Visualization of distal end effector on bi- or tri-plane views using intracardiac echography (ICE)

Abstract

To provide a medical system.SOLUTION: A medical system includes a utility probe, an ultrasound probe, and a processor. The probes operate inside an organ. The utility probe includes a distal end effector, and a first sensor that outputs first signals indicative of first positions of the distal end effector. The ultrasound probe includes an ultrasound transducer array that images volume including a portion of the distal end effector inside the organ, and a second sensor that outputs second signals indicative of second positions of the ultrasound transducer array. The processor is configured to, using the imaged volume and the first and second positions, select slices of the imaged volume that include at least part of the distal end effector and the organ, generate from the selected slices a bi- and / or tri-plane view of the part of the distal end effector, and present the bi- and / or tri-plane view to a user.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates generally to visualization of invasive medical devices, and more particularly to real-time visualization of cardiac probes using ultrasound (US) probes. [Background technology]

[0002] Medical visualization using invasive US probes has been proposed before in the patent literature. For example, US Patent No. 7,604,601 describes a medical imaging system for imaging a patient's body, including a catheter having a magnetic position sensor and an ultrasound imaging sensor. A processor determines position information of a portion of the catheter based on the electrical signal transmitted by the position sensor. The processor displays a catheter icon on the display in the same orientation as the orientation of the portion of the catheter in the patient's body based on the position information derived from the magnetic position sensor. The processor also generates an ultrasound image of the target based on the signal transmitted by the ultrasound sensor, and depicts the generated ultrasound image on the display in real time in the same orientation as the orientation of the portion of the catheter in the patient's body based on the position information derived from the magnetic position sensor.

[0003] A more complete understanding of the present disclosure will be obtained from the following detailed description of the embodiments of the present disclosure when read in conjunction with the drawings. [Brief description of the drawings]

[0004] [Figure 1] 1 is a schematic diagram of a probe-based ultrasound (US) imaging and electrophysiology (EP) mapping and ablation system, according to an example of the present disclosure. [Diagram 2] FIG. 2 is a US biplane view of an arm (or spline) of the distal end effector of the EP mapping catheter of FIG. 1 derived from two US slices selected from the volume acquired by the US probe of FIG. 1 according to an example of the present disclosure. [Diagram 3]2 is a flow chart that illustrates a schematic diagram of a method for visualizing a distal end effector in a bi-plane or tri-plane US view based on selection and image processing of US slices acquired by the US probe of FIG. 1 according to an example of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0005] overview During a probe-based clinical procedure within a cavity of a patient's organ, different distal end effectors of a utility probe (eg, catheters and / or other invasive probes) may be inserted into the organ.

[0006] One example of an invasive procedure is the diagnosis and treatment of arrhythmias in a cardiac ventricle. In this example, an EP mapping catheter having multiple electrodes on its distal end effector is inserted to obtain data points that are used by a processor to generate an electroanatomical model (e.g., an EP map) of the subject's cardiac ventricle. Another example of such an invasive procedure is a heart valve replacement or a left atrial appendage occlusion device.

[0007] One example of a distal end effector is an expandable multi-spline assembly, such as a basket assembly. Another example is an expandable multi-arm assembly, such as the OctaRay® assembly shown in Figures 1 and 2. Yet another example is a delivery system for a prosthetic valve.

[0008] Utility probes, such as EP mapping catheters, or therapeutic catheters, such as electrical ablation catheters, can be visualized during clinical procedures using ultrasound (US) probes, which are also inserted into the heart.

[0009] The utility probe may also be visualized using other imaging probes, such as with a trans esophageal echo (TEE) probe, which may have a sensor or may be location / image aligned with the utility probe using another method (e.g., using anatomical landmarks).

[0010] One way to visualize a utility probe (e.g., a catheter) is to display an icon of the catheter's distal end effector, which indicates its location and orientation relative to an anatomical model of the organ. The known dimensions and mechanics of the distal end effector can be used to create this icon, along with the monitored location of the distal end of the shaft inside the cavity.

[0011] The inventors have found that it may be desirable to show selected portions of the distal end effector on bi- and / or tri-plane views generated by a "four-dimensional" (4D) US probe (a probe that acquires a series of 3D US images over time). In particular, providing bi- and / or tri-plane views may enhance the physician's ability to visualize and navigate the distal end effector inside the cavity.

[0012] Biplane and triplane views are means for visualizing two imaging planes (biplane, usually but not necessarily orthogonal (can be user defined)) or three imaging planes (triplane, usually with 60° increments between planes). Biplane and triplane views provide high resolution images that the physician can use to monitor proper positioning and manipulation of the distal end effector.

[0013] Examples of the present disclosure described herein provide a technique for visualizing the distal end effector in bi-plane and / or tri-plane views based on image processing of volumetric data acquired by a 4D US probe. Typically, this technique involves selecting two or three US slices of the imaged volume, as described below.

[0014] In some examples, a medical system is provided that includes a utility probe, such as a diagnostic catheter, for insertion into a cavity of an organ. The utility probe includes (i) a distal end effector attached to a distal end of the utility probe, and (ii) a first magnetic or electric sensor configured to output an initial signal indicative of a first position of the distal end effector inside the organ. The system further includes an ultrasound probe for insertion into the body organ, the ultrasound probe including (i) an ultrasound transducer two-dimensional array (grid design) configured to image the organ in a volume that includes at least a portion of the distal end effector, and (ii) a second sensor configured to output a second signal indicative of a second position of the ultrasound transducer array inside the organ. The system's processor is configured to (i) select (using the imaged volume, the first position, and the second position) one or more slices of the imaging volume including at least a portion of the distal end effector in spatial relationship with the organ tissue; (ii) generate at least one of a biplane view and a triplane view of the portion of the distal end effector from the one or more selected slices; and (iii) present at least one of the biplane view and the triplane view to a user.

[0015] The processor is configured to use the location information to select one or more slices using an image processing algorithm, for example by applying thresholding to voxel values ​​in a subset of voxels of the imaged volume voxels, and identifying and calculating an embedding plane that contains the identified voxels. The resulting slices are the result of the intersection of the imaged volume at a given thickness with the plane. By aligning the location data of the US probe location with the location data of the distal end effector location, the selection process becomes faster and much more efficient.

[0016] The processor is further configured to generate at least one of a bi-plane view and a tri-plane view from the one or more selected slices using the same or different image processing algorithms.

[0017] In one example, the physician can indicate which arm or spline(s) of the distal end effector to display, and the system can display an icon of the particular arm or spline of interest on a slice view (biplane or triplane view). This can provide the physician with real-time visualization of distal end effector elements, such as catheter electrodes, in contact with tissue during navigation and confirmation of electrode-to-tissue contact, with less effort and little or no use of x-ray fluoroscopy. Indication of electrode-to-tissue contact is important for successful energy delivery when treating arrhythmias.

[0018] System Description FIG. 1 is a schematic diagram of a probe-based ultrasound (US) imaging and electrophysiology (EP) mapping and ablation system 10 according to an example of the present disclosure.

[0019] The system 10 includes a number of probes (eg, catheters) that are percutaneously inserted by a physician 24 through a patient's vascular system and into targeted chambers or vascular structures of the heart 12 .

[0020] A physician may insert a 4D ultrasound probe 60, including a 2D ultrasound array 65 and an integrated position sensor 63, into the heart 12 initially, or at any point during the procedure. A location-tracked EP mapping and ablation catheter 14 is then inserted into the heart 12 at a desired location via a delivery sheath 23.

[0021] As seen in inset 25, the 2D ultrasound array 65 generates a 3D fan-shaped ultrasound beam 85 that occupies a defined solid angle, such beams being referred to herein as "wedges 85." With the wedge 85 beam, the 2D ultrasound array can image a substantial volume of an organ, such as an entire ventricle of interest or a regional sector (such as a valve or LAA) (e.g., the entire left atrium 45). In FIG. 1, the US probe 60 images the left atrium 45 while the multi-arm effector 40 is positioned within the left atrium 45.

[0022] As further seen in inset 25, the multi-arm catheter 14 includes one or more sensing electrodes 26 optionally distributed across the multiple arms 16 at the expandable distal end effector 40 and configured to sense intracardiac electrogram (IEGM) signals. The catheter 14 additionally includes a proximal position sensor (shown in FIG. 2 as sensor 29) embedded in or near the multi-arm effector 40 for tracking the position of the distal end of the shaft 22. Optionally and preferably, this position sensor is a magnetic-based position sensor including multiple magnetic coils for sensing three-dimensional (3D) position.

[0023] The catheter 14 itself, or a separate catheter that is inserted, may be used to perform the ablation.

[0024] As seen in inset 25, the physician 24 brings a multi-arm assembly 40 (hereinafter also referred to as the "expandable distal end assembly 40" or "distal end effector 40") fitted to the shaft 22 of the catheter 14 into contact with the wall 47 of the left atrium 45 to sense the target site of the heart 12. For ablation, the physician 24 may use the same catheter 14 or may similarly bring the distal end of an ablation catheter to the target site. Thus, the real-time 2D ultrasound array generated image includes the portion of the sensing electrode 26 in contact with tissue.

[0025] The integrated location sensor 63 of the US probe 21 is pre-aligned with the array 65 of the US probe. Due to the integrated location sensor, the spatial coordinates of all voxels in the imaged chamber are known. In particular, the sensor 63 is configured to output a first signal indicative of the location and orientation of the ultrasound transducer array 65 inside the heart 12.

[0026] During navigation of the distal end 22 within the heart 12, the console 24 receives location and orientation signals from the position sensors 63 and 29 in response to magnetic fields from the external magnetic field generator 32, which is placed at known positions on a location pad 25 external to the patient 23. These location and orientation signals indicate the location and orientation of the ultrasound array 65 in the coordinate system of the position tracking system. Signals from the sensor 29 are also used to calculate the real-time location and orientation of the distal end of the catheter 14 in the shaft 22.

[0027] Details of magnetic based position sensing techniques are described in U.S. Patent Nos. 5,5391,199; 5,443,489; 5,558,091; 6,172,499; 6,239,724; 6,332,089; 6,484,118; 6,618,612; 6,690,963; 6,788,967; and 6,892,091.

[0028] The system 10 includes one or more electrode patches 38 positioned for skin contact on the patient 23 to establish a positional reference for the location pads 25 and impedance-based tracking of the electrodes 26. For impedance-based tracking, a current is directed to the electrodes 26 and sensed at the electrode skin patch 38, so that the location of each electrode can be triangulated via the electrode patch 38. Details of impedance-based position tracking technology are described in U.S. Patent Nos. 7,536,218, 7,756,576, 7,848,787, 7,869,865, and 8,456,182.

[0029] Recorder 11 displays electrograms 21 captured by the body surface ECG electrodes 18 and intracardiac electrograms (IEGMs) captured by electrodes 26 of catheter 14. Recorder 11 may include pacing capability for pacing the cardiac rhythm and / or may be electrically connected to a stand-alone pacer.

[0030] The system 10 may include an ablation energy generator 50 adapted to deliver ablation energy to one or more electrodes at a distal tip of a catheter configured for ablation. The energy generated by the ablation energy generator 50 may include, but is not limited to, radiofrequency (RF) energy or pulsed-field ablation (PFA) energy, including unipolar or bipolar high-voltage direct current pulses such as may be used to effect irreversible electroporation (IRE), or a combination thereof.

[0031] The patient interface unit (PIU) 30 is configured to establish electrical communication between the catheters, the electrophysiological equipment, a power source, and a workstation 55 that controls the operation of the system 10. The electrophysiological equipment of the system 10 may include, for example, a number of catheters, location pads 25, body surface ECG electrodes 18, electrode patches 38, an ablation energy generator 50, and a recorder 11. Optionally and preferably, the PIU 30 additionally includes processing capabilities for performing real-time calculations of catheter position and executing ECG calculations.

[0032] The workstation 55 includes a processor unit 56 having a memory 57, a memory or storage device loaded with suitable operating software, and a user interface function. The workstation 55 may optionally provide multiple functions, including (i) modeling the endocardial anatomical structures in three dimensions (3D) and rendering the model or anatomical map 20 for display on the display device 27, (ii) displaying activation sequences (or other data) compiled from recorded electrograms 21 in a representative visual display or image superimposed on the rendered anatomical map 20 on the display device 27, (iii) displaying real-time locations and orientations of multiple catheters within the cardiac chambers, and (iv) displaying sites of interest, such as locations where ablation energy is applied, on the display device 27. One commercially available product embodying elements of the system 10 is available as the CARTO™ 3 system, commercially available from Biosense Webster, Inc. 31A Technology Drive, Irvine, Calif., 92618.

[0033] Visualization of distal end effectors on biplane / triplane US views Figure 2 is a US biplane view 204 of arms 236 and 246 of distal end effector 40 of EP mapping catheter 14 of Figure 1, derived from two US slices 213 and 214 selected from volume 85 acquired by 4D US probe 60 of Figure 1, in accordance with an example of the present disclosure. Image colors have been inverted for clarity.

[0034] In some examples, the physician can indicate which spline / arm to display (i.e., the indicated arms 216 and 226), and the system can display an icon of the particular spline / arm of interest (rather than the arm itself) on the biplane view 204 or triplane view.

[0035] 2, images 206 and 208 of biplane 204 are derived (i.e., image processed) from slices 213 and 214, respectively. To find and select slices 213 and 214, the processor calculates the plane in which it finds the target arm (i.e., indicated arms 216 and 226) in which distal end effector 40 is embedded.

[0036] Slices 213 and 214 are then calculated as the intersections of the respective planes with the image volume 85. In practice, any selected slice is taken at a given thickness (eg, 2 mm).

[0037] The location information allows the processor to efficiently locate arms 216 and 226 (e.g., within a subvolume of imaged volume 85). To this end, the processor applies image processing software to the subvolume that uses, for example, thresholding of voxel values ​​to identify electrodes 26 that are in contact with tissue of wall 47. Using this information, the processor can calculate the desired plane.

[0038] 2, location information of the effector 40 is obtained using a magnetic position sensor 29 attached to the distal end of the shaft 22 and / or a sensing electrode 26 attached to the arm of the distal end effector 40. Location information on the US probe 60 is obtained using a magnetic position sensor 63 seen in FIG.

[0039] Method for estimating the shape of a basket catheter pressed against tissue 3 is a flow chart that generally illustrates a method for visualizing distal end effector 40 in a bi- or tri-plane US view (e.g., images 206 and 208 of bi-plane view 204) based on selection and image processing of US slices (e.g., slices 213 and 214) acquired by 4D US probe 60 of FIG. 1, according to one example of the present disclosure. Although the described method is directed to a specific cardiac scenario involving US imaging of a diagnostic and / or therapeutic cardiac catheter, the principles of the method are valid for generating bi- or tri-plane views of other invasive devices carried by a utility probe.

[0040] The algorithm according to the presented example implements a process that begins with the physician 24 inserting a 4D US probe 60 for intracardiac echography (ICE) inside a chamber of the heart 12 in a US probe insertion step 302 .

[0041] Next, in a mapping and / or ablation catheter insertion step 304, the physician inserts a distal end effector (eg, effector 40) into heart 12.

[0042] In a tracking step 306, using position sensors on the US probe, such as magnetic sensors 29 and 63, and on the mapping and / or ablation catheter, and / or electrodes 26, the processor 56 tracks the position and orientation of the US probe 60 and the distal end effector 40.

[0043] In parallel, in a US acquisition step 308, the processor 56 receives an acquired volume wedge 85 from the 4D US probe 60 that includes at least a portion of the distal end effector 40 in spatial relationship with the cardiac tissue.

[0044] In a slice selection step 310, the processor selects a US slice for further image processing (based on the tracking and by running an image processing application), the slice containing information about the spatial relationship between one or more arms (or splines) of the distal end effector relative to the cardiac tissue.

[0045] In an image processing step 312, processor 56 image processes the selected slices to generate a biplane view (e.g., view 204) or a triplane view of one or more arms (or splines) of the distal end effector relative to the cardiac tissue.

[0046] Finally, in a display step 314, processor 56 displays the bi-plane or tri-plane view to the user (eg, on display 27).

[0047] The flow chart shown in Figure 3 has been chosen solely for the purposes of conceptual clarity, and this embodiment may be applied, with necessary modifications, to another distal end effector, such as a basket catheter or another invasive device (e.g., a catheter delivering an artificial valve). EXAMPLES

[0048] Example 1 The medical system (10) includes a utility probe (14), an ultrasound probe (60), and a processor (56). The utility probe is configured to be inserted into a cavity of an organ, the utility probe including (a) a distal end effector (40) attached to a distal end of the utility probe (14), and (b) a first sensor (29) configured to output a first signal indicative of a first position of the distal end effector (14) inside the cavity. The ultrasound probe (60) is configured to be inserted into an organ of the body, and includes (A) an ultrasound transducer array (65) configured to image a volume (85) of the organ including at least a portion of the distal end effector (40), and (B) a second sensor (63) configured to output a second signal indicative of a second position of the ultrasound transducer array (65) inside the cavity. The processor (56) is configured to use the imaged volume (85), the first position, and the second position to: (i) select one or more slices (213, 214) of the imaged volume (85) including at least a portion of the distal end effector (40) in spatial relationship with the organ; (ii) generate at least one of a biplane view (204) and a triplane view of the portion of the distal end effector from the one or more selected slices; and (iii) present at least one of the biplane view (204) and the triplane view to a user.

[0049] Example 2 The system (10) of Example 1, wherein a portion of the distal end effector (40) includes one of an expandable spline and an expandable arm (16).

[0050] Example 3 2. The system (10) of Example 1, wherein a portion of the distal end effector comprises a prosthetic valve.

[0051] Example 4 The system (10) according to any one of Examples 1 to 3, wherein the ultrasound probe (60) is a 4D ultrasound (US) catheter for intracardiac echocardiography (ICE).

[0052] Example 5 A system (10) described in any of Examples 1 to 4, wherein the first sensor and the second sensor (29, 63) are magnetic position sensors configured to generate a first signal and a second signal in response to a magnetic field applied by the position tracking system.

[0053] Example 6 The system of any of Examples 1-4, wherein the first sensor is an electrode (26) of the distal end effector configured to generate a first signal as part of an electrical position tracking system.

[0054] Example 7 The system (10) according to any one of the first to sixth embodiments, wherein the processor is configured to select one or more slices (213, 214) using an image processing algorithm.

[0055] Example 8 A system (10) described in any of Examples 1 to 7, wherein the processor is configured to generate at least one of a biplane view (204) and a triplane view from one or more selected slices (213, 214) using an image processing algorithm.

[0056] Example 9 The system (10) according to any one of the preceding embodiments, wherein the organ cavity is a ventricle of the heart (12).

[0057] Example 10 The medical method includes inserting a utility probe (14) into a cavity of an organ, the utility probe including: (a) a distal end effector (40) attached to a distal end of the utility probe (14) and a first sensor (29) configured to output a first signal indicative of a first position of the distal end effector (40) inside the cavity. An ultrasound probe (60) is inserted into an organ of the body, the ultrasound probe (60) including an ultrasound transducer array (65) configured to image a volume (85) of the organ, the volume including at least a portion of a distal end effector (40), and a second sensor (63) configured to output a second signal indicative of a second position of the ultrasound transducer array (65) inside the cavity. Using the imaged volume, the first position, and the second position, one or more slices (213, 214) of the imaged volume (85) including at least a portion of the distal end effector (40) in spatial relationship with the organ are selected. At least one of a biplane view (204) and a triplane view of the portion of the distal end effector (40) is generated from the one or more selected slices (213, 214). At least one of the biplane view (204) and the triplane view is presented to a user.

[0058] Although the embodiments described herein primarily address cardiac diagnostic applications, the methods and systems described herein may also be used in other medical applications.

[0059] It will be understood that the embodiments described above are given by way of example, and that the present disclosure is not limited to what is particularly shown and described hereinabove, but rather the scope of the present disclosure includes both combinations and subcombinations of the various features described in the above specification, as well as variations and modifications thereof not disclosed in the prior art that would occur to one skilled in the art upon reading the above description.

[0060] [Embodiment] (1) A health care system, comprising: 1. A utility probe for insertion into a cavity of an organ, comprising: a distal end effector attached to a distal end of the utility probe; a first sensor configured to output a first signal indicative of a first position of the distal end effector inside the cavity; and 1. An ultrasound probe for insertion into a body organ, comprising: an ultrasound transducer array configured to image a volume of the organ, the volume including at least a portion of the distal end effector; a second sensor configured to output a second signal indicative of a second position of the ultrasound transducer array inside the cavity; and 1. A processor comprising: selecting one or more slices of the imaged volume that includes at least a portion of the distal end effector in spatial relationship to the organ using the imaged volume, the first location, and the second location; generating at least one of a bi-plane view and a tri-plane view of the portion of the distal end effector from the one or more selected slices; presenting the at least one of the biplane view and the triplane view to a user. (2) The system of embodiment 1, wherein the portion of the distal end effector includes one of an expandable spline and an expandable arm. (3) The system of embodiment 1, wherein the portion of the distal end effector includes an artificial valve. (4) The system described in embodiment 1, wherein the ultrasound probe is a 4D ultrasound (US) catheter for intracardiac echocardiography (ICE). (5) The system of embodiment 1, wherein the first sensor and the second sensor are magnetic position sensors configured to generate the first signal and the second signal in response to a magnetic field applied by a position tracking system.

[0061] (6) The system of embodiment 1, wherein the first sensor is an electrode of the distal end effector configured to generate the first signal as part of an electrical position tracking system. (7) The system of embodiment 1, wherein the processor is configured to select one or more slices using an image processing algorithm. (8) The system of embodiment 1, wherein the processor is configured to use an image processing algorithm to generate at least one of a biplane view and a triplane view from the one or more selected slices. (9) The system of embodiment 1, wherein the cavity of the organ is a ventricle of the heart. (10) A medical method comprising: Inserting a utility probe into a cavity of the organ, the utility probe comprising: a distal end effector attached to a distal end of the utility probe; a first sensor configured to output a first signal indicative of a first position of the distal end effector inside the cavity; 1. Inserting an ultrasound probe into a body organ, the ultrasound probe comprising: an ultrasound transducer array configured to image a volume of the organ, the volume including at least a portion of the distal end effector; a second sensor configured to output a second signal indicative of a second position of the ultrasound transducer array inside the cavity; and selecting one or more slices of the imaged volume that includes at least a portion of the distal end effector in spatial relationship to the organ using the imaged volume, the first location, and the second location; generating at least one of a bi-plane view and a tri-plane view of the portion of the distal end effector from the one or more selected slices; presenting the at least one of the biplane view and the triplane view to a user.

[0062] (11) The method of embodiment 10, wherein the portion of the distal end effector includes one of an expandable spline and an expandable arm. (12) The method of claim 10, wherein the portion of the distal end effector includes an artificial valve. (13) The method of embodiment 10, wherein the ultrasound probe is a 4D ultrasound (US) catheter for intracardiac echocardiography (ICE). (14) The method of embodiment 10, wherein the first sensor and the second sensor are magnetic position sensors configured to generate the first signal and the second signal in response to a magnetic field applied by a position tracking system. (15) The method of embodiment 10, wherein the first sensor is an electrode of the distal end effector configured to generate the first signal as part of an electrical position tracking system.

[0063] (16) The method of embodiment 10, wherein selecting one or more slices includes using an image processing algorithm. (17) The method of embodiment 10, wherein generating at least one of a biplane view and a triplane view from the one or more selected slices includes using an image processing algorithm. (18) The method of embodiment 10, wherein the cavity of the organ is a ventricle of the heart.

Claims

1. 1. A health care system comprising:

1. A utility probe for insertion into a cavity of an organ, comprising: a distal end effector attached to a distal end of the utility probe; a first sensor configured to output a first signal indicative of a first position of the distal end effector inside the cavity; and 1. An ultrasound probe for insertion into a body organ, comprising: an ultrasound transducer array configured to image a volume of the organ, the volume including at least a portion of the distal end effector; a second sensor configured to output a second signal indicative of a second position of the ultrasound transducer array inside the cavity; and 1. A processor comprising: selecting one or more slices of the imaged volume that includes at least a portion of the distal end effector in spatial relationship with the organ using the imaged volume, the first location, and the second location; generating at least one of a biplane view and a triplane view of the portion of the distal end effector from the one or more selected slices; and presenting the at least one of the biplane view and the triplane view to a user.

2. The system of claim 1 , wherein the portion of the distal end effector includes one of an expandable spline and an expandable arm.

3. The system of claim 1 , wherein the portion of the distal end effector includes a prosthetic valve.

4. The system of claim 1 , wherein the ultrasound probe is a 4D ultrasound (US) catheter for intracardiac echocardiography (ICE).

5. 2. The system of claim 1, wherein the first sensor and the second sensor are magnetic position sensors configured to generate the first signal and the second signal in response to a magnetic field applied by a position tracking system.

6. The system of claim 1 , wherein the first sensor is an electrode of the distal end effector configured to generate the first signal as part of an electrical position tracking system.

7. The system of claim 1 , wherein the processor is configured to select one or more slices using an image processing algorithm.

8. 2. The system of claim 1, wherein the processor is configured to generate at least one of a biplane view and a triplane view from the one or more selected slices using an image processing algorithm.

9. The system of claim 1 , wherein the cavity of the organ is a ventricle of the heart.

10. 1. A medical method comprising: Inserting a utility probe into a cavity of the organ, the utility probe comprising: a distal end effector attached to a distal end of the utility probe; a first sensor configured to output a first signal indicative of a first position of the distal end effector inside the cavity; and 1. Inserting an ultrasound probe into a body organ, the ultrasound probe comprising: an ultrasound transducer array configured to image a volume of the organ, the volume including at least a portion of the distal end effector; a second sensor configured to output a second signal indicative of a second position of the ultrasound transducer array inside the cavity; and selecting one or more slices of the imaged volume that includes at least a portion of the distal end effector in spatial relationship with the organ using the imaged volume, the first location, and the second location; generating at least one of a biplane view and a triplane view of the portion of the distal end effector from the one or more selected slices; presenting the at least one of the biplane view and the triplane view to a user.

11. The method of claim 10 , wherein the portion of the distal end effector includes one of an expandable spline and an expandable arm.

12. The method of claim 10 , wherein the portion of the distal end effector includes a prosthetic valve.

13. The method of claim 10, wherein the ultrasound probe is a 4D ultrasound (US) catheter for intracardiac echocardiography (ICE).

14. 11. The method of claim 10, wherein the first sensor and the second sensor are magnetic position sensors configured to generate the first signal and the second signal in response to a magnetic field applied by a position tracking system.

15. The method of claim 10 , wherein the first sensor is an electrode of the distal end effector configured to generate the first signal as part of an electrical position tracking system.

16. The method of claim 10 , wherein selecting one or more slices comprises using an image processing algorithm.

17. The method of claim 10 , wherein generating at least one of a biplane view and a triplane view from the one or more selected slices comprises using an image processing algorithm.

18. The method of claim 10 , wherein the cavity of the organ is a ventricle of the heart.

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