Orthographic view and endoscopic view display of a selected plane in a three-dimensional anatomical image

Abstract

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

Description

Technical Field

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

Background Art

[0002] Various techniques for visualizing organs from multiple viewpoints and using virtual imaging have been disclosed.

[0003] For example, U.S. Patent No. 7,477,768 describes a method for generating three-dimensional visualization images of objects such as internal organs using stereoscopic visualization techniques. This technique includes multi-scan imaging methods, multi-resolution imaging methods, and methods for generating skeletons of complex three-dimensional objects. Applications include, among others, virtual cystoscopy, virtual laryngoscopy, and virtual angiography.

Brief Description of the Drawings

[0004] The present disclosure will be more fully understood from the following detailed description of the embodiments of the present disclosure in conjunction with the drawings.

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[0005] Overview The examples of the present disclosure described below provide improved techniques for displaying to a user of a catheter-based position tracking and ablation system a combination of different views of at least one section within a patient's organ.

[0006] In this example, the organ includes the heart, which is intended to be ablated using any suitable technique such as radiofrequency (RF) ablation to treat arrhythmias in the patient's heart. In RF ablation, a user of the system, e.g., a physician, inserts a catheter into the heart and, based on electrophysiology (EP) mapping of the heart, selects one or more sites intended to receive an RF ablation signal in the heart tissue. In response to the application of the ablation signal, the cells of the tissue at the ablated site die and are converted into a lesion that cannot conduct electrophysiological signals. Since tissue ablation is aggressive and typically irreversible, it is important to apply the RF signal to the tissue very precisely at the selected site. Thus, the physician typically requires a combination of (i) an overall view of the heart and (ii) a high-resolution image of the site intended to be ablated.

[0007] In some examples, a catheter-based position tracking and ablation system includes a catheter configured to perform ablation, a processor, and a display. The catheter may include one or more position sensors of the position tracking system described in FIG. 1 below. The position sensors are configured to generate a position signal indicating the position of the catheter within the heart.

[0008] In some examples, the processor is configured to receive an anatomical image of the heart and the position signal and overlay and display the position of the distal-end assembly (DEA) of the catheter on a three-dimensional map of the heart. A physician can guide the DEA to the ablation site and then apply an RF signal to the tissue at the selected ablation site.

[0009] In some examples, the processor is configured to display various types of images to the physician. For example, a three-dimensional (3D) image of an external view of the heart is displayed together with an endoscopic view of the site or section intended to be ablated. Note that the endoscopic view can be generated using a virtual camera described in detail in FIG. 2 below.

[0010] The endoscopic view provides the physician with anatomical details of the section of the heart intended to be ablated. The anatomical details are important for planning the ablation but can be insufficient. This is because the endoscopic view provides the physician with a perspective image, and anatomical elements located closer to the virtual camera appear larger than other anatomical elements located farther from the virtual camera. Further, when viewing the endoscopic view, the physician may lose the sense of orientation within the heart because the physician cannot observe features (e.g., veins) within the anatomical structure as they appear in the external view, and such features improve the sense of orientation. Thus, images in which the external view and the endoscopic view are separate can provide the physician with sufficient imaging to perform ablation under optimal conditions.

[0011] In other examples, the processor is configured to generate (i) a cross-sectional view that is partially clipped by a selected plane of interest (POI) in a 3D image of the heart, and (ii) an endoscopic view from a direction facing the selected POI. In some examples, the processor generates a clipping plane of the POI (also referred to herein as a clip plane), and is configured to rotate the image of the POI such that the orientation of the cross-sectional view of the POI is similar to the endoscopic view. Note that the cross-sectional view is not affected by the topography of the section of the heart problem and only presents a graphical representation of the topography. In other words, the cross-sectional view ignores the topography and thus provides the physician with a supplementary view of the section of the problem.

[0012] In some examples, the processor is configured to generate an endoscopic image by (i) positioning a virtual camera at a given position and a given orientation within a 3D image of the heart, and (ii) defining one or more imaging parameters, including but not limited to magnification and / or one or more field of view angles.

[0013] In some examples, the processor is configured to select a given position and a given orientation of the virtual camera to display a section of the heart that includes one or more of the ablation sites.

[0014] In some examples, the processor is configured to generate an image of the cross-sectional view of the POI by generating a graphical representation of the clipping plane of the POI and then displaying the cross-sectional view of the clipping plane on a display. In such examples, the processor is configured to present both the field-of-view (FOV) of (i) the endoscopic image and (ii) the cross-sectional view of the clipping plane of the POI in an orientation parallel to the surface of the system display.

[0015] In some examples, multiple FOVs may be presented side by side on the system display. In such examples, the physician can view both FOVs simultaneously.

[0016] In other examples, the processor is configured to display, on the display, two FOVs, also referred to herein as a first image and a second image, by switching between the display of the first image and the display of the second image. In one implementation, the processor is configured to display the first image when applying a first range of zoom values to the system display and (ii) display the second image when applying a second range of zoom values different from the first range of zoom values to the display. In another implementation, the processor is configured to display a 3D image of an external view of the heart instead of the first image or instead of the second image. In this implementation, the processor may apply a third range of zoom values different from the first range of zoom values and the second range of zoom values to the display, whereby the physician may switch between the three images using the processor's zoom in and zoom out functions on the system display.

[0017] In an alternative example, the processor can use any other suitable configuration to customize the presentation of the three images described above.

[0018] The disclosed technology improves visualization of a patient's organ (e.g., the heart) during tissue ablation and other types of minimally invasive medical procedures. Such procedures typically require both (i) an overall view image that is not distorted by the topography of the organ in question and (ii) a high-resolution image of the same plane of interest in the organ in question. This combination provides the physician with improved imaging that helps improve the quality of tissue ablation and other types of medical procedures.

[0019] Description of the System Figure 1 is a schematic depiction of a catheter-based position tracking and ablation system 20 according to an example of the present disclosure. In some examples, system 20 includes a catheter 22, which in this example is an expandable cardiac catheter described below, and a control console 24. In the examples described herein, catheter 22 can be used for any suitable therapeutic and / or diagnostic purpose, such as sensing electro-anatomical (EA) information in the tissue in question and applying ablation signals to the tissue of heart 26 (insert figure 25), but is not limited thereto. In the context of the present disclosure, the term information refers to the spatial location of the distal end of the catheter and the electrocardiogram (ECG) signals sensed by the electrodes of catheter 22.

[0020] In some examples, console 24 includes a processor 42, which is typically a general-purpose computer having suitable front-end and interface circuitry for receiving signals from catheter 22 and for controlling other components of system 20 described herein. Processor 42 may be programmed with software to perform the functions used by the system, and processor 42 is configured to store data for the software in memory 50. This software can be downloaded to console 24 in electronic form, for example, via a network, or can be provided on a non-transitory tangible medium, such as an optical storage medium, a magnetic storage medium, or an electronic storage medium. Alternatively, some or all of the functions of processor 42 may be performed using an application specific integrated circuit (ASIC) or any suitable type of programmable digital hardware component.

[0021] Next, refer to the inserted FIG. 25. In some examples, the catheter 22 includes a distal end assembly (DEA) 40 having an expandable member (e.g., a balloon or a basket), and a shaft 23 for inserting the DEA 40 into a target location to ablate tissue within the heart 26. During an electrophysiology (EP) mapping and / or ablation procedure, the physician 30 inserts the catheter 22 through the vasculature of the patient 28 lying on the table 29. The physician 30 uses a manipulator 32 near the proximal end of the catheter 22 connected to the interface circuit of the processor 42 to move the DEA 40 to a target location within the heart 26. In this example, the target location may include tissue having one or more sites intended to be ablated by the DEA 40.

[0022] In some examples, the catheter 22 includes a position sensor 39 of a position tracking system coupled to the distal end of the catheter 22, for example, in proximity to the DEA 40. In this example, the position sensor 39 includes a magnetic position sensor, although in other examples, any other suitable type of position sensor (e.g., other than magnetic-based) may be used.

[0023] Next, refer again to the overall view of FIG. 1. In some examples, during the guidance of the DEA 40 within the heart 26, the processor 42 receives a signal from the magnetic position sensor 39 in response to a magnetic field from the external magnetic field generator 36, for example, for the purpose of measuring the position of the DEA 40 within the heart 26. In some examples, the console 24 includes a drive circuit 34 configured to drive the magnetic field generator 36. The magnetic field generator 36 is disposed at a known position external to the patient 28, such as under the table 29.

[0024] In some examples, the processor 42 is configured to display the tracked position of the DEA 40 superimposed on an image 44 of the heart 26, typically a three-dimensional (3D) image, on the display 46 of the console 24.

[0025] Position sensing methods using an external magnetic field are implemented in various medical applications, for example, in the CARTO™ system manufactured by Biosense Webster Inc. (Irvine, Calif.), and are described in detail in U.S. Patent Nos. 5,391,199; 6,690,963; 6,484,118; 6,239,724; 6,618,612; and 6,332,089; International Publication No. 96 / 05768; and U.S. Patent Application Publication Nos. 2002 / 0065455(A1); 2003 / 0120150(A1); and 2004 / 0068178(A1).

[0026] Display a combination of an external view of a patient's heart and an endoscopic view of a section of the heart FIG. 2 is a schematic depiction of (i) an external view 54 and (ii) an endoscopic view 66 presented side-by-side within a 3D image 44 of a heart 26, according to an example of the present disclosure.

[0027] Referring now to the 3D image of the external view 54 of the heart 26. In some examples, the processor 42 is configured to generate a virtual camera at a given position and a given orientation within the external view 54 of the heart 26.

[0028] In some examples, the processor 42 is configured to define a 3D field of view (FOV) 52 of the virtual camera 55 (shown as a virtual pyramid). The processor 42 is configured to define the 3D FOV 52 by determining the imaging parameters of the virtual camera 55. For example, one or more angles of view (e.g., three angles of view) define the direction and the opening angle of the pyramid, and the magnification may define the magnification of the 3D section 38 imaged by the virtual camera 55 and the endoscopic view 66 of the anatomical features within the 3D FOV 52. Note that the virtual image generated by the virtual camera 55 is based on any suitable pre-acquired anatomical image and / or anatomical mapping information stored in the memory 50 and / or the processor 42. For example, the processor 42 can receive one or both of (i) a CT image acquired by a computerized tomography (CT) imaging system and (ii) a fast anatomical mapping (FAM) of the heart 26 generated by moving a catheter at a position aligned within the cavity of the heart 26.

[0029] In this example, the 3D FOV 52 acquires a section 38 of the heart 26 that, among other things, has two pulmonary veins (PVs) 33. In this example, the ablation procedure includes the isolation of one or both of the PVs 33, the DEA includes a balloon, and the ablation electrodes are disposed on the expandable member of the balloon. During the PV isolation procedure, the physician 30 inserts the balloon into the ostium of the selected PV 33 and then inflates the balloon to place the ablation electrodes in contact with the tissue intended to be ablated. After confirming sufficient contact force between the ablation electrodes and the tissue, the physician 30 can use the system 20 to apply a radio frequency (RF) signal to the electrodes to ablate the tissue.

[0030] Next, refer to the endoscopic view 66. In some examples, the endoscopic view 66, also referred to herein as the "first image," provides the physician 30 with the anatomical details of the PV33 and the tissue surrounding the PV33. This detail is important for planning ablation but may be insufficient. This is because, since the endoscopic view 66 is a perspective image, anatomical elements located closer to the virtual camera 55 appear larger than other anatomical elements located farther from the virtual camera 55. Further, when viewing the endoscopic view 66, the physician 30 may lose the sense of direction within the image because the physician cannot observe the features within the anatomical structure of the endoscopic view 66 as they appear within the external view. For example, veins and other anatomical features can help the physician improve the sense of orientation while performing a procedure within the heart 26. Thus, the combination of the external view 54 and the endoscopic view 66 may not provide the physician 30 with optimal imaging sufficient to perform ablation of one or more PV33s.

[0031] FIG. 3A is a schematic depiction of a partial cut plane (CP) of a selected point of interest (POI) 77 shown in the external view 54 of the heart 26, according to an example of the present disclosure.

[0032] In some examples, the processor 42 is configured to select the POI 77 based on (i) the position of the virtual camera within the 3D image of the external view 54 of the heart 26 (shown in FIG. 2 above), and (ii) the orientation of the virtual camera, and optionally, the imaging parameters of the endoscopic view 66 of FIG. 2 above.

[0033] In some examples, in FIG. 3A, the processor 42 defines the POI 77 within the space of the complete map of the heart 26 and generates a partial cut plane (CP) of the POI 77. Note that sections of the heart 26 that are not "imaged" by the virtual camera 55 are removed from the image and the POI 77 is positioned at the edge of the map shown in FIG. 3A.

[0034] FIG. 3B is a schematic depiction of a plane of interest (POI) 77 selected by processor 42 to define one section of an external view 54 of heart 26, according to an example of the present disclosure.

[0035] In some examples, processor 42 is configured to generate POI 77 and provide to physician 30 (i) a graphic representation of a partial cut plane of POI 77 and (ii) a cross-sectional view of the partial cut plane of POI 77 on a display. In the example of FIG. 3B, note that the presented orientation of POI 77 is not parallel to the orientation of endoscopic view 66 of FIG. 2 above, and thus, physician 30 cannot view the anatomical elements of the cross-sectional view of the partial cut plane of POI 77.

[0036] FIG. 3C is a schematic depiction of an image of cross-sectional view 88 of POI 77, according to an example of the present disclosure.

[0037] In some examples, processor 42 is configured to generate cross-sectional view 88 by rotating the image shown in FIG. 3B such that POI 77 is parallel to display 46 of console 24 (shown in FIG. 1 above).

[0038] In some examples, the image of cross-sectional view 88 includes a cross-sectional view of a 3D image of a selected section of heart 26 (shown in FIGS. 3A and 3B above) partially cut away by POI 77. In some examples, the image of cross-sectional view 88 includes cross-sectional views of tissue of the surrounding walls of PV 33 and respective chambers (e.g., atria) of heart 26.

[0039] Display an endoscopic view along with a cross-sectional view of a 3D image partially cut away by a selected plane of interest FIG. 4 is a schematic depiction of 3D visualization of tissue of heart 26 and pulmonary vein (PV) 33 using a side-by-side presentation of (i) cross-sectional view 88 of a 3D image of heart partially cut away by POI 77 and (ii) endoscopic view 66 from the direction facing POI 77, according to an example of the present disclosure.

[0040] In some examples, the processor 42 is configured to present (e.g., to the physician 30) (i) an endoscopic view 66 generated using a virtual camera 55 as described in FIG. 2 above, and (ii) a cross-sectional view 88 of a 3D image of the heart 26 partially cut off by a POI 77 as shown in FIG. 3C above and the generation of which is described in detail in FIGS. 3A-3C above. In this example, the processor 42 is configured to display the endoscopic view 66 and the cross-sectional view 88 side by side on the display 46, but in other forms, the processor 42 may display these images using any other suitable display configuration as described in FIG. 5 below.

[0041] In some examples, during a tissue ablation procedure, the physician 30 controls the virtual camera 55 to generate a desired endoscopic view 66 and then controls the processor 42 to generate a cross-sectional view 88 of a 3D image of the heart 26 partially cut off by a POI 77. Note that the cross-sectional view of the 3D image partially cut off by the POI 77 is not affected by the topography of the PV 33 and / or the section of the heart 26. However, the cross-sectional view 88 presents a graphical representation of the topography of the heart 26 and the PV 33. In other words, the cross-sectional view 88 ignores the topography and thus provides a supplementary view of the section (and the PV 33) of interest to the physician. On the other hand, as described in FIG. 2 above, the endoscopic view 66 provides a high-resolution image of the PV 33 to the physician 30, but may have distortion in the display size of the heart elements and the distances between them. On the other hand, the cross-sectional view 88 displays the proportional size of the elements of the heart 26 and the distances between the heart elements from the same line of sight (e.g., field of view).

[0042] In some examples, the physician 30 can use the cross-sectional view 88 to estimate the actual size of the PV33 and the actual distances between them. Based on this estimation, the physician 30 and / or the processor 42 can select a site in the tissue of the heart 26 to apply an RF ablation signal in the endoscopic view 66. Further, when the physician 30 marks a selected ablation site on the endoscopic view 66, the processor 42 is configured to present a mark of the same ablation site on the cross-sectional view 88.

[0043] In other examples, the physician 30 and / or the processor 42 may mark an ablation site on the cross-sectional view 88, and the processor 42 may present the same ablation site on the endoscopic view 66.

[0044] In both examples, the physician 30 can view marks of one or more selected ablation sites simultaneously presented across (i) a high-resolution image of the endoscopic view 66 and (ii) a scaled image of the cross-sectional view 88. This side-by-side presentation helps the physician 30 determine the ablation site accurately and conveniently, thus improving the quality of the ablation procedure.

[0045] FIG. 5 is a flowchart schematically showing a method of displaying a cross-sectional view 88 of a 3D image of the heart 26, partially cut away by a POI 77, and an endoscopic view 66 from the direction facing the POI 77, according to an example of the present disclosure.

[0046] The method begins at a POI selection step 100, where the physician inserts the DEA 40 into the problematic chamber of the heart 26 and selects (i) the position of the virtual camera 55 within the 3D image of the heart 26 and (ii) the imaging parameters (e.g., direction and magnification) of the virtual camera 55 for viewing a section of interest within the heart 26.

[0047] In some examples, the processor 42 is configured to select a POI 77 within the 3D image of the heart 26 based on the illumination direction and imaging parameters of the virtual camera 55.

[0048] In the first image generation step 102, the processor 42 is configured to generate a first image, i.e., the endoscopic view 66, based on the selected position and imaging parameters of the virtual camera 55. It should be noted that the endoscopic view 66 is generated from the direction facing the POI 77, as described in detail in FIGS. 2 and 3A above.

[0049] In the second image generation step 104, the processor 42 is configured to generate a second image. In this example, the second image includes a cross-sectional view 88 of a selected section of the heart 26, with a portion cut off by the POI 77, as described in detail in FIGS. 3A - 3C above. Since the POI 77 is common to the first image and the second image, it should be noted that both the first image and the second image present the same section of the heart 26 from the same direction, as described in detail in FIG. 4 above.

[0050] In the display step 106 for ending the method, the processor 42 is configured to display the first image and the second image to the doctor 30 and / or any other user of the system 20. In some examples, the processor 42 is configured to display the endoscopic view 66 and the cross-sectional view 88 side by side (on the display 46), as shown in FIG. 4 above. Further, the processor 42 is configured to display one or more marks of each selected site intended to be ablated using the DEA 40, as described in FIG. 4 above, on one or both of the endoscopic view 66 and the cross-sectional view 88.

[0051] In other examples, the processor 42 is configured to switch between the display of the endoscopic view 66 and the display of the cross-sectional view 88 on the display 46. For example, the processor 42 is configured to display the endoscopic view 66 when applying a first range of zoom values to the display 46, and to display the cross-sectional view 88 when applying a second range of zoom values different from the first range of zoom values to the display 46.

[0052] In an alternative embodiment, when the processor 42 applies a third range of zoom values different from the first range of zoom values and the second range of zoom values to the display 46, instead of the endoscopic view 66 or the cross-sectional view 88, it is configured to display a 3D image of the heart 26 (e.g., the external view 54 of FIG. 2 above or the image shown in FIG. 3A above).

[0053] The method of FIG. 5 is simplified for clarity of concept, and in other examples, the processor 42 is configured to display two or more images of a selected section of the heart 26 using any suitable display configuration. Moreover, this particular technique of the graphical user interface (GUI) is shown by way of example to illustrate the particular problems addressed by the examples of the present disclosure and the application of these examples in improving the performance of such mapping and ablation systems. However, the examples of the present disclosure are in no way limited to this particular type of exemplary system and / or medical use, and the principles described herein can equally be applied to other types of medical systems used to perform any suitable type of medical procedure that requires the presentation thereof using a combination of high-resolution imaging and scaled images of the tissue in question, as well as a suitable configuration of the GUI.

[0054] The examples described herein primarily address the generation of multiple types of imaging, the presentation of selected sections in a patient's heart, and the selection of sites for ablating tissue in the selected sections. The methods and systems described herein can also be used in other applications such as any system that utilizes an endoscopic view. For example, in ear-nose-throat (ENT) applications, an endoscopic view is used to guide ENT tools into a patient's ENT cavities.

Example

[0055] (i) Insert a catheter (22) into an organ (26) of a patient (28) and select a plane of interest (POI) (77) in a three-dimensional (3D) image (54) of the organ (26); (ii) Generate a first image including an endoscopic view (66) of the 3D image (54) from a direction facing the POI (77); (iii) Generate a second image including a cross-sectional view (88) of the 3D image (54) with a portion cut off by the POI (77); (iv) Display the first image and the second image to a user (30). A method comprising the steps of:

Example

[0056] Generating the second image includes generating a graphic representation of a partial cut plane of the POI and displaying a cross-sectional view of the partial cut plane. The method according to Example 1.

Example

[0057] Generating the first image includes positioning a virtual camera at a given position and a given orientation within the 3D image of the organ and defining one or more imaging parameters for generating the endoscopic view. The method according to Example 1.

Example

[0058] The organ includes the heart, the 3D image includes a 3D image of at least one section of the heart, positioning the virtual camera includes selecting a given position and a given orientation of the virtual camera to display one section of the heart, and defining one or more imaging parameters in the virtual camera includes defining one or both of (i) magnification and (ii) one or more field angles for generating the endoscopic view. The method according to Example 3.

Example

[0059] The section includes one or more pulmonary veins (PVs), and the first and second images are used to perform a PV isolation procedure in at least one of the PVs, according to the method described in Example 3.

Example

[0060] Displaying the first and second images includes displaying the first and second images side by side, according to the method described in Examples 1-5.

Example

[0061] Displaying the first and second images includes switching between displaying the first image and displaying the second image, according to the method described in Examples 1-5.

Example

[0062] Switching between displays includes displaying the first image when applying a first range of zoom values to the display and displaying the second image when applying a second range of zoom values different from the first range of zoom values to the display, according to the method described in Example 7.

Example

[0063] Displaying a 3D image instead of the first or second image when applying a third range of zoom values different from the first and second ranges of zoom values to the display, according to the method described in Example 8.

Example

[0064] (i) receiving a selection of a plane of interest (POI) (77) in a three-dimensional (3D) image (54) of an organ (26) of a patient (28), (ii) generating a first image including an endoscopic view (66) of the 3D image (54) from a direction facing the POI (77), and (iii) generating a second image including a cross-sectional view (88) of the 3D image (54) partially cut off by the POI (77), a processor (42) configured to: (ii) A system comprising a display (46) configured to display the first image and the second image to the user (30).

Example

[0065] The system according to Example 10, wherein the processor is configured to generate the second image by (i) generating a graphic representation of a partial cut surface of the POI and (ii) displaying a cross-sectional view of the partial cut surface on the display.

Example

[0066] The system according to Example 10, wherein the processor is configured to generate the first image by (i) positioning a virtual camera at a given position and in a given orientation within a 3D image of an organ and (ii) defining one or more imaging parameters for generating an endoscopic view.

Example

[0067] The organ includes a heart, the 3D image includes a 3D image of at least one section of the heart, the processor is configured to select a given position and a given orientation of the virtual camera to display one section of the heart, and the processor is configured to define, in the virtual camera, (i) magnification and (ii) one or both of one or more viewing angles for generating an endoscopic view. The system according to Example 10.

Example

[0068] The section includes one or more pulmonary veins (PVs), and the first image and the second image are used to perform a PV separation procedure in at least one of the PVs. The system according to Example 13.

Example

[0069] The system according to Examples 10 to 14, wherein the processor is configured to display the first image and the second image side by side on the display.

Example

[0070] The processor is configured to display a first image and a second image on a display by switching between the display of the first image and the display of the second image, in the system according to Embodiments 10 to 14.

Example

[0071] The processor is configured to display a first image when applying a zoom value in a first range to the display, and to display a second image when applying a zoom value in a second range different from the zoom value in the first range to the display, in the system according to Claim 16.

Example

[0072] The processor is configured to display a 3D image instead of the first image or the second image when applying a zoom value in a third range different from the zoom values in the first range and the second range to the display, in the system according to Embodiment 16.

[0073] Therefore, it will be understood that the above-described embodiments are given by way of example, and the present disclosure is not limited to those specifically shown and described above. Rather, the scope of the present disclosure includes both combinations and sub-combinations of the various features described above, as well as those variations and modifications thereof that would occur to those skilled in the art upon reading the foregoing description and that are not disclosed in the prior art.

[0074] 〔Embodiment〕 (1) Inserting a catheter into a patient's organ and selecting a plane of interest (POI) in a three-dimensional (3D) image of the organ, Generating a first image including an endoscopic view of the 3D image from a direction facing the POI, Generating a second image including a cross-sectional view of the 3D image in which a part is cut off by the POI, Displaying the first image and the second image to the user, A method including... (2) Generating the second image includes generating a graphic representation of a partial cut surface of the POI and displaying the cross-sectional view of the partial cut surface. The method according to Embodiment 1. (3) Generating the first image includes positioning a virtual camera at a given position and in a given orientation within the 3D image of the organ and defining one or more imaging parameters for generating the endoscopic view. The method according to Embodiment 1. (4) The organ includes the heart, the 3D image includes a 3D image of at least one section of the heart, positioning the virtual camera includes selecting the given position and the given orientation of the virtual camera to display one section of the heart, and defining the one or more imaging parameters in the virtual camera includes defining, for generating the endoscopic view, one or both of (i) magnification and (ii) one or more angles of view. The method according to Embodiment 3. (5) The section includes one or more pulmonary veins (PVs), and the first image and the second image are used to perform a PV separation procedure in at least one of the PVs. The method according to Embodiment 3.

[0075] (6) Displaying the first image and the second image includes displaying the first image and the second image side by side. The method according to Embodiment 1. (7) Displaying the first image and the second image includes switching between the display of the first image and the display of the second image. The method according to Embodiment 1. (8) Switching between the displays includes displaying the first image when applying a first range of zoom values to the display and displaying the second image when applying a second range of zoom values different from the first range of zoom values to the display. The method according to Embodiment 7. (9) When applying a zoom value in a third range different from the zoom value in the first range and the zoom value in the second range to the display, displaying the 3D image instead of the first image or the second image, the method according to embodiment 8. (10) (i) Receiving a selection of a plane of interest (POI) in a three-dimensional (3D) image of a patient's organ, (ii) generating a first image including an endoscopic view of the 3D image from a direction facing the POI, and (iii) generating a second image including a cross-sectional view of the 3D image partially cut off by the POI, a processor configured as such. A display configured to display the first image and the second image to a user, a system comprising.

[0076] (11) The processor is configured to generate a graphic representation of a partially cut-off plane of the POI and generate the second image by displaying the cross-sectional view of the partially cut-off plane on the display, the system according to embodiment 10. (12) The processor is configured to position a virtual camera at a given position and a given orientation within the 3D image of the organ and define one or more imaging parameters for generating the endoscopic view, thereby generating the first image, the system according to embodiment 10. (13) The organ includes a heart, the 3D image includes a 3D image of at least one section of the heart, the processor is configured to select the given position and the given orientation of the virtual camera to display one section of the heart, and the processor is configured to define, in the virtual camera, (i) magnification and (ii) one or both of one or more viewing angles for generating the endoscopic view, the system according to embodiment 10. (14) The section includes one or more pulmonary veins (PVs), and the first image and the second image are used to perform a PV isolation procedure in at least one of the PVs, the system according to embodiment 13. (15) The system according to Embodiment 10, wherein the processor is configured to display the first image and the second image side by side on the display.

[0077] (16) The system according to Embodiment 10, wherein the processor is configured to display the first image and the second image on the display by switching between the display of the first image and the display of the second image. (17) The system according to Embodiment 16, wherein the processor is configured to display the first image when applying a zoom value in a first range to the display, and to display the second image when applying a zoom value in a second range different from the zoom value in the first range to the display. (18) The system according to Embodiment 16, wherein the processor is configured to display the 3D image instead of the first image or the second image when applying a zoom value in a third range different from the zoom value in the first range and the zoom value in the second range to the display.

Claims

**Claim 1** A processor configured to: (i) receive a selection of a plane of interest (POI) in a three-dimensional (3D) image of a patient's organ; (ii) generate a first image including an endoscopic view of the 3D image from a direction facing the POI; and (iii) generate a second image including a cross-sectional view of the 3D image partially cut off by the POI, and A display configured to display the first image and the second image to a user. A system comprising the same. **Claim 2** The system according to claim 1, wherein the processor is configured to generate the second image by: (i) generating a graphic representation of a partial cut-off plane of the POI; and (ii) displaying the cross-sectional view of the partial cut-off plane on the display. **Claim 3** The system according to claim 1, wherein the processor is configured to generate the first image by: (i) positioning a virtual camera at a given position and in a given orientation within the 3D image of the organ; and (ii) defining one or more imaging parameters for generating the endoscopic view. **Claim 4** The system according to claim 1, wherein the organ includes a heart, the 3D image includes a 3D image of at least one section of the heart, the processor is configured to select the given position and the given orientation of the virtual camera to display one section of the heart, and the processor is configured to define, in the virtual camera, one or both of (i) magnification and (ii) one or more field angles for generating the endoscopic view. **Claim 5** The system according to claim 4, wherein the section includes one or more pulmonary veins (PVs), and the first image and the second image are used to perform a PV isolation procedure on at least one of the PVs. **Claim 6** The system according to claim 1, wherein the processor is configured to display the first image and the second image side by side on the display. **Claim 7** The system according to claim 1, wherein the processor is configured to display the first image and the second image on the display by switching between the display of the first image and the display of the second image. **Claim 8** The processor is configured to: (i) display the first image when applying a zoom value in a first range to the display; and (ii) display the second image when applying a zoom value in a second range different from the zoom value in the first range to the display. The system according to claim 7.

9. The processor is configured to display the 3D image instead of the first image or the second image when applying a zoom value in a third range different from the zoom values in the first range and the second range to the display. The system according to claim 7.

10. Inserting a catheter into a patient's organ and selecting a plane of interest (POI) in the three-dimensional (3D) image of the organ; Generating a first image including an endoscopic view of the 3D image from a direction facing the POI; Generating a second image including a cross-sectional view of the 3D image in which a part is cut off by the POI; Displaying the first image and the second image to a user; A method comprising.

11. Generating the second image includes generating a graphic representation of a partially cut surface of the POI and displaying the cross-sectional view of the partially cut surface. The method according to claim 10.

12. Generating the first image includes positioning a virtual camera at a given position and in a given orientation within the 3D image of the organ, and defining one or more imaging parameters for generating the endoscopic view. The method according to claim 10.

13. The organ includes a heart, the 3D image includes a 3D image of at least one section of the heart, positioning the virtual camera includes selecting the given position and the given orientation of the virtual camera to display one section of the heart, and defining the one or more imaging parameters in the virtual camera includes defining (i) magnification and (ii) one or both of one or more fields of view for generating the endoscopic view. The method according to claim 12.

14. The section includes one or more pulmonary veins (PVs), and the first image and the second image are used to perform a PV isolation procedure in at least one of the PVs. The method according to claim 12.

15. The method according to claim 10, wherein displaying the first image and the second image includes arranging and displaying the first image and the second image side by side.

16. The method according to claim 10, wherein displaying the first image and the second image includes switching between the display of the first image and the display of the second image.

17. The method according to claim 16, wherein switching between the displays includes displaying the first image when applying a zoom value in a first range to the display, and displaying the second image when applying a zoom value in a second range different from the zoom value in the first range to the display.

18. The method according to claim 17, wherein when applying a zoom value in a third range different from the zoom value in the first range and the zoom value in the second range to the display, displaying the 3D image instead of the first image or the second image is included.

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