medical imaging devices such as ultrasound probes. Background Art

[0002] Three-dimensional (3-D) images of anatomical structures, as well as four-dimensional (4-D) images (i.e., 3D video sequences), such as ultrasound images / videos of the heart, are useful in many catheter-based diagnostic and therapeutic applications. Real-time imaging improves physician performance and makes it easier for even relatively inexperienced physicians to perform complex surgical procedures. 3D imaging also reduces the time required to perform some surgical procedures.

[0003] Some systems use hybrid catheters combined with position sensing. For example, U.S. Patent No. 6,690,963 to Ben-Haim et al., assigned to the assignee of the present invention and whose disclosure is incorporated herein by reference, describes a positioning system for determining the location and orientation of an invasive medical device.

[0004] A catheter with an acoustic transducer can be used for non-contact imaging of the endocardium. For example, U.S. Patent No. 6,716,166 to Govari and U.S. Patent No. 6,773,402 to Govari et al. describe a system for 3-D mapping and geometric reconstruction of a body cavity (particularly the heart), which are assigned to the assignee of the present invention and whose disclosures are also incorporated herein by reference. The system uses a cardiac catheter comprising a plurality of acoustic transducers. The transducers transmit ultrasonic waves that are reflected from the surface of the cavity and received again by the transducers. The distance from each transducer in the transducers to a point or area on the surface opposite to the transducer is determined, and the distance measurements are combined to reconstruct the 3-D shape of the surface. The catheter also includes a position sensor for determining the positioning and orientation coordinates of the catheter within the heart.

[0005] Typically, such systems provide an "endoscopic view," in which the reconstructed image appears as if viewed through a specific catheter or other probe. For example, U.S. Pat. No. 6,556,695 to Packer et al. (the disclosure of which is incorporated herein by reference) describes a method for generating high-resolution, real-time images of the heart. During medical procedures such as endocardial physiological mapping and ablation, real-time images are generated by an ultrasonic transducer inserted into the heart. A high-resolution heart model is registered with the acquired real-time images and used to generate dynamic, high-resolution images for display during the procedure. Different parts of the anatomical structure can be observed by "aiming" the acoustic transducer at the structure of interest by moving the distal end of the catheter. When examining other parts of the anatomical structure without moving the catheter, a joystick can be used to scan away from the field of view of the ultrasonic transducer. Navigation icons as described in U.S. Pat. No. 6,049,622 to Robb et al. (the disclosure of which is also incorporated herein by reference) are used to maintain orientation within the anatomical structure (e.g., the ventricle).

[0006] Similarly, U.S. Patent No. 6,203,497 to Dekel et al., the disclosure of which is also incorporated herein by reference, describes a system and method for visualizing internal images of an anatomical body. An internal image of the body is acquired by an ultrasound imaging transducer that is tracked in a reference frame by a spatial determiner. The position of the image in the reference frame is determined by calibrating the ultrasound imaging transducer to produce a vector position of the image relative to a fixed point on the transducer. This vector position can then be added to the position and orientation of the fixed point of the transducer in the reference frame determined by the spatial determiner. The position and orientation of a medical instrument used on the patient is also tracked in the reference frame by the spatial determiner. This information is used to generate a processed image from a view spatially related to the position of the instrument.

[0007] U.S. Patent No. 7,020,512 to Ritter et al., the disclosure of which is incorporated herein by reference, describes a method for positioning a medical device inside a patient's body. AC magnetic signals of varying frequencies are transmitted between known locations of points on the outside of the patient's body and points on a medical device inside the patient's body. The transmitted AC magnetic signals are then processed to determine the location of the points on the medical device and, therefore, the location of the medical device. This processing includes correcting for the effects of nearby metal by using different frequencies for the transmitted and received signals.

[0008] U.S. Patent No. 7,020,512 also describes an alternative embodiment in which a reference device is disposed within the patient's body and the medical device is positioned relative to the reference catheter. In this relative positioning embodiment, a signal comprising at least two frequencies may or may not be used, but is typically used to at least position the reference catheter.

[0009] U.S. Patent No. 10,299,753 to Govari et al., assigned to the assignee of the present invention and incorporated herein by reference, discloses a method for imaging an anatomical structure on a display, the method comprising acquiring an initial spatial representation of the anatomical structure and positioning an instrument near the anatomical structure. The method further comprises determining a positioning of the instrument and generating an image of a portion of the anatomical structure in response to the positioning. The method comprises adding the image to the initial spatial representation to display a combined spatial representation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to better understand the subject matter disclosed herein and to illustrate how it may be implemented in practice, various embodiments will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:

[0011] Figure 1 is a schematic illustration of a catheter-based ultrasound imaging system according to an embodiment of the present invention, the catheter-based ultrasound imaging system using a catheter having a distal tip assembly including a 2D ultrasound array and a positioning sensor;

[0012] Figures 2A to 2C A medical image processed by the techniques of the present invention is shown, wherein: Figure 2A Initial / pre-processed images of the anatomical structure are presented, Figure 2B is a segmented image of the anatomical structure captured according to the techniques of the present invention, and Figure 2C presents cropped images of anatomical structures produced by the techniques of the present invention;

[0013] Figure 3A and Figure 3B are a block diagram and a flow chart respectively presenting a system and a method for acquiring a segmented medical image of a body anatomical structure of interest according to an embodiment of the present invention;

[0014] Figure 3C schematically illustrates the adaptation of a capture area of ​​an imaging device of a catheter to a region of interest where a body anatomy is located, according to an embodiment of the present invention; and

[0015] Figure 4A and Figure 4B A block diagram and a flow chart respectively present a system and a method for cropping a medical image of a body anatomy of interest according to embodiments of the present invention.

[0016] Like reference numerals are used in the following figures to refer to elements / operations having similar configurations and / or functions in the accompanying drawings. DETAILED DESCRIPTION

[0017] Images of anatomical structures (such as the heart), and particularly high-dimensional images such as three-dimensional or four-dimensional (3-D or 4-D, collectively referred to herein as nD images), typically contain a large amount of visual information, often making it difficult for an observer to distinguish features of interest in the image from the surrounding background. The present invention addresses this problem and facilitates viewing nD images that present a particular anatomical structure of interest, or a portion thereof, substantially separated from / substantially cleared of surrounding body tissue, fluid, or other anatomical structures. To this end, embodiments of the present invention provide systems and methods for capturing a segmented image of the anatomical structure of interest substantially cleared of its surrounding background, and / or for processing a captured image in which the anatomical structure of interest is present to thereby produce a cropped image of the anatomical structure cleared of its surroundings. Some embodiments of the present invention facilitate an observer (typically a system operator or physician) selecting the anatomical structure of interest, or a portion thereof, for image generation, and capturing a segmented image and / or cropping the image thereof using a corresponding model of the anatomical structure such that the segmented or cropped image presents the anatomical structure (also referred to herein as the body anatomy) or portion thereof without or with a reduced surrounding environment.

[0018] Embodiments of the present invention may be used to view different anatomical structures or parts thereof as well as images of anatomical structures including cavities.In the following, by way of example, it is assumed that the anatomical structure comprises a patient's heart or a part thereof.

[0019] Figure 1 is a schematic illustration of a catheter-based imaging system 20. According to an embodiment of the present invention, system 20 utilizes a catheter 21 having a distal tip assembly 40 including an imaging device 50 and a position sensor 52 capable of providing data indicative of the location and orientation of imaging device 50.

[0020] Specifically, position sensor 52 is configured to output signals indicating the location and orientation of imaging device 50 within the body (eg, within an organ) of patient 28. Imaging device 50 may be configured and operable to perform any of a variety of medical imaging techniques, such as ultrasound imaging.

[0021] exist Figure 1In the specific non-limiting example shown, the distal tip assembly 40 of the catheter 21 is located at the distal end of the shaft 22 of the catheter 21. As shown, the catheter 21 is inserted through the sheath 23 into the heart 26 of a patient 28 lying on an operating table 29. The proximal end of the catheter 21 is connected to the console 24. In the specific embodiment described herein, the catheter 21 is used for ultrasound-based diagnostic purposes, although generally the catheter can implement other medical imaging techniques in addition to or instead of ultrasound imaging, or it can be further adapted to perform additional therapeutic procedures, such as electrical sensing and / or electrical ablation of tissue in the heart 26 using, for example, one or more distal tip electrodes 56. The physician 30 navigates the distal tip assembly 40 of the catheter 21 to a target location within the patient's body (in this example, the patient's heart 26), for example, by manually manipulating the shaft 22 using a manipulator 32 near the proximal end of the catheter 21, or by utilizing other catheter navigation techniques known in the art or that become known in the art. Exemplary catheters and imaging assemblies capable of deflection and rotation are described in detail in U.S. Patent No. 9,980,786, U.S. Patent No. 10,537,306, and U.S. Patent Publication No. 2020-006134, the disclosures of which are each incorporated herein by reference.

[0022] In the example embodiment shown in detail in insets 25 and 45, an imaging device 50 is arranged to image the left atrium of the heart 26. As shown in inset 45, the imaging device 50 in this example is an ultrasound imaging device that includes a 2D array of multiple ultrasound transducers 53 (e.g., 32×64 US transducers). Inset 45 shows the imaging device 50 navigated to the ostium 54 of the pulmonary vein in the left atrium. The imaging device 50 is capable of imaging a segment of the inner wall of the ostium. By using the position data provided by the position sensor 52 and its registration with the imaging device 50, the system 20 can determine the spatial coordinates of each pixel / voxel in the imaged segment obtained by the imaging device 50. An example of a suitable 2D ultrasound array is described in D. Wildes et al., “4-D ICE: A 2-D Array Transducer With Integrated ASIC in a 10-FrCatheter for Real-Time 3-D Intracardiac Echocardiography,” IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, vol. 63, no. 12, pp. 2159-2173, December 2016, doi: 10.1109 / TUFFC.2016.2615602, which is incorporated herein by reference in its entirety.

[0023] It should be noted that the imaging device 50 is typically associated with or includes an imaging controller (e.g., such as 50A specifically illustrated in the figure), which is adapted to control / adjust image capture parameters of the imaging device, such as: its field of view (FOV), depth of field (DOF), imaging device, dynamic range, gain and / or sensitivity. Optionally, where the imaging device 50 has active illumination, the imaging controller may also be adapted to adjust the intensity of the active illumination and / or the gating time interval of image capture relative to the illumination timing. In various embodiments, the imaging device can operate in a snapshot mode and / or a scanning mode, in which the entire FOV of the imaging device is captured instantaneously, and in a scanning mode, in which the FOV of the imaging device is scanned / turned towards the snapshot mode to produce its image. In such embodiments, the imaging controller may also be adapted to control parameters of the snapshot mode and / or the scanning mode. In addition, the imaging device 50 is also typically associated with or includes an image preprocessor (e.g., such as Figure 3A 50C) specifically shown in FIG, the image preprocessor is adapted to process / combine image portions captured from the imaging device to thereby generate an nD representation of the image captured by the imaging device. For example, the image preprocessor may be adapted to combine multiple 2D images of different FOVs acquired at substantially similar times to generate a volumetric (3D) image, and / or to combine multiple such volumetric images to form a video (4D image). An ultrasound catheter within the scope of the present invention may be a 4D ultrasound catheter having a two-dimensional (2D) array of ultrasound transducers for generating three-dimensional (3D) or four-dimensional (4D) ultrasound images. As used herein, the term "3D ultrasound image" refers to an ultrasound image representing a certain volume in three dimensions. The term "4D ultrasound catheter" refers to a catheter comprising a 2D array of ultrasound transducers. The term "4D ultrasound image" refers to a time sequence of 3D ultrasound images of a certain volume acquired by a 2D array. A 4D image can be viewed as a 3D movie, with the fourth dimension being time. Another way to describe a 4D image (or rendering) is as a time-correlated 3D image (or rendering). In the case of use in the heart, a 4D ultrasound catheter may be referred to as a "4D intracardiac echocardiography (ICE)" catheter. The catheter may also include an integrated positioning sensor, such as a magnetic position sensor, that is pre-registered with the 2D array based on a known relative position and orientation on the catheter axis between the positioning sensor and the 2D array. The 2D array produces a 3D fan-shaped ultrasound beam that occupies a predefined solid angle; (such a beam is referred to herein as a "wedge," as opposed to a 1D array "fan"). Thus, the 2D array is able to image a 2D segment of the inner wall of an organ, such as a cardiac chamber. Due to the integrated positioning sensor and its pre-registration with the 2D array, the spatial coordinates of each voxel in the imaged segment are known.

[0024] It should be understood that in some embodiments, the imaging controller and / or image pre-processor are collocated with the imaging device 50 (e.g., as an integral part thereof), or in some embodiments, the imaging controller and / or image pre-processor may reside remotely from the image sensor (e.g., Figure 3A 50B) and may be implemented, for example, as part of system 20 (eg, part of computerized system 39 thereof) or in a separate system / drive.

[0025] The console 24 of the system 20 includes a computerized system 39 having suitable front-end and interface circuitry 38 for receiving signals from the catheter 21 and optionally for administering therapy via the catheter 21 and optionally for controlling other components of the system 20 .

[0026] The position sensor 52 is typically associated with the positioning system 34 of the system 20, which is capable of processing the position signals obtained from the position sensor 52 and thereby determining the position of the distal end assembly of the catheter relative to the patient's body (i.e., indicating the position of the imaging device 50 relative to the patient's body). In some embodiments, the position sensor 52 operates to sense signals indicating its position and orientation (collectively referred to herein as position) based on the magnetic field / electromagnetic field generated by the magnetic field / electromagnetic field generator 36. In such embodiments, the positioning system 34 includes a magnetic field generator 36 and a drive circuit (not specifically shown) that is configured to drive the magnetic field generator 36, which generates a magnetic field that can be utilized by the position sensor 52 to sense its position. Typically, the magnetic field generator 36 is placed at a known location outside the patient 28, for example, below the work table 29 on which the patient 28 lies. Therefore, the magnetic field thus generated can be used as a reference coordinate system for tracking the position of the catheter 21 within the patient's 28 body. For example, during navigation of the distal end 40 of the catheter, the position sensor 52 senses the magnetic field provided by the magnetic field generator 36 and in response provides position data / signals to the system indicating the position (position and orientation) of the distal end 40 of the catheter 21. The position data / signals can be, for example, magnetic field signals sensed by the sensor, and / or data / signals further processed from the sensed signals. The console 24 receives the position data / signals from the position sensor 52 and thereby determines the position and orientation of the imaging device 50 within the body of the patient 28. Position and orientation sensing methods using external magnetic fields are implemented in various medical applications, such as in the CARTO manufactured by Biosense Webster. TMThe system is implemented in and described in detail in U.S. Patent No. 6,618,612 and U.S. Patent No. 6,332,089, PCT Patent Publication WO 96 / 05768, and U.S. Patent Application Publication 2002 / 0065455, U.S. Patent Application Publication 2003 / 0120150, and U.S. Patent Application Publication 2004 / 0068178, the disclosures of which are incorporated herein by reference.

[0027] It should be noted that the system 20 is not limited to the specific magnetic / electromagnetic field based positioning system described above and may alternatively or additionally be implemented using other positioning techniques, such as by impedance-based positioning tracking or by other techniques. Details of impedance-based positioning tracking techniques are described, for example, in U.S. Patent Nos. 7,536,218, 7,756,576, 7,848,787, 7,869,865, and 8,456,182.

[0028] As described above, according to some embodiments of the present invention, system 20 is adapted to generate segmented and / or cropped images of the anatomical structure of interest so that they can be presented to an operator or physician 30 using the system.

[0029] In this regard, it should be noted that the phrase anatomical structure refers herein to one or more portions of one or more bodily anatomical structures in the body of a patient. Furthermore, it should be understood that the phrases segmented image and cropped image are both used herein to designate the presentation of an image of an anatomical structure of interest captured from the body of the patient 28 while attenuating the presentation of other tissue / features not associated with / not belonging to the anatomical structure of interest (e.g., attenuating the presentation of surrounding tissue / fluid, etc.) so as not to obscure the presentation of the anatomical structure of interest. Specifically, the phrase segmented image is used herein to designate an image captured by the imaging device 50, wherein the capture parameters of the imaging device are adjusted so as to reduce the capture of tissue / features / fluid not associated with the anatomical structure of interest. The phrase cropped image is used to designate a captured image (segmented or unsegmented) that is further processed / cropped to remove / obliterate such features / tissue that appear therein that are not associated with the anatomical structure of interest.

[0030] To accomplish this, system 20 (eg, console 24 ) includes system 100 and / or system 300 , according to embodiments of the present invention, adapted to generate segmented / cropped images of the anatomical structure of interest.

[0031] According to the embodiments described in more detail below, system 100 and / or system 300 can be implemented as a computerized system and can include hardware and / or software configured and operable to generate a segmented image / cropped image. In some embodiments, system 100 and / or system 300 can be implemented using computerized system 39 of system 20. Computerized system 39 can, for example, include a general-purpose computer or other computerized system that is programmed in software to implement the functions described herein. The software can be downloaded to a computer in electronic form over a network, for example, or it can alternatively or additionally be provided and / or stored on a non-transitory tangible medium (such as magnetic storage, optical storage, or electronic storage).

[0032] The system 100 may, for example, be connectable to the positioning system 34 (or the positioning sensor 52 of the catheter) and the imaging device 50 of the catheter 21 and adapted to operate the imaging device 50 to capture a segmented image of the anatomical structure of interest using the position data / signals obtained from the position sensor / system 52 / system 34. The system 300 may, for example, be adapted to obtain an image (e.g., captured by the imaging device 50) and position data indicating the position within the patient's body from which the image was captured, and optionally capture parameters of the imaging device 50 that captured the image, and process the image based on the position data (optionally also using the capture parameters) to produce a cropped image of the anatomical structure of interest.

[0033] In this regard, in some embodiments of the present invention, system 100 and / or system 300 facilitates automatically generating, respectively, segmented or cropped images of anatomical structures captured by imaging device 50 based on the position of the imaging device when the image was acquired. Indeed, once an image captured from a particular location within a patient's body and positional data indicative of that location are acquired by system 100 or system 300, system 100 or system 300 can be operable to automatically determine the anatomical structures that should be present in the image. This can be based on the image's positional data, which can be used to assess the volumetric field of view (FOR) within the patient's body from which the image was acquired, and optionally also based on data indicative of capture parameters of the imaging device associated with the image, which can be used to more accurately assess the actual capture region (CR) within the patient's body being captured in the image. Thus, system 100 and / or system 300 can facilitate this by utilizing data access to a knowledge base indicating the locations / positions / models of various anatomical structures within the patient's body, and can be adapted to utilize FOR / CR ​​data inferred based on the position of the imaging device and, optionally, its capture parameters, to infer, from the knowledge base, the anatomical structures that should be present in the image.

[0034] Reference Figure 2AAn example of an image M0 (hereinafter also referred to as an initial image) is shown, which is captured from the imaging device 50's FOR when positioned at a particular location within a patient's body. In this non-limiting example, the initial image M0 is a volumetric / 3D image of the entire imaging device FOR, obtained from within the patient's heart during preparation for a transseptal procedure. In this initial image M0, the fossa ovalis is captured but is obscured by other surrounding tissue (e.g., tissue in the near-field and / or far-field of the fossa ovalis relative to the imaging device). Figure 2B The segmented image M of the fossa ovalis obtained by the operation of the system 100 is illustrated. R . In this example, based on the position data of the imaging device 50, the system 100 automatically identifies the fossa ovalis as the anatomical structure of interest. To this end, it should be noted that based on the position of the imaging device 50, and optionally also based on its capture parameters, either system 100 / system 300 can automatically "know" (e.g., using a knowledge base) the positioning of the imaging device 50FOR within the patient's body (e.g., in this example, "knowing" that the imaging device 50 "looks" from the right atrium to the left atrium, i.e., from R to L), and optionally also determine the anatomical structure on which the imaging device is focused / tuned for capture (e.g., using the capture parameters of the imaging device).

[0035] Thus, the system 100 may optionally automatically determine / assess an anatomical structure of interest (target) based on the positioning of the imaging device and optionally other capture parameters thereof, and thereby optionally operate to automatically generate a cropped imaging device / segmented imaging device thereof. Figures 2A to 2C In the example of FIG, the imaging device is focused / tuned to capture an anatomical structure of interest (target), in this case the fossa ovalis, that is relatively close to the imaging device 50. In a similar manner, the system 300 can also automatically determine the anatomical structure of interest from the initial image M0 and can be adapted / operated to automatically crop the initial image M0 itself or another image captured from the imaging device 50 to the structure of interest (e.g., by removing voxels from the initial image M0 that are on the sides of the anatomical structure of interest and / or removing near-field and far-field voxels that are in front of and behind the structure of interest relative to the imaging device's positioning when the image M0 was captured).

[0036] Figure 2B shows a segmented image M obtained as a result of the system 100 being adapted / operated to (eg, automatically) capture a segmented image of the fossa ovalis. R , in which case the segmented image is set (e.g., manually) or otherwise automatically determined by the system as the anatomical structure of interest (e.g., such automatic determination may be based on position data and optionally also on the anatomical structure of interest when captured in Figure 2A The initial image M0 shown in FIG is a capture parameter of the imaging device 50. Therefore, in order to obtain the segmented image M R, the system 100 operates to adjust the capture parameters of the imaging device 50, such as its field of view, depth of field, and sensor gain, to optimize the capture of the anatomical structure of interest (fossa ovalis) from the position of the imaging device while reducing the capture of its surroundings. The white dashed line in the images provided herein shows the FOR of the imaging device, which is Figure 2A The initial image M0 shown in FIG is captured in its entirety. R In FIG. 1 , the system 100 captures the fossa ovalis as a structure of interest by adjusting the capture parameters of the imaging device 50 .

[0037] In some embodiments of the present invention, system 100 and / or system 300 facilitates user selection of a particular anatomical structure of interest for which a segmented image or cropped image is to be generated. To this end, system 100 and / or 300 is optionally associated with / connected to a user interface device (e.g., display 27 and user input controls of console 24) and is adapted to thereby receive data from an operator indicating the anatomical structure whose image is to be segmented / cropped. For example, in an embodiment, an initial unsegmented image / uncropped image captured by imaging device 50 from the position where catheter 21 is located, such as Figure 2A The initial image M0 may be, for example, Figure 2A A 3D / volume image (e.g., in which the physician / operator can navigate or slice to identify their structures of interest) or a 2D image, such as a 2D slice of an image captured by the imaging device 50 (e.g., an ultrasound image slice) is shown. The operator can then mark / select one or more points or regions on the initial unsegmented image that indicate at least one anatomical structure of which he wants to generate a segmented image. In various embodiments, the selection can be made, for example, by marking one or more points / boundaries (e.g., approximate boundaries) specifying the anatomical structure of interest on the presented image; or, for example, by selecting from a list of anatomical structures (e.g., a list of anatomical structures automatically determined to be desired to be included in the image (e.g., or in the FOR of the imaging device) based on a knowledge base and the position of the imaging device). Based on the selection / marking and the position of the catheter 21 / imaging device 50 relative to the patient's body (typically within it), the system 100 / system 300 determines the anatomical structure of interest to be segmented or cropped from the initial image M0.

[0038] In this regard, Figure 2C This example shows the Figure 2A The initial image M0 is shown in the cropped image M cIndeed, in this case, the automatic identification of the anatomical structure of interest based on the position of the imaging device and the capture properties of the initial image M0 may have identified the fossa ovalis as the anatomical structure of interest (e.g., see Figure 2B ). However, in this case, the user / operator is actually particularly interested in more clearly viewing (in a segmented / cropped form) the left pulmonary vein, which is also visible in the initial image M0. Therefore, in this case, the operator uses the user interface to mark / select the specific anatomical structure of interest that he wishes to view, the left pulmonary vein, and the system 300 crops the initial image M0 (or, for that matter, another image) according to this selection. It should be noted that such cropping can also be performed on another image and / or can be optionally performed by the system 100 on a segmented image acquired / generated thereby. Alternatively or in addition, it should be understood that, in a similar manner, the system 100 can also be adapted to obtain a user selection (e.g., from a user interface) and generate a segmented image of the anatomical structure selected thereby.

[0039] As described in more detail below, the system 100 and / or system 300 utilizes a model, such as a morphological model or a machine learning model, to generate a segmented image / cropped image of the anatomical structure of interest. Based on the automatically identified and / or user-selected anatomical structure of interest, the system 100 and / or system 300 then retrieves an appropriate model and utilizes the model to capture a segmented image and / or crop a captured image.

[0040] Now refer to Figure 3A and Figure 3B The system 100 according to an embodiment of the present invention is described in more detail, wherein a block diagram and a flow chart are provided to illustrate the configuration and operation of the system 100. The system 100 is adapted to generate segmented images of anatomical structures. The system 100 can be connected to a catheter 21 having an imaging device 50 and a position sensor 52 provided at its distal tip 40.

[0041] The imaging device 50 is capable of capturing volumetric images of a desired FOV and a desired depth of field (DOF) within its field of view (FOR). Figure 3A In a non-limiting example, the imaging device 50 is shown as including three functional components, including:

[0042] (i) An image sensor 50B, which may include one or more image detectors / transducers (e.g., acoustic / ultrasonic transducers in the case of an ultrasound imaging device, and / or light detectors or other types of electromagnetic field detectors in the case of other types of imaging devices); and optionally, image scanning means in the case where the imaging device employs a scanning scheme; optionally, active illumination means in the case where the imaging device employs active illumination; optionally, imaging "optics" (appropriate for the type of field sensed by the imaging device, whether acoustic or electromagnetic (e.g., light)) or other beam forming means for forming an image signal from the detector's signal.

[0043] (ii) an imaging controller 50A adapted to adjust one or more operating parameters of the imaging device that affect the extent of the region CR to be captured by the imaging device 50 when in operation; and

[0044] (iii) an image preprocessor 50C that processes the signals received from the image sensor 50B during image capture to thereby construct a volumetric image of the capture region CR. As will be appreciated by those skilled in the art of imaging, the image preprocessor may be adapted to perform a variety of image processing operations, which may depend on the specific configuration of the imaging device 50 and the imaging scheme used, and which may include, for example, stitching together image slices obtained during an image scan to obtain a volumetric image result; other operations such as combining images from different image detectors /

[0045] The imaging device 50 used in this embodiment of the present invention can be any type of imaging device that allows for specific control over the positioning and range / span of the region CR within the imaging device's field of view to be captured by the imaging device.

[0046] In this example and without loss of generality, an ultrasound imaging device is specifically illustrated.

[0047] The position sensor 52 is capable of providing position data indicating the position of the ultrasound imaging device 50 within the body of the patient 28. Hereinafter, the imaging device 50 in combination with the positioning system 34 is also referred to as a tracking imaging system ( Figure 3A 101 and / or Figure 4B 301 ) which is adapted to provide / capture / store images processed by the system together with respective position data and optionally also data of capture parameters used to capture the images, which data are indicative of the region CR within the body captured by the respective images.

[0048] Based on the position data, the system 100 is configured and operable to operate the imaging device 50 to capture one or more 2D and / or 3D images of at least a portion of the body anatomy (anatomy) such that the 2D and / or 3D segmented images present at least a portion of the body anatomy that is substantially segmented from other body tissues not associated therewith (e.g., nearby tissue). To achieve this, the system 100 is adapted to adjust one or more capture parameters of the imaging device, such as its FOV and / or DOF or other imaging parameters, such that the region CR captured by the imaging device closely fits a region of interest ROI within the patient's body occupied by the portion of the body anatomy that is desired to be captured.

[0049] In this regard, it should be noted that the phrase field of view (FOR) is used herein to designate the volumetric region in front of the position of the imaging device 50 that the imaging device 50 is able to capture / perceive when positioned thereto. It should also be noted that the terms field of view FOV and depth of field (DOF) are used herein to designate capture parameters and indicate the actual capture region CR within the FOR that is captured by the sensor / transducer of the imaging device 50. More specifically, the term FOV relates to the lateral extent / angular range of the region captured by the imaging device 50 (e.g., lateral relative to the general direction / axis along which the imaging device 50 is directed for capture, which general direction / axis may be fixed or steerable relative to the sensor of the imaging device 50, e.g., depending on the configuration of the imaging device 50). The term DOF is used herein to designate the span between the nearest and farthest points in the capture region CR that appear acceptably focused / "sharp" in the captured image. In this regard, for some types of imaging devices 50 that may be used by the system 100 (e.g., imaging devices operating via scanning regions of interest), the DOF may be individually set for each pixel or group (e.g., row) of pixels in the image to be captured, such as Figure 3CAs shown. In some embodiments, particularly when the imaging device 50 combines active illumination and corresponding time gating capabilities for echo sensing, the system 100 can be adapted to exclude or reduce the capture of areas in front of or beyond the desired DOF, for example, by appropriate time gating. Similarly, for some types of imaging devices 50, the cross-section of the FOV captured by the imaging device can be set by the system 100 to have an irregular / non-preferentially fixed shape. Therefore, in various embodiments, the system 100 can be adapted to adjust the FOV capture parameters and / or DOF capture parameters to adapt the capture region CR to the anatomical structure of interest (for example, in some cases, the shape of the capture region CR can be morphologically adapted). This facilitates adjustment of such parameters so that the shape of the capture region / volume CR substantially adapts to the anatomical structure of interest in the patient's body located therein, while areas outside the designated capture region / volume CR where the anatomical structure of interest is located are excluded from capture or captured with reduced intensity in the image.

[0050] It should be noted that the terms illumination and active illumination are used herein to designate any type of illumination used by an imaging device during capture, and may, for example, relate to ultrasound illumination in the specific case of an ultrasound imaging device 50, and / or to other types of active illumination (e.g., such as optical light or any other type of electromagnetic field / radiation that may be used by various types of imaging devices to illuminate the capture region). The terms gating, time-gating, etc. are used herein to designate an operating mode of an imaging device in which its sensors or their pixels (e.g., sub-sensors / detectors / transducers) operate in synchronization with the timing of the active illumination so as to sense echoes / reflections of the active illumination arriving only from a specific DOF relative to the sensor (or relative to its pixels).

[0051] Furthermore, it should be noted that for imaging devices of the type that utilize active illumination or beam steering and / or beam forming of echoes / reflections received / sensed by the image sensor, the beam steering / forming scheme can be controlled and adjusted by the system 100 to control the actual shape of the region CR being captured. For example, when beam forming is used with active illumination, the active illumination can be beam formed to illuminate / focus only specific portions within the FOR, such that capture only includes those illuminated portions. Similarly, alternatively or in addition, when beam forming is applied to return echoes / reflections, the focus of the beamformed echoes / reflections can be set to capture only echoes from certain portions within the FOR (e.g., such that those echoes constructively interfere), while echoes / reflections from other FOR portions are attenuated (e.g., via destructive interference), such that capture only includes those portions of the echoes within the beamformed focus. In a similar manner, beam steering can also be used to control the cross-sectional shape of the FOV.

[0052] Additionally, other capture parameters of the imaging device, such as sensor / transducer gain and / or its operating dynamic range, and / or illumination intensity / frequency (in the case of active illumination) may be set / optimized for generating / sensing echoes / reflections from certain selected regions or body tissue types using FOR, while causing echoes / reflections from other regions / tissue types to be generated / sensed at lower intensities.

[0053] For this purpose, see for example Figures 3A to 3B As described, embodiments of the present invention utilize the fact that adjustable capture parameters in various imaging techniques allow for adjustment of the size and / or shape and / or positioning of the capture region CR so that it relatively closely fits the shape of the anatomical structure of interest, while maintaining a substantial portion of the FOR region outside of the "fitted" capture region CR that is excluded (reduced) from the captured image. Thus, by identifying the anatomical structure of interest, or a portion thereof, that is desired to be imaged, and determining the region within the imaging device FOR that the anatomical structure of interest occupies, one or more of the imaging parameters can be adjusted so that the capture region CR of the imaging device fits the anatomical structure of interest and thereby facilitates segmented capture of the anatomical structure.

[0054] To achieve this, the system 100 includes one or more processing tools 110 that are configured and operable to generate one or more 2D and / or 3D segmented images of at least a portion of the body anatomical structure of interest. The one or more processing tools 110 of the system 100 may be implemented by software and / or by hardware and may, for example, conceptually include the following functional processing tools (which may be implemented by one or more processors in practice):

[0055] A field of view (FOR) processing tool 112, which is directly or indirectly connected (e.g., via the positioning system 34) to the position sensor 52 of the catheter 21 and is adapted to process position data received from the positioning system 34 / position sensor 52 to determine a volumetric field of view (FOR) range of the imaging device relative to the reference coordinate system of the positioning system 34. The volumetric field of view (FOR) is actually determined relative to the patient's body when the patient's body is generally aligned with the positioning system 34 (e.g., by the positioning pad / positioning field generator 36 of the positioning system 34 being arranged at a predetermined position relative to the patient's body).

[0056] The model provider tool 113 is adapted to provide a model indicative of at least a portion of a body anatomy of interest that is desired to be captured. The model provider may be adapted to provide one or more models of anatomy that is desired to be present within the volume FOR of the imaging device 50 in the patient's body, and / or a model of a specifically selected anatomy (or portion thereof) selected by the physician / operator via the user interface 115, as described below.

[0057] - an optional user interface (UI) 115 (eg comprising a display and UI input controls) adapted to enable a user to select a region of interest within the imaging device FOR where resides the anatomical structure or portion thereof for which segmented imaging is desired.

[0058] A model processing tool 114 adapted to receive a model of the anatomical structure of interest from a model provider and input from an imaging device indicative of image content captured from the FOR, and image the content using the model to identify a region of interest ROI in the FOR where the anatomical structure of interest resides.

[0059] The capture controller 116 is adapted to obtain data indicative of the ROI (its location and extent within the FOR) and adjust one or more capture parameters of the imaging device 50 to optimize the capture of at least a portion of the body anatomy by the imaging device 50, thereby reducing the acquisition of visual information captured from background / tissue surrounding at least a portion of the body anatomy of interest. The capture controller 116 adjusts the capture parameters so that the capture region CR more closely fits the region of interest ROI, where the body anatomy of interest resides within the FOR. This is achieved based on processing performed by the model processor 114 to determine the position / location of the body anatomy of interest within the imaging device FOR based on the model AM. The capture controller 116 is connected to the imaging device 50 (e.g., to its imaging controller 50A) to adjust the imaging parameters accordingly, thereby capturing the ROI using the imaging parameters.

[0060] The acquisition tool 116 is adapted to operate in response to the capture of the ROI by the imaging device 50 using the capture parameters so as to obtain the image from the imaging device 50 (e.g., from its imaging pre-processor 50C)

[0061] A segmented volumetric image of the anatomical structure of interest in the ROI is obtained, as captured using the adjusted parameters.

[0062] - An optional rendering tool 118 is adapted to obtain at least one segmented volume image of the anatomical structure of interest of the ROI to produce one or more 2D and / or 3D segmented images of said at least a portion of the body anatomical structure of interest, wherein the at least a portion of the body anatomical structure of interest appears such that it is substantially segmented from body tissue not associated therewith.

[0063] Now refer to Figure 3B Describing the operation of system 100 in more detail, Figure 3B is a flow chart of a method 200 of generating a segmented image of an anatomical structure of interest according to an embodiment of the present invention.

[0064] In operation 210, the volumetric field of view (FOR) of the imaging device 50 relative to (e.g., within) the body of the patient 28 is determined (e.g., by the FOR processor 112, as indicated above) based on position data obtained from the position sensor 52 (e.g., from the positioning system 34 associated therewith). In practice, the positioning system 34 (which communicates with the position sensor 52 on the catheter 21) receives signals / data from the position sensor 52 indicating the position and orientation of the distal end 40 of the catheter 21, where the imaging device 52 resides. The positioning system 34 operates in registration with the patient's body to determine the position and orientation of the imaging device 50 relative to / within the patient's body. This position and orientation data of the imaging device 50 is processed along with predetermined data indicating the imaging device's viewing capabilities (e.g., its maximum FOV angle and maximum DOF range) to determine the FOR of the imaging device 50 within the patient's body.

[0065] In operation 220, a model of at least a portion of the body's anatomy present in the FOR is retrieved / obtained, for example, by the model provider 113 of the system 100. In some embodiments, the model can be automatically retrieved based on the data indicating the FOR of the imaging device 50 relative to the patient's body obtained in 210, optionally also based on the capture parameters set / set by the imaging device (by which the anatomical structures of interest to the physician can be assessed), and based on knowledge base data (e.g., indicating the positioning of various anatomical structures within the body) from which information indicating the anatomical structures contained in the FOR can be determined / assessed (e.g., based on registration between the FOR and the patient's body).

[0066] Alternatively or additionally, in some embodiments, to more precisely identify at least a portion of the body anatomy of interest, operation 220 may include capturing at least one image of the FOR or a portion thereof from an imaging device (see Figure 3A The initial image M0 (initial image) is obtained by scanning the image and presenting it to a physician / operator of the system 100 and / or method (200). The initial image M0 can be presented, for example, via the user interface 115 or a display thereof, and in response to the presentation, the system can obtain input data (selection / marking) from the physician / operator indicating a selected region of interest ROI or a specific anatomical structure within the imaging device FOR for which the physician / operator wishes to obtain a segmented image. In some embodiments, the initial image M0 can be, for example, a 2D slice of at least a portion of the imaging device FOR or a volumetric image thereof, which the physician / operator can manipulate to view a desired portion thereof through the UI 115 display.

[0067] Thus, based on the anatomical structure identified in the FOR of the imaging device, and / or based on the user's selection / marking of the anatomical structure of interest therein, and based on the position of the imaging device / FOR (as determined from position data of the position sensor), the anatomical structure of interest is identified and the model provider 113 retrieves (e.g., from a data repository of anatomical structure models) a corresponding model AM of the anatomical structure of interest.

[0068] To this end, in some embodiments, the model AM includes or consists of a morphological model of the anatomical structure of interest (e.g., a so-called point cloud model or other type of morphological model), which morphological model, for example, indicates at least one of its shape, size, and optionally also its typical position within the body. Generally speaking, such a morphological model AM can be a generic morphological model of the anatomical structure of interest, or in some cases, it can be a patient-specific morphological model. To this end, in the case of a generic model AM, it can include data indicating at least one of the characteristic shape, characteristic size, and / or characteristic position of the at least part of the body anatomical structure of interest / anatomical structure. Alternatively or in addition, such a morphological model AM can be a patient-specific model indicating the shape and / or size and / or position of the body anatomical structure of interest / anatomical structure of a specific patient 28. Still alternatively or in addition, when having a specific condition / pathology suffered by the patient 28, such a morphological model AM can be a condition-specific model indicating the shape and / or size and / or position of the body anatomical structure of interest / anatomical structure of at least one part.

[0069] In the latter case, such a model may be pre-acquired / prepared, for example, from a previous set of images of the patient (such as from CT images or other types of medical images of the patient) (e.g., by the system), or it may be pre-prepared by performing a mapping procedure (e.g., by the physician 30) to map anatomical structures of interest in the patient's body. In such a mapping procedure, the physician may utilize, for example, a “mapping” catheter (which may be, for example, catheter 21 or a different catheter equipped with a position sensor such as 52) to map a plurality of locations on the anatomical structure of interest within the patient's body (whereby, during said mapping, at points where the distal end of the “mapping” catheter is located on the anatomical structure of interest, the location of the distal end of the catheter and possibly other sensed properties, such as tissue or ECG properties, are recorded in the model).

[0070] To this end, in some embodiments, the system 100 includes at least one mapping medical device 41 (e.g., a mapping catheter) that is configured and operable to map an anatomical structure in a patient's body. The mapping medical device 41 includes a position sensor (not specifically shown) thereon and is adapted to receive user input for mapping at least a portion of the body's anatomical structure. For example, upon receiving user input indicating that the location where the catheter resides belongs to the body's anatomical structure of interest (to be mapped), a signal indicating the location is provided to the system 100. The system 100 (e.g., one or more processors thereof, such as a model provider 113 and / or a positioning system 34) is adapted to track the location of the mapping medical device and record its tracked locations that are indicated as belonging to the body's anatomical structure being mapped, and thereby construct a patient-specific model of at least a portion of the body's anatomical structure of interest. In some embodiments, the system 100 (e.g., its model provider 113) is adapted to record these tracked locations associated with at least a portion of the body's anatomical structure of interest to form a model (e.g., in the form of a point cloud) indicating the shape of the portion of the patient's body's anatomical structure. Additionally, optionally, in some embodiments, the mapping medical device 41 may include one or more sensors adapted to sense one or more tissue properties of at least a portion of the patient's anatomy at these tracking locations, and the system 100 may include data indicative of the one or more tissue properties in the model. More specifically, the tissue property data may include information indicating the appearance of one or more tissues of various portions of the anatomy and / or its surrounding areas when imaged by the imaging device 50.

[0071] Thus, in some embodiments, the morphological model AM may also further include tissue data indicative of certain properties of one or more tissue types of the anatomical structure of interest. For example, such tissue data may include spectral information indicative of the spectral response (absorption / reflection / scattering) of the tissue to different spectral states of the field / radiation imaged by the imaging device 50. The tissue data may include generic data indicative of tissue properties of generic anatomical structures of the type recorded in the model, and / or generic data of anatomical structures of this type having a particular condition / pathology suffered by the patient, and / or patient-specific tissue data obtained, for example, by a user of the mapping medical device / catheter 41 as described above.

[0072] Alternatively or in addition, in various embodiments, the model AM retrieved by the model provider 113 may include a machine learning (ML) model that is trained to process a set of input data images (e.g., an initial image M0 captured from a FOR) to output data indicating a ROI region within the FOR (e.g., the region occupied by the anatomical structure of interest) where the anatomical structure of interest resides (e.g., its size, shape, and / or location). The machine learning (ML) model may be used to supplement or replace the above-described morphological model. As will be understood by those skilled in the art of machine learning, this type of ML model may include parameters (e.g., weights) of one or more neural networks that are pre-trained to recognize and / or classify anatomical structures of the type of anatomical structure of interest within an image (e.g., an initial image M0 captured from a FOR) and determine the ROI occupied therein. As will be understood by those skilled in the art after understanding the present invention, training of the ML model may be performed in advance for each anatomical structure of interest, for example by utilizing training data including multiple images in which the anatomical structure of interest appears, and adjusting the weights of the ML model (e.g., by gradient descent) until the model is trained to appropriately classify / recognize the ROI in the image in which the anatomical structure of interest exists. Training can be supervised, or partially supervised / unsupervised (whereby in the latter case a morphological model, a generic model, or a patient-specific model corresponding to a set of input images can be used to calibrate and train the model in an unsupervised or partially supervised manner).

[0073] Therefore, in operation 220 , the system 100 retrieves the model AM based on which a region of interest ROI where the anatomical structure of interest resides / occupies can be identified in the image obtained from the imaging device 50 .

[0074] In operation 230 (e.g., which may be performed, for example, by the model processor 114), the anatomical model AM is used to determine / estimate a region of interest (ROI) within the FOR occupied by the anatomical structure of interest. The region of interest may be determined, for example, based on its size, shape, positioning, and / or the "voxels" it occupies within the FOR. As described above, the model AM may be, for example, a morphological model or a machine learning (ML) model, and in some embodiments may be a generic model or a personalized model of the anatomical structure.

[0075] In some embodiments (e.g., when the model is a morphological model), the system 100 or its model processor 114 determines / evaluates the region of interest (ROI) by registering and / or fitting the model to one or more initial images captured from the FOR (e.g., initial image M0) (e.g., so-called "best fit"). In some embodiments, such as when the model is a generic model, or when the shape of the anatomical structure of interest changes (e.g., due to its motion), achieving the best fit between the models can, for example, involve deforming / distorting the shape of the model to produce a deformed shape thereof such that the deformed shape fits the captured initial image (e.g., such that most pixels / voxels representing the anatomical structure of interest in the captured image are "covered" by the deformed model, while pixels / voxels not representing the anatomical structure of interest are not covered, or as few such pixels / voxels as possible are covered by the model). In this regard, as will be understood by those skilled in the art after understanding the present invention, deformation / distortion of the morphological model can be applied until the best fit is achieved or until a certain deformation threshold is reached. The deformation / best fit can be performed based on a partial image of the FOR, which partial image can only include one or more 2D slices thereof or a portion of its volumetric image. In embodiments where the morphological model includes data indicative of tissue properties of the anatomical structure of interest, these may include, for example, spectral responses / properties of the tissue which may be used in fitting / registration to determine the best fit (as long as they are evident in the initial image M0 on which the model fitting is based).

[0076] To this end, according to some embodiments, based on such adaptation, the system 100 or its model processor 114 performs mapping between one or more regions (voxels) of at least one body anatomical structure present in the model AM and corresponding voxels (volume regions) within the FOR of the imaging device 50, thereby identifying the ROI occupied by the anatomical structure of interest within the FOR. Such mapping can be performed, for example, based on a combination of one or more of the following:

[0077] - adaptation of the positions between the different regions (voxels) of the body anatomy in the model and the corresponding pixels / voxels in the FOR portion presented in the initial image M0; and

[0078] - Adaptation of the tissue properties (or their spectral properties) indicated for different regions of the body anatomy in the model AM and the spectral data of the corresponding voxels / pixels in the initial image M0.

[0079] For example, in some embodiments, a map is determined based on adaptation of tissue properties while minimizing the model deformation required to achieve such adaptation to the location in the initial image.

[0080] Alternatively or in addition, as described above, in some embodiments, the model AM is or may include an ML model trained to identify / classify anatomical structures of interest within an image of the patient's body (e.g., the initial image M0) and to determine / estimate the ROI occupied by the anatomical structure in the image. In such embodiments, operation 230 may include operating the ML model on the captured initial image M0, thereby generating data indicative of the ROI (its shape / size / position) within the FOR evident in the initial image M0.

[0081] As will be appreciated, once the ROI is identified within the initial image M0, the location of the ROI relative to body coordinates may also be determined (given that the initial image was captured together with position data of the imaging device 50 relative to the patient's body, as obtained by the position sensor 52).

[0082] Thus, in operation 240, which may be performed by the acquisition tool 116 after determining the ROI, the system 100 utilizes the determined properties of the ROI (its shape, positioning relative to body coordinates, and / or size) and, optionally, the current position of the imaging device 50 (as obtained from the position sensor 52) to set / adjust / optimize appropriate capture parameters for the imaging device 50 for capturing a basic segmented image of the ROI by the imaging device 50. In other words, the capture parameters are adjusted such that the region CR captured by the imaging device is shrunk / adjusted to substantially uniquely cover the ROI (i.e., with a minimal margin within the range permitted by the adjustment of the capture parameters), such that operating the imaging device 50 with the adjusted capture parameters results in the acquisition of a basic segmented image of the anatomical structure of interest. Specifically, adjustment of the capture parameters may include adjustment of parameters affecting the FOV angle of the imaging device 50, for example, so that the captured FOV substantially matches the angular range of the ROI relative to the imaging device 50; and / or adjustment of the DOF of the imaging device (for example, the range of distances from the imaging device 50 that can be captured with an acceptable resolution) so that it fits / matches the depth range of the ROI as closely as possible.

[0083] Depending on the type / technology of the imaging device, the capture parameters that are adjusted may include one or more of the capture parameters described below:

[0084] Adjustments to parameters affecting the imaging device FOV may include, for example, any one or more of the following:

[0085] - adjusting the scanning angle of the imaging device (applicable when the imaging device is operated in scanning mode); and / or

[0086] - adjusting the zoom properties of the "optics" of the imaging device, for example, where the imaging device is equipped with optics and the optics facilitate zoom. In this regard, it should be understood that the term optics is used to designate any type of element capable of manipulating fields / waves of the type sensed / imaged by the imaging device 50 (e.g., not necessarily elements manipulating light fields, but alternatively or additionally elements of other types of fields imaged by the imaging device (such as an acoustic lens or metamaterial structure capable of manipulating (refracting / diffracting) acoustic, ultrasonic, or electromagnetic fields)).

[0087] - Adjust the angle of active lighting (which is applicable if the imaging device uses such lighting).

[0088] To this end, in some embodiments, parameters affecting the FOV field of view of the imaging device are adjusted so that the FOV of the imaging device is substantially shrunk closer to the ROI where the anatomical structure of interest resides, thereby suppressing the capture of voxels located to the sides of the ROI. As a result, the lateral extent of the region CR captured by the imaging device more closely matches the lateral extent of the ROI.

[0089] Alternatively or additionally, adjustment of parameters affecting the imaging device DOF may include, for example, any one or more of the following:

[0090] - In imaging devices with active illumination (such as ultrasound imaging devices), adjusting the gating time interval between the timing of active illumination (e.g., pulses) and the timing of sensor operation to capture the returning signal (echo / reflection) to thereby adjust the sensor reception /

[0091] The effective distance range of the returned echo / reflection is sensed, thereby limiting the DOF to that range.

[0092] - In an imaging device with active illumination, the frequency of the active illumination is adjusted in order to influence / control the penetration depth of the active illumination and thereby adjust the DOF captured by the imaging device. In practice, as will be appreciated by those skilled in the art of, for example, ultrasound imaging, utilizing active illumination with lower ultrasound frequencies produces a higher illumination penetration depth (e.g., acoustic), thereby facilitating more distant anatomical structures and / or having a greater DOF. Conversely, at higher frequencies, closer structures are captured at higher resolution, while more distant structures are attenuated from the image (because the active illumination is not intense enough to reach them). In some embodiments, the sensor's response to the frequencies of the returned echoes / reflections (e.g., or filtering of such frequencies)

[0093] Alternatively or in addition, it may be adjusted to achieve some similar effect.

[0094] - adjusting the gain of the imaging device and / or its active illumination intensity as a function of at least one of the location / distance of the ROI to the imaging device, and / or as a function of the type of tissue included in the anatomical structure of interest (e.g., as may be indicated by the model AM). As will be understood by those skilled in the art of imaging, such manipulations in sensor gain and / or active illumination intensity may affect the dynamic range of the sensor, thereby directly or indirectly affecting the range of distances from which the sensor captures image detail;

[0095] - In imaging devices using beamforming technology (such as scanning imaging devices), the focus of the beamformed active illumination or the beamformed return echoes / reflections can be adjusted to a distance range covering the desired DOF, thereby suppressing the sensing of returns / echoes from distances outside this range.

[0096] -In an imaging device such as a gaze imaging device / snapshot imaging device with an adjustable aperture, the size of the aperture opening can be adjusted to produce an image with a wider or narrower depth of focus (i.e., using a smaller or larger aperture, respectively), thereby adjusting the distance range in which the imaging details appear clear in the image and blurring (thereby suppressing) the imaging details outside of this range.

[0097] Therefore, in some embodiments, parameters affecting the depth of field (DOF) of the imaging device are adjusted so that the DOF of the imaging device shrinks in the depth direction to substantially move closer to the ROI where the anatomical structure of interest resides, thereby suppressing the capture of voxels located in front of or behind the ROI. To this end, by adjusting the FOV and / or DOF in the manner described above, the capture region CR of the imaging device 50 is adjusted to fit / match the ROI with no margin or only a small margin.

[0098] In this regard, refer to Figure 3C It should be noted that, in some embodiments, the margin between the captured regions CR of the ROI can be further minimized by individually adjusting the DOF parameters for each subset of FOV angles captured (e.g., such that the DOF at each such subset of FOV angles is individually adapted to the actual depth range of the ROI). In practice, for example, in an imaging device operating in a scanning mode, the system 100 can apply different adjustments to the DOF parameters for different scanning angles. Figure 3C This case is shown as an example and the catheter 21 is shown in a self-explanatory manner, similar to Figure 3A As shown, the capture area CR of the imaging device 50 is adapted / contracted in this manner. As shown in the figure, in this example, the DOF captured by the imaging device is adjusted / changed along the FOV across the scanning angle of the imaging device, so that different parts of the FOV are imaged with different DOFs: for example, DOF1, DOF2, and DOF3 in the figure. k and DOF nAs a result, the shape of the capture region CR is adapted more closely to the shape of the ROI where the anatomical structure of interest is present, optionally with a reduced margin compared to the case where the DOF parameters are adjusted globally for the entire FOV.

[0099] It should be noted that in some embodiments, additional capture parameters can be adjusted to produce a higher quality segmented image ROI. For example, in some embodiments where the shape of the anatomical structure of interest is variable, such as when capturing a beating heart or portion thereof, the system 100 can also be adapted to adjust the frame rate of imaging (e.g., scan rate / shutter speed), whereby imaging with a high shutter / scan rate allows imaging of anatomical structures that are in motion during imaging, while a lower frame rate can facilitate images with an improved signal-to-noise ratio (SNR).

[0100] Furthermore, in operation 240, after setting appropriate capture parameters, the system 100 (eg, the acquisition tool 116 thereof) operates the imaging device 50 to capture an image M of the ROI by using the capture parameters. R , thereby obtaining the volume segmentation image M of the anatomical structure of interest R .

[0101] In optional operation 250, the volume segmented image may then be further processed / rendered (e.g., by the rendering tool 118 of the system 100) to facilitate presentation of the images present in the volume segmented image M from various angles / viewpoints and / or various 2D slices thereof. R anatomical structures in the image and display them to the operator / physician 30 (e.g., via UI 115).

[0102] As mentioned above, in some cases, the volume segmentation image M R Rendering the region of interest occupied by the anatomical structure, where some of the remaining margin cannot be completely suppressed / removed by adjusting the capture parameters. Therefore, in some embodiments of the present invention, the system 100 (e.g., its rendering tool 118) can be adapted to further process the segmented image M R , so as to substantially remove any remaining margin of the surroundings of the anatomical structure that may be present there, and to produce a cropped image M of the anatomical structure without said margin C To achieve this, according to some embodiments of the present invention, the one or more processors 110 of the system may be configured to process the volumetric image M obtained from the imaging device 50 (or the 2D image / 3D image rendered therefrom) using the model AM of the anatomical structure of interest. R, to identify voxels in these images that are not associated with the anatomical structure of interest and remove / blank said voxels. For example, where the model AM is a morphological model as described above, such processing may include determining one or more regions (voxels) of at least a portion of the body anatomy present in the model AM and at least one volume image M R The mapping between the corresponding voxels in M ​​is used to crop the image M C , in which only the voxels mapped to the model AM remain un-blanked. Where the model AM is a trained ML model, such a cropping procedure may be applied, providing the image as input to the model for receiving output data from the model indicating voxels associated with anatomical structures (e.g., in a manner similar to the model processing described above with respect to operation 230). Figure 4A and Figure 4B The operation of the system 100 and / or its rendering tool 118 is described in more detail in accordance with an embodiment of the present invention, which may be used in conjunction with this embodiment of the present invention to render a cropped image of an anatomical structure of interest.

[0103] In some embodiments, the system 100 is adapted to generate a video of a segmented / cropped portion of the body anatomy of interest from the tissue or other fluid surrounding it.

[0104] To achieve this, in such embodiments, the system 100 is adapted to operate one or more processors 110 whose functions are as described above, so as to generate a plurality of successive segmented / cropped images M of the body anatomy portion of interest for a plurality of respective successive time frames. R / M C , and rendering a plurality of consecutive segmentations / crops M from at least one desired viewing angle or from a plurality of viewing angles that vary continuously along the span of the time frame R / M C An image is obtained, and thereby a video of the body anatomy of interest is obtained that is cleared of tissue not associated with the body anatomy of interest.

[0105] In this regard, it should be noted that, according to some embodiments, the system 100 can be configured and operable to adjust the capture parameters of the imaging device and capture images / videos of the ROI in real time, and thus enable the real-time capture of segmented images / videos of the anatomical structure of interest. For example, the two actions of imaging device parameter adjustment (based on the position of the catheter relative to the ROI) and corresponding image capture can be performed in real time (as a continuous real-time loop) to acquire and optimize the image in a segmented manner (i.e., its surroundings are weakened in the captured / rendered image / video) so as to render the anatomical structure of interest in real time.

[0106] As described above, embodiments of the present invention can be implemented using, for example, a catheter 21, in which various types of imaging devices 50 can be installed. For example, the imaging device 50 can be an ultrasound imaging device, and / or an imaging device capable of imaging electromagnetic radiation / electromagnetic fields optically and / or in other electromagnetic ways. Nevertheless, it should be noted that the present invention is particularly advantageous for use with imaging devices (such as ultrasound imaging devices) that can be operated in situ and in vivo within a patient's body to image its internal organs. In addition, advantageously, imaging devices that utilize active illumination (such as in most ultrasound imaging devices) and / or imaging devices that utilize scanning technology (as opposed to imaging devices that operate in snapshot mode) can provide enhanced control over the properties of the region CR captured thereby (e.g., in terms of its DOF ​​and / or FOV), thereby facilitating the capture of high-quality segmented images of the anatomical structure of interest by appropriately adjusting their active illumination scheme / gating and / or their operation during scanning different scan portions.

[0107] Now let’s refer to Figure 4A and Figure 4B , which schematically illustrates a system 300 and a method 400 for generating an image of an anatomical structure according to another embodiment of the present invention. The system 300 is adapted to process an image M (e.g., a volumetric or 3D image or a video sequence thereof) obtained from within a patient's body, in which an anatomical structure of interest or a portion thereof is displayed, and position data PD, and to identify / recognize a region of interest (ROI) in the image M in which the anatomical structure of interest is displayed, and to crop the image M to the ROI to form a cropped image M. c , where the anatomical structure of interest is separated / cleared of other surrounding tissue (e.g., a 2D, 3D, or volumetric cropped image, or a cropped video sequence thereof).

[0108] The system 300 can be connected directly or indirectly for receiving image information M and corresponding position data PD of images captured by the catheter 21, similar to those shown and described above. To this end, the system 300 can be connected to the tracking imaging system 301 and / or to the data repository 303 for receiving such image data M and corresponding position data PD therefrom.

[0109] For example, the tracking imaging system 301 can be similar to that described above and can be connected to a catheter 21 having a distal tip 40 equipped with an imaging device 50 capable of capturing volumetric images within a patient 28, and a position sensor 52 capable of providing position data indicative of the position of the imaging device 50. The tracking imaging system 301 can, for example, include: an imaging tool 302 adapted to obtain images M captured by the imaging device 50 of the catheter 21; and a positioning system 34 capable of processing position signals from the position sensor 52 of the catheter 21 and optionally receiving capture parameters by which the imaging device 50 is operated for capturing the images M to determine position data PD indicative of the position of the imaging device 50 relative to the patient's body at which the images M were captured (e.g., the position data PD can include data indicative of the imaging device FOR, which can be based primarily on the position of the imaging device, and / or data indicative of the region CR captured by the images M, which can also be based on the capture parameters by which the images were acquired).

[0110] In some embodiments, the tracking imaging system 301 can be directly connected to the system 300 for providing the image M and the corresponding position data PD thereto. Alternatively or in addition, in some embodiments, the tracking imaging system 301 can be connected to a data repository 303 (e.g., a data store or database) and adapted to store the image M and the corresponding position data PD therein so that they can be further processed by the system 300.

[0111] Then, the system 300 is adapted to receive / obtain the image M and the corresponding position data PD directly from the system 301 or indirectly from the data repository 303, and to process / render the image M based on the position data PD to produce a cropped image M in which the anatomical structure of interest / body anatomy of interest appears. c The system 300 includes one or more processors 310 adapted to implement the following:

[0112] - obtaining (e.g., by a model processor 314) a model AM of the anatomical structure of interest appearing in the image M, and processing the image using the model AM in order to determine a region of interest (ROI) in the image Figure 4A and Figure 4B ROI is used in the context of to specify a subset of image voxels / pixels to which the image should be cropped and to which the body anatomy of interest occupies; and

[0113] - Rendering (eg, by rendering tool 318) the image M based on the identified ROI to crop the image to the ROI and thereby produce a cropped image M of the anatomy of interest / body anatomy of interest c .

[0114] To this end, the system 300 typically includes or is associated with a model provider 313 (e.g., an anatomical model repository) that can provide models of various body anatomical structures that may be of interest to the cropped image. As described above, the model provider can be, for example, similar to the one described above with reference to Figure 3A and Figure 3B The model provider 113 may be adapted to provide morphological models and / or machine learning models of various body anatomical structures, which may be generic models or patient-specific models. For this reason, for the sake of brevity, the description of these types of anatomical models AM and their content / use and / or operation will not be repeated in detail here, except to clarify that their configuration / content may be similar to the models described in detail above.

[0115] In some embodiments, the system 300 is optionally further associated with a user interface tool 315 similar to the interface tool 115 described above, enabling a physician and / or operator of the system 300 to view the contents of the image M and select / mark an anatomical structure of interest (or a portion thereof) appearing therein to instruct the system 300 to crop the image M to the selected anatomical structure (or a selected portion thereof). For the sake of brevity, the description of the user interface tool 315 will not be repeated in detail here, as it should be understood that the description of the interface tool 115 described above also applies to the user interface tool 315 of this embodiment.

[0116] In the following, reference will be made to Figure 4B The method 400 implemented by the system 300 is shown in FIG. 4 , which further describes the configuration and operation of the system 300 in mode detail.

[0117] In operation 410, at least one initial image M0 and its corresponding position data PD are obtained by the system 300, and anatomical structures of interest, or portions thereof, present in the image M are identified. In some embodiments, identification of the anatomical structures of interest is performed automatically based on provided image data PD, indicating the location within the patient's body at which the image M was captured and, optionally, other capture parameters of the image, and predetermined knowledge base data indicating anatomical structures expected / known to be present in such location. Alternatively or in addition, in some embodiments, to more precisely identify portions of body anatomical structures, operation 410 may include presenting the captured image M to the physician / operator 30 via the user interface 315, for example, in a manner similar to that described above, and obtaining input data from the physician / operator in response to the presentation indicating a selected region of interest (ROI) or a particular anatomical structure present within the image M, for selection / marking.

[0118] Based on the identified anatomy of interest / body anatomy of interest (which is done automatically or via user selection), in operation 420 a model AM of at least a portion of the body anatomy of interest is retrieved, for example by the model provider 313 of the system 300 .

[0119] As described above, in various embodiments of the present invention, the model AM may include or consist of a morphological model of the anatomical structure of interest, the morphological model indicating at least one of its shape, size, and optionally also its typical position, as described above. The morphological model AM may be a generic model or a patient-specific model (e.g., in the latter case, the model may be obtained by using the mapping medical device 41 associated with the system 300 with the reference Figure 3A and Figure 3B In some embodiments, the morphological model AM further comprises tissue data, which comprises, for example, spectral information indicating how various tissues of the anatomical structure of interest appear in its image.

[0120] Alternatively or in addition, the model AM retrieved by the model provider 313 may include or consist of a machine learning (ML) model that is trained to process / recognize anatomical structures of interest appearing in the image M. As will be appreciated by those skilled in the art, such ML models may be similar to those described above with reference to Figure 3A and Figure 3B ML model.

[0121] In operation 430 (e.g., which can be performed, for example, by the model processor 314), the anatomical model AM is applied to one or more images M in which the anatomical structure of interest appears to identify, in those images respectively, a region of interest ROI (e.g., a group of pixels / voxels thereof) in which the anatomical structure of interest appears.

[0122] In this regard, it should be noted that operation 430 may refer to Figure 3A and Figure 3B This is performed in a manner similar to operation 230 described in detail above, except that the operation is applied here so as to identify ROIs within the captured image M itself. In this regard, in embodiments / cases where the model AM is a morphological model, corresponding ROIs in the image M0 may be determined by fitting the model to the contents of the image M0 (e.g., in a manner similar to that described above with respect to fitting / mapping the model AM to the contents of the image M0). Figure 3A Alternatively or additionally, in embodiments / cases where the model AM is a machine learning (ML) model, the model AM may operate on (be fed with) each of the images M, thereby generating data indicative of corresponding ROIs in those images where the body anatomy of interest occurs.

[0123] In operation 440 (which may be implemented, for example, by the rendering tool 318), one or more images M may be optimized by modifying volumetric characteristics (such as gamma, brightness, sharpness), and cropping to their respective ROIs identified in operation 430. As will be appreciated by those skilled in the art, cropping may be performed by blanking / removing pixels / voxels in those images that are not part of the ROI. Thus, a cropped image M is obtained. c , in which the anatomical structure of interest / body anatomy of interest appears without (cleared of) its surrounding tissue or other features.

[0124] Furthermore, in optional operation 450, the system 300 (e.g., the rendering tool 318) may render the cropped image to produce the desired 2D, 3D, and / or video presentation of the cropped anatomical structure of interest as it appears from various angles / viewpoints and / or various 2D slices thereof, and display it to the operator / physician 30 (e.g., via UI 115).

[0125] To this end, as described above, a captured image M is processed by the system 300 and a cropped image is obtained therefrom, which itself may be a 2D, 3D / volume image or a video sequence thereof. c In the case where the cropped images are 3D / volume images, operation 450 may be implemented to render desired 2D slices of those cropped images. Alternatively or in addition, operation 450 may be implemented to render 3D / volume images from a desired viewpoint. Still alternatively or in addition, operation 450 may be implemented to construct a video sequence of the anatomical structure of interest from these cropped images, whereby the video sequence may present a 3D video of the anatomical structure of interest separated from its surrounding tissue, or a 2D video of a 2D slice / view of the anatomical structure of interest separated from its surrounding tissue. After understanding the present invention, one of ordinary skill in the art will readily appreciate the various rendering options that may be implemented by method operation 450 for rendering the anatomical structure of interest that appears in the cropped images M. c The anatomical structure in the image can be presented in 2D, 3D or video form from various viewing angles or various slices thereof.

[0126] Example

[0127] Embodiment 1. A system for generating an image of an anatomical structure, the system being connectable to a catheter having a distal tip equipped with an ultrasound imaging device capable of capturing a volumetric image and a position sensor capable of providing position data indicating the position of the imaging device. The system includes one or more processors configured and operable to:

[0128] - processing the position data of the ultrasound imaging device to determine a volumetric field of view (FOR) of the imaging device relative to the patient's body;

[0129] - providing a model indicating at least a portion of a body anatomy present in the patient's body within the FOR;

[0130] - adjusting capture parameters of the ultrasound imaging device based on the model to optimize capture by the ultrasound imaging device of the at least a portion of the body anatomy with reduced visualization of surrounding tissue thereof.

[0131] Example 2. A system according to Example 1, wherein the capture parameters of the ultrasound imaging device are adjusted based on the model to produce an optimized capture of one or more segmented volume images of at least a portion of the body anatomical structure, wherein the visibility of the surrounding tissue is reduced; and wherein the system obtains the one or more volume segmented images and thereby produces at least one of the following: a 2D segmented image, a 3D segmented image, and a video sequence of 2D segmented images or 3D segmented images of at least a portion of the body anatomical structure, wherein the visibility of the surrounding tissue is reduced.

[0132] Example 3. A system according to Example 1 or 2, wherein the ultrasound imaging device is capable of capturing a volumetric image of the patient's body with up to a specific maximum field of view and maximum depth of field range; and the one or more processors are adapted to process the position data of the ultrasound imaging device to determine the alignment between the specific maximum field of view and maximum depth of field range and the patient's body, and thereby determine the volume FOR of the imaging device relative to the patient's body.

[0133] Example 4. A system according to any one of Examples 1 to 3, wherein the system includes a user interface adapted to receive input data, the input data indicating the at least a portion of the body anatomy to be captured by the ultrasound imaging device.

[0134] Example 5. A system according to any one of Examples 1 to 4, wherein the adjustment of the capture parameters of the ultrasound imaging device based on the model includes using the model to determine a region of interest (ROI) where at least a portion of the body anatomical structure is present within the FOR of the ultrasound imaging device.

[0135] Example 6. A system according to Example 5, wherein determining the region of interest (ROI) using the model includes operating the ultrasound imaging device to obtain at least one initial image of at least a portion of the FOR, and determining an association between pixels / voxels in the at least one initial image and at least a portion of the body anatomical structure modeled by the model.

[0136] Example 7. The system of any one of Examples 1 to 6, wherein the model comprises a morphological model indicating at least one of a shape, a size, and a position of the at least a portion of the body anatomy.

[0137] Embodiment 8. The system of embodiment 7, wherein the morphological model comprises at least one of the following:

[0138] - a generic model indicating at least one of a characteristic shape, a characteristic size and a characteristic position of said at least part of said body anatomy;

[0139] - a patient-specific model indicating at least one of a shape, a size and a position of the at least a portion of the body anatomy of the patient's body;

[0140] - a pathology specific model indicating at least one of a shape, a size and a position of the at least a portion of the body anatomy having a specific pathological condition;

[0141] - data indicative of one or more properties of one or more tissue types present in said at least part of said body anatomy.

[0142] Embodiment 9. The system of any one of embodiments 6 to 8, wherein the association is determined based on a combination of one or more of the following:

[0143] - determining a fit between the positions of different regions of the body anatomy in the morphological model and corresponding pixels / voxels of the initial image; and

[0144] - determining a fit between tissue properties indicated in the model for different regions of the body anatomy and the spectral data of the corresponding pixels / voxels.

[0145] Example 10. A system according to any one of Examples 6 to 9, wherein the model includes a machine learning model that is trained to identify the body anatomical structure within an image in which the body anatomical structure is displayed; and wherein the association is determined by employing the model to identify the body anatomical structure within the initial image.

[0146] Example 11. The system of any one of Examples 6 to 10, wherein the adjusting of the capture parameters comprises adjusting one or more of the following capture parameters of the ultrasound imaging device to optimize capture of a region of interest (ROI) occupied by the at least a portion of the body anatomy in the FOR:

[0147] - adjusting a field of view (FOV) of the ultrasound imaging device through which the capturing is performed so as to suppress the capturing of regions situated to the sides of the at least one portion of the body anatomy;

[0148] - adjusting the depth of field (DOF) of the ultrasound imaging device so as to suppress the capture of areas that are located in front of and / or behind the body anatomy relative to the ultrasound imaging device;

[0149] - adjusting at least one of the gain of the ultrasound imaging device and the intensity of its active illumination according to at least one of: the location or distance of the body anatomy relative to the ultrasound imaging device and the type of tissue included in the body anatomy;

[0150] - adjusting the active illumination frequency of the ultrasound imaging device according to the positioning of the body anatomy relative to the imaging device, thereby controlling the penetration depth of the active illumination (the penetration of the illumination into the body tissue);

[0151] - adjusting the gating time between the active illumination and the image sensing of the ultrasound imaging device to control the span(s) of the DOF relative to the imaging device based on the positioning of the body anatomy relative to the ultrasound imaging device; and - adjusting the frame / scan rate of the ultrasound imaging device based on the motion characteristics of the body anatomy to accommodate accurate capture of the anatomy in motion.

[0152] Example 12. A system according to any one of Examples 2 to 11, wherein the one or more processors are further adapted to crop at least one of the following images based on the model: the volume segmentation image, the 2D segmentation image, the 3D segmentation image, and the video sequence of 2D segmentation images or 3D segmentation images; and wherein cropping the at least one image includes using the model to determine the association between voxels or pixels of the image and the at least part of the body anatomical structure, and removing or blanking voxels or pixels in the at least one image that are not associated with the at least part of the body anatomical structure, thereby obtaining at least one cropped image of the body anatomical structure, wherein pixels or voxels that are not associated with the body anatomical structure are removed or attenuated.

[0153] Example 13. A system according to any one of Examples 2 to 12, wherein the system includes at least one medical device having a position sensor thereon and being suitable for mapping at least a portion of the body anatomy of the patient's body; and wherein the one or more processors are adapted to track the position of the at least one medical device and record the tracked position associated with the body anatomy, thereby constructing a patient-specific morphological model of the at least a portion of the patient's body anatomy.

[0154] Embodiment 14. The system of embodiment 13, wherein at least one of the following is present:

[0155] - the patient-specific morphological model comprises a point cloud formed by the recorded tracking positions and indicating a shape of the at least part of the patient's body anatomy;

[0156] - the medical device comprises one or more sensors adapted to sense one or more tissue properties of the at least a portion of the patient's body anatomy at the tracked location.

[0157] Example 15. A system according to any one of Examples 2 to 14, wherein the system is adapted to generate a video of at least a portion of the body anatomical structure segmented from surrounding tissue; and wherein the generation of the video includes operating the one or more processors to process multiple volumetric images obtained during consecutive time frames to thereby generate multiple images as 2D images or 3D images or corresponding segmented images or further cropped images, and thereby obtain a video sequence of 2D images or 3D images of at least a portion of the body anatomical structure of the patient's body, substantially cleared of body tissue not associated with the body anatomical structure.

[0158] Embodiment 16. A method of generating an image of an anatomical structure, the method comprising:

[0159] obtaining position data from a catheter having a distal tip equipped with an ultrasound imaging device capable of capturing volumetric images and a position sensor that provides the position data such that it is indicative of the position of the ultrasound imaging device;

[0160] processing the position data to determine a volumetric field of view (FOR) of the ultrasound imaging device relative to the patient's body;

[0161] providing a model indicating at least a portion of a body anatomy present in the patient's body within the FOR; and

[0162] Capture parameters of the ultrasound imaging device are adjusted based on the model to optimize capture of the at least a portion of the body anatomy by the ultrasound imaging device with reduced visualization of surrounding tissue thereof.

[0163] Example 17. The method according to Example 16 further includes: obtaining at least one volume segmentation image captured by the ultrasound imaging device, wherein the capture parameters are adjusted so that the at least part of the body anatomical structure appears therein, substantially segmented from body tissue not associated with the at least part of the body anatomical structure; and processing the at least one volume segmentation image to generate at least one of the following: a 2D segmentation image, a 3D segmentation image, and a video sequence of the 2D segmentation images or the 3D segmentation images of the at least part of the body anatomical structure.

[0164] Example 18. A method according to any one of Examples 16 or 17, wherein the ultrasound imaging device is capable of capturing a volumetric image of the patient's body with up to a specific maximum field of view and maximum depth of field range; the method includes processing the position data of the imaging device to determine the alignment between the specific maximum field of view and maximum depth of field range and the patient's body, and thereby determining the volume FOR of the imaging device relative to the patient's body.

[0165] Example 19. A method according to any one of Examples 16 or 18, wherein the method includes receiving input data from a user interface, the input data indicating at least a portion of the body anatomy to be captured by the ultrasound imaging device.

[0166] Example 20. A method according to any one of Examples 16 or 19, wherein the adjustment of the capture parameters of the ultrasound imaging device based on the model includes using the model to determine a region of interest (ROI) where at least a portion of the body anatomical structure is present within the FOR of the imaging device.

[0167] Example 21. A method according to Example 20, wherein determining the region of interest (ROI) using the model includes operating the ultrasound imaging device to obtain at least one initial image of at least a portion of the FOR, and determining an association between pixels / voxels in the at least one initial image and at least a portion of the body anatomical structure modeled by the model.

[0168] Embodiment 22. The method of embodiment 21, wherein the model comprises at least one of:

[0169] a morphological model indicating at least one of a shape, a size and a position of said at least one portion of said body anatomy; and wherein said association is determined based on a fit between positions of different regions of said body anatomy in said morphological model and corresponding pixels / voxels of said initial image; and

[0170] - a machine learning model trained to identify the body anatomy structure within an image in which the body anatomy structure appears; and wherein the association is determined by employing the model to identify the body anatomy structure within the initial image.

[0171] Embodiment 23. The method of any one of embodiments 16 to 22, wherein the adjusting of the capture parameters comprises adjusting one or more of the following capture parameters of the imaging device to optimize capture of a region of interest (ROI) occupied by the at least a portion of the body anatomy in the FOR:

[0172] - adjusting a field of view (FOV) of the imaging device through which the capturing is performed so as to suppress the capturing of areas situated to the sides of the at least one portion of the body anatomy;

[0173] - adjusting the depth of field (DOF) of the imaging device so as to suppress the capture of areas that are located in front of and / or behind the body anatomy relative to the imaging device;

[0174] - adjusting at least one of the gain of the imaging device and the intensity of its active illumination according to at least one of: the position or distance of the body anatomy relative to the imaging device and the type of tissue included in the body anatomy;

[0175] - adjusting the frequency of the active illumination used by the imaging device so as to control the penetration depth of the active illumination according to the positioning of the body anatomy relative to the imaging device;

[0176] - adjusting a gating time between the active illumination and image sensing by the imaging device to control the span(s) of the DOF relative to the imaging device according to the positioning of the body anatomy relative to the imaging device; and

[0177] - adjusting the frame / scan rate of the imaging device according to the motion characteristics of the body anatomical structure to adapt to accurately capture the anatomical structure in motion.

[0178] Example 24. A method according to any one of Examples 17 to 23, wherein the method further comprises cropping at least one of the volume segmented image, the 2D segmented image, the 3D segmented image, and the image in the video sequence of the 2D or 3D segmented images based on the model; and wherein the cropping of the at least one image comprises determining the association between voxels or pixels of the image and the at least part of the body anatomical structure using the model, and removing or blanking voxels or pixels in the at least one image that are not associated with the at least part of the body anatomical structure to produce at least one cropped image of the body anatomical structure, wherein pixels or voxels that are not associated with the body anatomical structure are removed or attenuated.

[0179] Example 25. A method according to any one of Examples 16 to 24, wherein the method further comprises constructing a patient-specific morphological model of the at least part of the patient's body anatomy; whereby the constructing comprises tracking the position of at least one medical device having a position sensor thereon and being suitable for marking the at least part of the patient's body anatomy; and recording the tracked position of the medical device at a position associated with the body anatomy, thereby constructing the patient-specific morphological model using a point cloud of the at least part of the patient's body anatomy.

[0180] Embodiment 25. A system for generating images of anatomical structures. The system is adapted to receive images captured by a catheter having a distal tip equipped with an imaging device capable of capturing images from within a patient's body and a position sensor capable of providing position data indicating the position of the imaging device. The system includes one or more processors adapted to implement the following:

[0181] - obtaining at least one image captured by the imaging device and the position data indicating the position of the imaging device within the patient's body when the at least one image was acquired;

[0182] - determining, using the position data, a region relative to the patient's body captured by the at least one image and determining at least a portion of a body anatomy of interest present in the captured region;

[0183] - providing a model of said body anatomy; and

[0184] - Cropping the at least one image based on the model, whereby the cropping comprises determining, using the model, an association between voxels or pixels of the image and the at least one portion of the body anatomical structure, and removing or blanking the voxels or pixels in the at least one image that are not associated with the at least one portion of the body anatomical structure to produce at least one cropped image of the body anatomical structure, pixels or voxels that are not associated with the body anatomical structure being removed or attenuated from the at least one cropped image.

[0185] Embodiment 26. The system of embodiment 25, wherein at least one of the following is present:

[0186] - the imaging device comprises an ultrasound imaging device; and

[0187] - the imaging device is adapted to capture a volumetric image from within the patient's body; and the at least one image is a volumetric image captured thereby.

[0188] Embodiment 27. A system according to any one of Embodiments 25 or 26, wherein the system includes a user interface adapted to receive input data, the input data indicating at least a portion of the body anatomy to be presented in the cropped image.

[0189] Example 28. A system according to any one of Examples 25 to 27, wherein the model includes a morphological model that indicates at least one of a shape, a size, and a position of the at least a portion of the body anatomy.

[0190] Embodiment 29. The system of embodiment 28, wherein the morphological model comprises at least one of:

[0191] - a generic model indicating at least one of a characteristic shape, a characteristic size and a characteristic position of said at least part of said body anatomy;

[0192] - a patient-specific model indicating at least one of a shape, a size and a position of the at least a portion of the body anatomy of the patient's body; and

[0193] - the morphological model comprises data indicative of one or more properties of one or more tissue types present in the at least part of the body anatomy.

[0194] Embodiment 30. The system of embodiment 29, wherein the association between the voxels or pixels of the at least one image and the at least a portion of the body anatomical structure is determined based on a combination of one or more of:

[0195] - determining a fit between positions of different regions of the body anatomy in the model and corresponding voxels of the at least one image; and

[0196] - determining a fit between tissue properties indicated in the model for different regions of the body anatomy and the spectral data of the corresponding voxels.

[0197] Example 31. A system according to any one of Examples 25 to 30, wherein the model includes a machine learning model that is trained to identify the body anatomical structure within an image in which the body anatomical structure is displayed; and the association is determined by employing the model to identify the body anatomical structure within the at least one image.

[0198] Example 32. A system according to any one of Examples 25 to 31, wherein the system is adapted to generate a cropped video of at least a portion of the body anatomical structure, with pixels / voxels representing tissue surrounding at least a portion of the body anatomical structure blanked out or removed from the cropped video; and wherein the generation of the video includes operating the one or more processors to process a plurality of images obtained during successive time frames to thereby generate a video sequence, the video sequence including a corresponding plurality of cropped images, the cropped images representing at least a portion of the body anatomical structure of the patient's body, substantially cleared of body tissue not associated with the body anatomical structure.

[0199] Embodiment 33. A system according to any of Embodiment 32, wherein the image is a 3D / volume image and the one or more processors are adapted to generate a cropped 3D / volume video presenting the at least portion of the body anatomy.

[0200] Embodiment 34. A method of generating an image of an anatomical structure, the method comprising:

[0201] obtaining at least one image captured by a catheter having a distal tip equipped with an imaging device capable of capturing images from within a patient's body and a position sensor capable of providing position data indicative of a position of the imaging device;

[0202] obtaining position data indicative of the position of the imaging device within the patient's body while capturing the at least one image;

[0203] determining a region relative to the patient's body captured by the at least one image using the position data;

[0204] determining at least a portion of a body anatomical structure of interest present in the capture region;

[0205] providing a model of the body anatomy; and

[0206] The at least one image is cropped based on the model, whereby the cropping comprises determining, using the model, an association between voxels or pixels of the at least one image and the at least one portion of the body anatomy, and removing or blanking the voxels or pixels in the at least one image that are not associated with the at least one portion of the body anatomy to produce at least one cropped image of the body anatomy, pixels or voxels that are not associated with the body anatomy being removed or attenuated from the at least one cropped image.

[0207] Embodiment 35. The method of embodiment 34, wherein at least one of the following is present:

[0208] - the imaging device comprises an ultrasound imaging device; and

[0209] - the imaging device is adapted to capture a volumetric image from within the patient's body; and the at least one image is a volumetric image captured thereby.

[0210] Embodiment 36. A method according to embodiment 34 or 35, wherein the method includes receiving input data from a user interface, the input data indicating the at least part of the body anatomy to be presented in the cropped image.

[0211] Example 37. A method according to any one of Examples 34 to 36, wherein the model includes a morphological model that indicates at least one of the shape, size and position of the at least part of the body anatomy.

[0212] Embodiment 38. The method of embodiment 37, wherein the morphological model comprises at least one of the following:

[0213] - a generic model indicating at least one of a characteristic shape, a characteristic size and a characteristic position of said at least part of said body anatomy;

[0214] - a patient-specific model indicating at least one of a shape, a size and a position of the at least a portion of the body anatomy of the patient's body; and

[0215] - the morphological model comprises data indicative of one or more properties of one or more tissue types present in the at least part of the body anatomy.

[0216] Embodiment 39. The method of embodiment 38, wherein the association between the voxels or pixels of the at least one image and the at least one portion of the body anatomical structure is determined based on a combination of one or more of the following:

[0217] - determining a fit between positions of different regions of the body anatomy in the model and corresponding voxels of the at least one image; and

[0218] - determining a fit between tissue properties indicated in the model for different regions of the body anatomy and the spectral data of the corresponding voxels.

[0219] Example 40. A method according to any one of Examples 34 to 39, wherein the model comprises a machine learning model that is trained to identify the body anatomical structure within an image in which the body anatomical structure is displayed; and wherein the association is determined by employing the model to identify the body anatomical structure within the at least one image.

[0220] Embodiment 41. The method of any one of Embodiments 34 to 40, wherein the method comprises generating a cropped video of the at least portion of the body anatomical structure, blanking or removing pixels / voxels representing tissue surrounding the at least portion of the body anatomical structure from the cropped video. The generating of the video comprises processing a plurality of images captured by the imaging device during successive time frames to thereby generate a video sequence, the video sequence comprising a corresponding plurality of cropped images representing the at least portion of the body anatomical structure of the patient's body substantially cleared of body tissue not associated with the body anatomical structure.

[0221] Embodiment 42. The method of embodiment 40, wherein the image is a 3D / volume image, and wherein the method is adapted to generate the cropped video as a 3D / volume video presenting the at least a portion of the body anatomy.

[0222] In the above description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known components, imaging devices, circuits, control logic components, and computer program instructions for conventional algorithms and processes have not been shown in detail to avoid unnecessarily obscuring the present invention.

[0223] Software programming code embodying aspects of the present invention is typically stored in a permanent storage device such as a tangible computer-readable medium. In a client-server environment, such software programming code may be stored on the client or the server. The software programming code may be contained in any of a variety of known media used with data processing systems. This includes, but is not limited to, magnetic and optical storage devices such as disk drives, magnetic tapes, compact disks (CDs), digital video disks (DVDs), and computer instruction signals contained in a transmission medium with or without a carrier wave modulating the signal. For example, the transmission medium may include a communications network such as the Internet. In addition, although some aspects of the present invention may be embodied in computer software, the functionality required to implement the present invention may alternatively be embodied in part or in whole using hardware components, such as application specific integrated circuits or other hardware, or some combination of hardware components and software.

Claims

1. A system for generating images of an anatomical structure, the system being connectable to a catheter having a distal tip equipped with an ultrasound imaging device capable of capturing a volumetric image and a position sensor capable of providing position data indicative of the position of the imaging device; the system comprising one or more processors configured and operable to: processing the position data of the ultrasound imaging device to determine a volumetric field of view (FOR) of the imaging device relative to a patient's body; providing a model indicating at least a portion of a body anatomy present in the patient's body within the FOR; Capture parameters of the ultrasound imaging device are adjusted based on the model to optimize capture of the at least a portion of the body anatomy by the ultrasound imaging device with reduced visualization of surrounding tissue thereof.

2. The system according to claim 1, wherein: The capture parameters of the ultrasound imaging device are adjusted based on the model so as to produce an optimized capture of one or more segmented volume images of the at least a portion of the body anatomical structure, wherein the visualization of the surrounding tissue is reduced; and wherein the system thereby obtains the one or more volume segmented image imaging devices and thereby produces at least one of the following: a 2D segmented image, a 3D segmented image, and a video sequence of 2D segmented images or 3D segmented images of the at least a portion of the body anatomical structure, wherein the visualization of the surrounding tissue is reduced.

3. The system of claim 1, comprising a user interface adapted to receive input data indicative of the at least a portion of the body anatomy to be captured by the ultrasound imaging device.

4. The system according to claim 1, wherein: The adjusting of the capture parameters of the ultrasound imaging device based on the model includes determining, using the model, a region of interest (ROI) where the at least a portion of the body anatomy resides within the FOR of the imaging device.

5. The system according to claim 4, wherein: Determining the region of interest (ROI) using the model includes operating the ultrasound imaging device to obtain at least one initial image of at least a portion of the FOR, and determining an association between pixels / voxels in the at least one initial image and at least a portion of the body anatomy modeled by the model.

6. The system according to claim 1, wherein: The model includes a morphological model indicating at least one of a shape, a size, and a position of the at least a portion of the body anatomy.

7. The system according to claim 6, wherein: The morphological model includes at least one of the following: - a generic model indicating at least one of a characteristic shape, a characteristic size and a characteristic position of said at least part of said body anatomy; - a patient-specific model indicating at least one of a shape, a size and a position of the at least a portion of the body anatomy of the patient's body; - a pathology specific model indicating at least one of a shape, a size and a position of the at least a portion of the body anatomy having a specific pathological condition; - the morphological model comprises data indicative of one or more properties of one or more tissue types present in the at least part of the body anatomy.

8. The system according to claim 5, wherein: The association is determined based on a combination of one or more of the following: - determining a fit between the positions of different regions of the body anatomy in the morphological model and corresponding pixels / voxels of the initial image; and - determining a fit between tissue properties indicated in the model for different regions of the body anatomy and the spectral data of the corresponding pixels / voxels.

9. The system according to claim 5, wherein: The model comprises a machine learning model trained to identify the body anatomy structure within an image in which the body anatomy structure is visualized; and the association is determined by employing the model to identify the body anatomy structure within the initial image.

10. The system according to claim 1, wherein: The adjusting of the capture parameters comprises: adjusting one or more of the following capture parameters of the ultrasound imaging device to optimize capture of a region of interest (ROI) occupied by the at least a portion of the body anatomy in the FOR: - adjusting a field of view (FOV) of the ultrasound imaging device through which the capturing is performed so as to suppress the capturing of regions situated to the sides of the at least one portion of the body anatomy; - adjusting the depth of field (DOF) of the ultrasound imaging device so as to suppress the capture of areas that are located in front of and / or behind the body anatomy relative to the ultrasound imaging device; - adjusting at least one of the gain of the imaging device and the intensity of its active illumination according to at least one of: the location or distance of the body anatomy relative to the ultrasound imaging device and the type of tissue included in the body anatomy; - adjusting the frequency of the active illumination used by the ultrasound imaging device so as to control the penetration depth of the active illumination according to the positioning of the body anatomy relative to the imaging device; - adjusting a gating time between the active illumination and image sensing by the ultrasound imaging device to control the span(s) of the DOF relative to the imaging device according to the positioning of the body anatomy relative to the ultrasound imaging device; and - adjusting the frame / scan rate of the ultrasound imaging device according to the motion characteristics of the body anatomical structure to adapt to accurately capture the anatomical structure in motion.

Images