Dynamically changing transparency levels in subvolumes of anatomical maps

Abstract

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

Description

[Technical Field]

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

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

[0003] The present disclosure will be more fully understood from the following detailed description of the embodiments thereof, taken in conjunction with the drawings in which: [Brief explanation of the drawings]

[0004] [Figure 1] 1 is a schematic, illustrative diagram of a catheter-based system for electrophysiological mapping and ablation, according to one embodiment of the present disclosure; [Figure 2A] 1 is a schematic, illustrative illustration of an electroanatomical (EA) map of cardiac tissue, according to an embodiment of the present disclosure; [Figure 2B] 1 is a schematic, illustrative illustration of an electroanatomical (EA) map of cardiac tissue, according to an embodiment of the present disclosure; [Figure 2C] 1 is a schematic, illustrative illustration of an electroanatomical (EA) map of cardiac tissue, according to an embodiment of the present disclosure; [Figure 2D] 1 is a schematic, illustrative illustration of an electroanatomical (EA) map of cardiac tissue, according to an embodiment of the present disclosure; [Figure 3] 1 is a flowchart that schematically illustrates a method for dynamically adjusting the transparency of sub-volumes in an EA map of the heart, according to one embodiment of the present disclosure. [Figure 4]10 is a flowchart that schematically illustrates a method for dynamically adjusting the transparency of sub-volumes having ablation tags in an EA map of the heart, according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0005] overview Electro-anatomical (EA) mapping of an organ such as the heart may involve (i) moving the distal tip of a catheter within the volume of the heart, (ii) acquiring electro-physiological (EP) signals on the interior and exterior surfaces of the heart, and (iii) displaying tags representing the acquired signals on the interior and exterior surfaces of a three-dimensional (3D) EA map.

[0006] The embodiments of the present disclosure described below provide techniques for improving the visualization of tags on a 3D EA map of an organ, such as a patient's heart, by dynamically changing the transparency of selected portions of the EA map. In some embodiments, the EA map can be displayed using a transparent view, in which the surface of the heart is displayed as transparent tissue, to enable visualization of tags associated with the inner surface of the heart. Moving to the transparent view causes the 3D effect (e.g., depth and 3D perception) of the EA map to be lost. The loss of the 3D effect makes it difficult for a user (e.g., a physician) to understand the topography of the EA map.

[0007] In some examples, a system for visualizing tags without losing the 3D effect of an EA map comprises a processor and a display device, also referred to herein for brevity as a display. The processor is configured to receive (e.g., from a mapping catheter having sensing electrodes) a first location of the tag located within an interior volume of an anatomical map of an organ, the first location of the tag being indicative of attributes of the organ at the first location. In this example, the organ includes a heart, and the attributes are based on electrocardiogram (ECG) signals acquired by electrodes of the catheter.

[0008] In some embodiments, the catheter comprises a position sensor configured to generate a position signal indicative of a position of the distal tip of the catheter. The processor is further configured to receive one or more second positions that are positions of the catheter being moved within the heart. In some embodiments, the processor is configured to maintain at least a threshold value, and when a distance between the first position and at least one of the second positions is less than the threshold value, the processor is configured to change a transparency level of a sub-volume of the anatomical map that includes the distal tip and the tag. Exemplary implementations of these techniques are described in detail in Figures 2C and 2D below.

[0009] In some embodiments, the display is configured to display the sub-volumes and the anatomical map to a user (e.g., a physician). In such embodiments, the processor is configured to preserve the 3D effect of the EA map while still providing the user with local information about tags proximate to the distal tip. Note that, in accordance with the disclosed techniques, the transparency level of the sub-volume is changed only when both the distal tip and tags are located within the same sub-volume. For example, when no tags are located proximate to the distal tip, the processor does not change the transparency level of the EA map so as to preserve the 3D effect of the EA map.

[0010] Additionally or alternatively, the processor may receive an EA map having a first transparency level and the tracked position of the distal tip. The processor is configured to dynamically change the transparency level of a sub-volume of the EA map surrounding the distal tip according to the tracked position. In such an embodiment, the display is configured to (i) display the EA map using a first transparency level and (ii) display the sub-volume surrounding the distal tip using a second transparency level different from the first transparency level. For example, the transparency level of the EA map may be opaque (e.g., showing only the outer surface of the heart), with only the sub-volume with the distal tip being transparent, so that the user can see the interior volume of the heart surrounding the distal tip (including internal anatomical structures and, optionally, tags). In other words, the EA map is opaque to preserve its 3D effect, and only the sub-volume through which the distal tip has moved is transparent. Note that the changed transparency is dynamic, as the transparency of the sub-volumes is changed according to the movement of the distal tip. Exemplary implementations of these techniques are described in detail below in FIGS. 2C and 2D.

[0011] The disclosed techniques customize the dynamic visualization of features of interest in EA maps, and more specifically, in anatomical maps of organs undergoing minimally invasive procedures.

[0012] System Description FIG. 1 is a schematic, illustrative diagram of a catheter-based electrophysiological mapping and ablation system 10 according to one embodiment of the present disclosure.

[0013] In some embodiments, the system 10 includes multiple catheters that are percutaneously inserted by the physician 24 through the patient's vascular system into the cavities or vasculature of the heart 12. Typically, a delivery sheath catheter is inserted into the left or right atrium near the desired location in the heart 12. One or more catheters can then be inserted into the delivery sheath catheter to reach the desired location within the heart 12. The multiple catheters may include catheters dedicated to sensing intracardiac electrogram (IEGM) signals, catheters dedicated to ablation, and / or catheters adapted for both sensing and ablation. An exemplary catheter 14 configured for sensing IEGMs is illustrated herein. In some embodiments, the physician 24 may position the distal tip 28 of the catheter 14 adjacent to or in contact with the heart wall to sense a target site in the heart 12. Additionally or alternatively, for ablation, the physician 24 similarly positions the distal end of an ablation catheter in contact with the target site for ablation of the tissue intended to be ablated.

[0014] In this embodiment, the catheter 14 includes one electrode 26, or preferably multiple electrodes 26 optionally distributed along the shaft 22, at the distal tip 28 of the catheter 14. The electrodes 26 are configured to sense IEGM signals. The catheter 14 may additionally include a position sensor 29 embedded in or near the distal tip 28 for tracking the position and orientation of the distal tip 28. Optionally and preferably, the position sensor 29 is a magnetic-based position sensor including three magnetic coils for sensing three-dimensional (3D) position and orientation.

[0015] In some embodiments, the magnetic-based position sensor 29 may operate in conjunction with a location pad 25 that includes multiple (e.g., three) magnetic coils 32 configured to generate multiple (e.g., three) magnetic fields within a predetermined workspace. The real-time position of the distal tip 28 of the catheter 14 may be tracked based on the magnetic fields generated using the location pad 25 and sensed by the magnetic-based position sensor 29. Details of magnetic-based position sensing technology are described, for example, in U.S. Patent Nos. 5,391,199; 5,443,489; 5,558,091; 6,172,499; 6,239,724; 6,332,089; 6,484,118; 6,618,612; 6,690,963; 6,788,967; and 6,892,091.

[0016] In some embodiments, the catheter 14 includes a contact force sensor 31 configured to sense a contact force applied by the distal tip 28 to tissue of the heart 12 and generate a signal indicative of the sensed contact force.

[0017] In some embodiments, system 10 includes one or more electrode patches 38 that are placed on patient 23 in skin contact to establish a location reference for location pads 25 and for impedance-based tracking of electrodes 26. For impedance-based tracking, current is directed to electrodes 26 and sensed at electrode skin patches 38, allowing the location of each electrode to be triangulated via electrode patches 38. This technique is also referred to herein as Advanced Current Location (ACL), and details of impedance-based location 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. In some embodiments, magnetic-based position sensing and ACL may be applied simultaneously to improve the position sensing of, for example, one or more electrodes coupled to a flexible arm or spline at the shaft of a rigid catheter or the distal tip of another type of catheter, such as, for example, a PentaRay® or OPTRELL® catheter available from Biosense Webster, Inc. (31A Technology Drive, Irvine, CA 92618).

[0018] In some embodiments, recorder 11 displays electrograms 21 captured by body surface ECG electrodes 18 and intracardiac electrograms (IEGMs) captured by electrodes 26 on catheter 14. Recorder 11 may include pacing capability for pacing the cardiac rhythm and / or may be electrically connected to a stand-alone pacer.

[0019] In some embodiments, system 10 may include an ablation energy generator 50 adapted to deliver ablation energy to one or more electrodes at the distal tip of a catheter configured for ablation. The energy generated by ablation energy generator 50 may include, but is not limited to, a pulse train of radiofrequency (RF) energy or pulsed-field ablation (PFA) energy, including unipolar or bipolar high-voltage DC pulses such as may be used to produce irreversible electroporation (IRE), or a combination thereof. In this embodiment, catheter 14 includes an ablation electrode 33, but optionally includes multiple electrodes 33 (not shown), positioned at distal tip 28 and configured to apply a pulse train of RF energy and / or PFA energy to tissue in the wall of heart 12.

[0020] In some embodiments, patient interface unit (PIU) 30 is an interface configured to establish electrical communication between catheters, electrophysiology equipment, a power source, and workstation 55 to control operation of system 10. The electrophysiology equipment of system 10 may include, for example, multiple catheters, location pads 25, body surface ECG electrodes 18, electrode patches 38, ablation energy generator 50, and recorder 11. Optionally and preferably, PIU 30 additionally includes processing capabilities for implementing real-time calculations of catheter location and performing ECG calculations.

[0021] In some embodiments, workstation 55 includes a storage device, a processor 77 with suitable random access memory or storage device having appropriate operating software stored thereon, an interface 56 configured to exchange data signals (e.g., between processor 77 and another entity of system 10), and user interface capabilities. Workstation 55 may optionally provide multiple functions, including: (1) modeling intracardiac anatomical structures in three dimensions (3D) and rendering a model or anatomical map 20 for display on display device 27; (2) displaying activation sequences (or other data) compiled from recorded electrograms 21 in a representative visual representation or image superimposed on the rendered anatomical map 20 on display device 27; (3) displaying real-time locations and orientations of multiple catheters within the cardiac chambers; and (4) displaying sites of interest, such as where ablation energy is being or is intended to be applied, on display device 27. In some embodiments, processor 77 is configured to receive position signals from at least one of position sensor 29 and an ACL. Based on this position signal, processor 77 is configured to track the position of distal tip 28 and display the position of distal tip 28 on map 20. One commercially available product embodying elements of system 10 is available as the CARTO™ 3 system, commercially available from Biosense Webster, Inc. (31A Technology Drive, Irvine, CA 92618).

[0022] In some embodiments, the processor 77 receives signals from the contact force sensor 31 indicative of the contact force applied between the ablation electrode 33 and the tissue intended to be ablated. Additionally, the processor 77 may store one or more contact force thresholds (e.g., a first threshold for an RF-based ablation mode and a second, different threshold for a PFA-based ablation mode) to provide the physician 24 with an indication of whether the contact force applied between the ablation electrode 33 and the tissue intended to be ablated is sufficient for the planned ablation mode.

[0023] 2A is a schematic, illustrative illustration of an electro-anatomical (EA) map 60A of tissue 44 of heart 12, according to an embodiment of the present invention. EA map 60A, also referred to herein as map 60A for simplicity, may replace at least a portion of map 20 of FIG. 1 above, for example.

[0024] In some embodiments, map 60A includes multiple sub-volumes (SVs), such as SVs 61 and 62 of heart 12. In this embodiment, the outer surface of tissue 44 is displayed within map 60A, such that the outer surface appears opaque and the interior volume of heart 12 is not displayed. During EA mapping of heart 12, physician 24 positions distal tip 28 at a selected location on the surface of tissue 44, and processor 77 receives (i) IEGM and / or ECG signals from electrodes 26 and (ii) position signals indicative of the position and orientation of distal tip 28. Based on the IEGM / ECG signals and the position signals, processor 77 is configured to display tags 63 indicative of attributes of heart 12 on the outer surface of tissue 44 of map 60A. For example, tags 63 may indicate an activation sequence (e.g., local activation time), which may illustrate, for example, the speed of EP waves propagating along surface 44. Note that although electrodes 26 may sense IEGM and / or ECG signals on the interior surface of tissue 44 (and other tissues of heart 12), tags in the interior volume of heart 12 are not displayed on map 60A because the exterior surface of tissue 44 appears opaque. Furthermore, the opacity of the exterior surface of tissue 44 provides physician 24 with a 3D effect of tissue 44 of heart 12, which may be useful for sensing additional signals at selected locations on the surface of tissue 44 and / or applying ablation energy to selected locations on the surface of tissue 44.

[0025] 2B is a schematic, illustrative illustration of an EA map 60B of tissue 44 of heart 12, according to an embodiment of the present disclosure. EA map 60B, also referred to herein as map 60B, may replace, for example, at least a portion of map 20 of FIG. 1 above.

[0026] In some embodiments, processor 77 is configured to hide the outer surface of tissue 44 in SV61 and SV62; in other words, the outer surface is transparent. Thus, processor 77 is configured to display tag 64 in addition to tag 63 (based on signals acquired on the outer surface of tissue 44). In the embodiment of FIGS. 2A and 2B (and in FIGS. 2C and 2D below), tag 64 appears to be located within the interior volume of EA map 60B. In fact, tag 64 is typically generated when electrode 26 is positioned to contact the surface of the interior wall of heart 12; therefore, tag 64 should be located within the EA map on the surface of the interior wall of heart 12, not within the interior volume of the EA map. Inaccuracies in this representation may occur during generation of the EA map. Such inaccuracies may occur, for example, due to movement caused by breathing of patient 23, or may also occur if physician 24 presses distal tip 28 too hard against the interior wall of heart 12 during mapping. These phenomena are also referred to as tenting, and their characteristics and detection techniques are described in detail, for example, in U.S. Patent No. 8,523,787 to Ludwin et al. and U.S. Patent Application Publication No. 2022 / 0225925 to Cohen et al.

[0027] Note that in this presentation, physician 24 can see both tags 63 and 64, but the 3D effect of heart 44 is lost in the presentation of map 60B.

[0028] 2C is a schematic, illustrative illustration of an EA map 60C of tissue 44 of heart 12, according to an embodiment of the present disclosure. EA map 60C, also referred to herein as map 60C, may replace, for example, at least a portion of map 20 of FIG. 1 above.

[0029] 2C, physician 24 moved distal tip 24 along the inner and outer surfaces of SV 62, but not SV 61. In some embodiments, based on the location of signals acquired by electrodes 26, processor 77 is configured to display the outer surface of tissue 44 (i) opaquely in SV 61 and (ii) transparently in SV 62. In such embodiments, processor 77 is configured to (i) display to physician 24 both tags 63 and 64 located on the outer surface and in the interior volume of heart 12, yet (ii) preserve some of the 3D effect of map 60C by displaying the outer surface of tissue 44 opaquely in unreached regions and / or regions not having tags of any kind (e.g., SV 61).

[0030] 2D is a schematic, illustrative illustration of an EA map 60D of tissue 44 of heart 12, according to an embodiment of the present disclosure. EA map 60D, also referred to herein as map 60D, may replace, for example, at least a portion of map 20 of FIG. 1 above.

[0031] In some embodiments, processor 77 is configured to dynamically change the transparency level in one or more sub-volumes of EA map 60D surrounding distal tip 28 in response to the tracked position of distal tip 28. In the context of this disclosure and the claims, the term "dynamically" refers to changing the transparency level in a selected sub-volume of an EA map (e.g., any of EA maps 20 and 60A-60D) within less than about 2 seconds of the most recent movement of distal tip 28. In the example of FIG. 2D , when distal tip 28 is positioned in sub-volumes (SV) 65 and SV66, processor 77 is configured to change the transparency level of SV65 and SV66 to reveal both tags 63 and 64 located within SV65 and SV66.

[0032] In the context of this disclosure and in the claims, the term "about" or "approximately" used in connection with any numerical value or range indicates a suitable dimensional tolerance that enables a portion of a component or a collection of components to function for its intended purpose as described herein.

[0033] Note that distal tip 28 cannot be present in both SV65 and SV66 simultaneously. The embodiment of Figure 2D in which distal tip 28 is presented in both SV65 and SV66 simultaneously cannot be done using a single distal tip 28 and is presented only to illustrate two different (but related) implementations of the techniques of the present disclosure.

[0034] Reference is now made to inset 69, which illustrates distal tip 28 located within SV 66 of EA map 60D. In the example of inset 69, processor 77 is configured to change the transparency level of the surface of tissue 44 in SV 66 to display tags 63 and 64 within SV 66 and, optionally, distal tip 28. In this example, processor 77 is configured to dynamically change the transparency of EA map 60D in SV 66 based on the locations of tags 63 and 64 and in response to the location of distal tip 28. For example, processor 77 is configured to display the interior volume of SV 66 at a selected distance of approximately 1 mm to 15 mm from distal tip 28.

[0035] In other embodiments, the processor 77 is configured to display the interior volume of the heart 12 in a predetermined sub-volume surrounding the distal tip 28 (e.g., using a transparent view), regardless of the presence of tags or other types of annotations in the displayed interior volume.

[0036] In an alternative embodiment, after applying ablation energy to tissue of heart 12 at the new location, processor 77 is configured to receive the new location and / or generate a new tag (e.g., new tag 64) at the new location. In such an embodiment, processor 77 is configured to change the transparency of a new subvolume within the anatomical map (e.g., map 60C or 60D) surrounding new tag 64. Note that the change in transparency is independent of the position of distal tip 28. For example, if new tag 64 is generated at SV66 while distal tip 28 is positioned at SV65, processor 77 is configured to change the transparency of SV66 even though distal tip 28 is not positioned within or proximate to SV66.

[0037] In other embodiments, instead of using a predetermined sub-volume, processor 77 is configured to vary the size of the sub-volume surrounding distal tip 28 to include or exclude, for example, tags 63 and 64, and other features of interest located around distal tip 28. For example, (i) if none of tags 64 are located within an approximately 20 mm sub-volume surrounding distal tip 28, processor 77 may determine the size of the sub-volume surrounding distal tip 28 to be approximately 3 mm from distal tip 28, and (ii) if tags 64 are located within an approximately 5 mm sub-volume surrounding distal tip 28, processor 77 may determine the size of the sub-volume surrounding distal tip 28 to be approximately 10 mm or even 15 mm from distal tip 28.

[0038] Note that even if SV 62 includes tag 64 (as shown in FIGS. 2B and 2C), that tag 64 is of little interest to physician 24 when distal tip 28 is not moved into SV 62. Therefore, processor 77 is configured to provide an opaque visualization of the outer surface of SV 62 to a user (e.g., physician 24) so ​​as to preserve the effect of the 3D topography of heart 12 on SV 62.

[0039] Reference is now made to inset 67, which illustrates distal tip 28 located proximate SV 65 of EA map 60D. In the example of inset 67, processor 77 is configured to change the transparency level of the surface of tissue 44 in SV 65 to display tags 63 and 64 (within SV 65) and distal tip 28 located proximate thereto. More specifically, processor 77 is configured to maintain a threshold value for distance 68 between distal tip 28 and the nearest tag 64, in this example, tag 64a. Based on the stored location of tag 64 in EA map 60D, the threshold value, and in response to the location of distal tip 28, processor 77 is configured to (i) identify when distance 68 (between distal tip 28 and tag 64a) is less than the threshold value, and (ii) dynamically change the transparency of EA map 60D in SV 65 to enable physician 24 (and other users) to visualize the interior volume of heart 12 in SV 65.

[0040] In some embodiments, based on the position signals indicating the tracked position of the distal tip 28, the processor 77 is configured to estimate the direction of movement of the distal tip 28. For example, based on the orientation of the distal tip 28, the processor 77 may estimate the direction of movement to be approximately parallel to the longitudinal axis 70 of the distal tip 28. In some embodiments, the processor 77 may define a first threshold along the direction of movement and a second, different threshold along another direction different from the direction of movement. In this embodiment, the processor 77 may set the first threshold to approximately 10 mm, such that any tags 63 and 64 located less than 10 mm from the distal tip 28 along the direction of movement are presented to the physician 24, for example, using a transparent view. Furthermore, if one or more tags 64 are positioned, for example, at an angle greater than about 100° relative to the direction of movement (referred to herein as rearward of distal tip 28), processor 77 may set the second threshold to about 5 mm, or possibly less than 5 mm, since the distance between distal tip 28 and the tag(s) located behind it increases upon subsequent movement of distal tip 28. In the example of inset 67, tag 64a is positioned at an acute angle relative to longitudinal axis 70 of distal tip 28, so the threshold may be about 8 mm to 10 mm.

[0041] It should be noted that in response to movement of the distal tip 28 away from SV65 and SV66, the processor 77 is configured to again change the transparency of SV65 and SV66 so that the tissue 44 becomes opaque, thereby obstructing visibility of the internal volume of the heart 12 at SV65 and SV66.

[0042] FIG. 3 is a flowchart that schematically illustrates a method for dynamically adjusting the transparency of one or more sub-volumes in an EA map 60 of a heart 12, according to one embodiment of the present disclosure.

[0043] The method begins at tag location receiving step 100, where processor 77 receives the locations of tags 63 and 64 within (a map of) heart 12. Note that processor 77 typically generates anatomical map 20, although in other embodiments processor 77 may receive a map stored in any suitable memory of system 10. Additionally, processor 77 may receive a threshold value, as described above in FIG. 2D , which may be used as a decision threshold for varying the transparency level of tissue 44 depending on the distance between distal tip 28 and the nearest tag 64.

[0044] In catheter position tracking step 102, processor 77 receives position signals from position sensor 29 and / or ACL system indicating the position and orientation of distal tip 28 being moved by physician 24 within heart 12, as described in detail in Figures 1 and 2A-2D above.

[0045] At decision step 104, processor 77 is configured to check whether the distance between distal tip 28 and the nearest tag (or another type of predetermined annotation) is less than a threshold. As shown in the example of FIG. 2D, processor 77 checks whether distance 68 (between distal tip 28 and tag 64a) is greater than or less than a threshold stored in processor 77.

[0046] In a transparency change step 106, in response to identifying that the distance 68 is less than a threshold, the processor 77 is configured to dynamically change the transparency level in the subvolume 65 or any other subvolume of the map 60D surrounding the distal tip 28 and at least the nearest tag 64a.

[0047] At a display step 108, based on the modified transparency level received from processor 77, display device 27 is configured to display to physician 24 a sub-volume surrounding both distal tip 28 and at least the nearest tag, e.g., tag 64a. Note that if physician 24 moves distal tip 28, the method may loop back to step 102; however, if physician 24 is not interested in moving to additional locations within heart 12, the method ends at step 108. Generally, display device 27 is configured to (i) display an anatomical map (e.g., EA map 60D) using a first transparency level (e.g., an opaque view of tissue 44) and (ii) display a sub-volume (e.g., SV 66) surrounding distal tip 28 using a second transparency level (e.g., a transparent view) different from the first transparency level. Note that in the example shown in FIGS. 2A-2D , the sub-volume of heart 12 is either fully transparent or fully opaque. However, in other embodiments, the processor 77 may determine any suitable transparency level for any sub-volume of the heart 12, and the transparency level may be predefined or based on features of interest (e.g., tags 64) located within the sub-volume of interest of the heart 12.

[0048] Referring back to step 104, if distance 68 is greater than the stored threshold, the method proceeds to an opaque view display step 110, where processor 77 is configured to set an opaque view in a sub-volume surrounding distal tip 28. In this example, the interior volume of heart 12 in the sub-volume surrounding distal tip 28 is occluded by tissue 44 of heart 12, and the method loops back to step 102 while physician 24 moves distal tip 28 within a cavity (e.g., a heart chamber) of heart 12. Note that if physician 24 is not interested in moving to additional sites within heart 12, the method may end at step 110.

[0049] In an alternative example of step 110, processor 77 and display device 27 are configured to display (e.g., using a transparent view) the interior volume of heart 12 in a predetermined region surrounding distal tip 28. In one implementation shown in inset 69 of FIG. 2D above, processor 77 and display device 27 are configured to display tags 63 and 64 in SV 66 using a transparent view. In another embodiment, processor 77 and display device 27 may display the interior volume surrounding distal tip 28 within heart 12 using a transparent view, regardless of whether tags or other types of annotations are located in the displayed interior volume.

[0050] FIG. 4 is a flow chart that schematically illustrates a method for dynamically adjusting the transparency of sub-volumes having ablation tags 63 and 64 in an EA map 60 of a heart 12, according to another embodiment of the present disclosure.

[0051] The method begins at an anatomical map display step 200, where processor 77 displays anatomical map 20, or at least a portion of map 20, such as map 60A shown in FIG. 2A above.

[0052] In a tag receiving step 202, processor 77 receives the location of a new tag 64 formed in the anatomical map in response to ablation energy applied to heart 12 at the tag's location. In some embodiments, processor 77 generates the tag after controlling the ablation process at the location, and thus processor 77 may determine, rather than receive, the location of new tag 64.

[0053] In a transparency change step 204, which ends the method, the processor 77 is configured to dynamically change the transparency level of the anatomical map in the sub-volume surrounding the new tag 64, as shown in the example of maps 60B-60D shown in Figures 2B-2D above.

[0054] Note that in the method of Figure 3, the transparency level of the selected sub-volume in the anatomical map depends on the position of the distal tip 28. However, in the method of Figure 4, the transparency level of the sub-volume surrounding the new tag 64 is changed regardless of the position of the distal tip 28.

[0055] In some embodiments, the anatomical map may have multiple tags, e.g., a first tag and a second tag formed after ablating tissue at a first location and a second location, respectively. In such embodiments, processor 77 is configured to (i) dynamically change the transparency level of the anatomical map in a first sub-volume surrounding the first tag, and subsequently (ii) dynamically change the transparency level of the anatomical map in a second sub-volume surrounding the second tag while maintaining the changed transparency level of the first sub-volume. For example, (i) physician 24 may perform a first ablation, in response to which a first tag is generated, and processor 77 makes the outer surface of the heart transparent in the first sub-volume to display the first tag, and then (ii) physician 24 performs a second ablation, in response to which a second tag is generated, and processor 77 (a) makes the outer surface of the heart transparent in the second sub-volume to display the second tag, and (b) maintain the transparency of the first sub-volume to display the first tag. In other words, the altered transparency levels of the first and second sub-volumes are cumulative and depend on the number of new tags formed after ablating tissue at each new location during the ablation procedure.

[0056] Example 1 The system (10) includes a processor (77) and a display (27). The processor is configured to (b) receive, in an anatomical map (20, 60A-60D) of an organ (12), a tracked position of a distal tip (28) of a catheter (14) moved within the organ, and (c) dynamically change a transparency level in a sub-volume (62, 65, 66) of the anatomical map of the organ surrounding the distal tip in response to the tracked position. The display is configured to display (i) the anatomical map using a first transparency level and (ii) the sub-volume surrounding the distal tip using a second transparency level different from the first transparency level.

[0057] Example 2 The system described in Example 1, wherein the organ includes a heart and the distal tip of the catheter includes one or both of (i) one or more sensing electrodes configured to sense electroanatomical signals when placed in contact with cardiac tissue, and (ii) one or more ablation electrodes configured to apply ablation energy when placed in contact with cardiac tissue.

[0058] Example 3 3. The system of example 2, wherein the anatomical map includes at least a tag, the tag being displayed at a given location on the anatomical map and indicating an attribute of the heart at the given location.

[0059] Example 4 4. The system of example 3, wherein the processor is configured to change the size of the sub-volume depending on the distance between the tracked position of the distal tip and the position of the tag.

[0060] Example 5 The system of Example 2, wherein the first transparency level includes an opaque view of the exterior of the anatomical map for visualizing a three-dimensional (3D) topography of the anatomical map to a user.

[0061] Example 6 The system of Example 2, wherein the second transparency level includes a fully transparent view of the outer surface in a subvolume of the anatomical map to display to the user organ features within the subvolume surrounding the distal tip.

[0062] Example 7 The system of Example 1, wherein when the distal tip is moved and reaches a given position within the organ, the processor is configured to dynamically change the transparency level within 2 seconds after the distal tip reaches the given position.

[0063] Example 8 A system (10), comprising: a processor (77) configured to receive (i) a first position of a tag (64a) located within an interior volume of an anatomical map (60D) of an organ (12), the first position of the tag (64a) indicative of an attribute of the organ at the first position, and (ii) one or more second positions of a distal tip (28) of a catheter (14) being moved within the organ, wherein the processor (77) is configured to change a transparency level of a sub-volume of the anatomical map that includes the distal tip and the tag when a distance (68) between at least one of the first and second positions is less than a threshold; a display configured to display the sub-volume and the anatomical map to a user.

[0064] Example 13 receiving, in an anatomical map (60D) of the organ (12), a tracked position of the distal tip (28) of the catheter (14) moved within the organ; dynamically changing the transparency level in a subvolume (62) of the anatomical map of the organ surrounding the distal tip according to the tracked position; A method comprising: (i) displaying an anatomical map using a first transparency level; and (ii) displaying a subvolume surrounding the distal tip using a second transparency level different from the first transparency level.

[0065] Example 19 receiving, in an anatomical map (60AC, 60D) of the organ (12), the location of tags (63, 64) formed in the organ according to a medical procedure performed at said location; dynamically changing the transparency level in a subvolume (62) of the anatomical map of the organ surrounding the tag; 1. A method comprising: (i) displaying an anatomical map using a first transparency level; and (ii) displaying a subvolume surrounding the tag using a second transparency level different from the first transparency level.

[0066] While the embodiments described herein primarily relate to techniques for dynamically varying the transparency level of sub-volumes within a patient's heart during an electrophysiology (EP) procedure, the methods and systems described herein may also be used in other applications, such as dynamically displaying the interior volume or surface of any other suitable organ of a patient.

[0067] 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. Rather, the scope of the present disclosure includes both combinations and subcombinations of the various features described above, as well as variations and modifications thereof that would occur to one skilled in the art upon reading the foregoing description and that are not disclosed in the prior art. Documents incorporated by reference into this patent application are to be considered an integral part of this application, provided that, to the extent that any term in these incorporated documents is defined in a manner that contradicts a definition expressly or implicitly made herein, only the definition in this specification shall be considered.

[0068] [Embodiment] (1) receiving, in an anatomical map of an organ, a location of a tag formed within the organ in response to a medical procedure performed at the location; dynamically changing a transparency level in a sub-volume of the anatomical map of the organ surrounding the tag; (i) displaying the anatomical map using a first transparency level, and (ii) displaying the sub-volume surrounding the tag using a second transparency level different from the first transparency level. (2) The method of embodiment 1, wherein the organ includes a heart, the medical procedure includes ablation energy applied to tissue of the heart at the location, and the tag indicates the ablation energy applied to the tissue. (3) A system comprising: 1. A processor, comprising: receiving, on an anatomical map of an organ, a tracked position of a distal tip of a catheter moved within the organ and presented on the anatomical map; a processor configured to dynamically change a transparency level in a sub-volume of the anatomical map of the organ surrounding the distal tip in response to the tracked position; a display configured to display (i) the anatomical map using a first transparency level, and (ii) the sub-volume surrounding the distal tip using a second transparency level different from the first transparency level. (4) The system of embodiment 3, wherein the organ includes a heart, and the distal tip of the catheter includes one or both of (i) one or more sensing electrodes configured to sense electroanatomical signals when placed in contact with tissue of the heart, and (ii) one or more ablation electrodes configured to apply ablation energy when placed in contact with tissue of the heart. (5) The system described in embodiment 4, wherein the anatomical map includes at least a tag, the tag being displayed at a given location on the anatomical map and indicating an attribute of the heart at the given location.

[0069] (6) The system of embodiment 5, wherein the processor is configured to change the size of the sub-volume depending on the distance between the tracked position of the distal tip and the position of the tag. (7) The system of embodiment 4, wherein the first transparency level includes an opaque view of the outer surface of the anatomical map for visualizing the three-dimensional (3D) topography of the anatomical map to a user. (8) The system of embodiment 4, wherein the second transparency level includes a fully transparent view of the outer surface of the sub-volume of the anatomical map to display to the user features of the organ within the sub-volume surrounding the distal tip. (9) The system of embodiment 3, wherein when the distal tip is moved and reaches a given position within the organ, the processor is configured to dynamically change the transparency level within 2 seconds after the distal tip reaches the given position. (10) A system comprising: a processor configured to receive (i) a first location of a tag located within an interior volume of an anatomical map of an organ, the first location of the tag indicative of an attribute of the organ at the first location, and (ii) one or more second locations of a distal tip of a catheter being moved within the organ, wherein when a distance between the first location and at least one of the second locations is less than a threshold, the processor is configured to change a transparency level of a sub-volume of the anatomical map that includes the distal tip and the tag; a display configured to display the sub-volume and the anatomical map to a user.

[0070] (11) The system of embodiment 10, wherein the processor is configured to estimate a movement direction of the distal tip based on the one or more second positions, and the thresholds include (i) a first threshold along the movement direction, and (ii) a second threshold along a given direction other than the movement direction, the second threshold being different from the first threshold. (12) The system of embodiment 10, wherein the processor is configured to apply a first transparency level to the anatomical map and a second transparency level, different from the first transparency level, to the subvolume of the anatomical map that includes the distal tip and the tag. (13) The system of embodiment 10, wherein the second transparency level is greater than the first transparency level to display to the user the sub-volume including at least the distal tip and the tag. (14) The system of embodiment 10, wherein the organ includes a heart and the tag is based on at least one of an electrocardiogram signal and an intracardiac electrogram signal acquired when the distal tip is located at the first position. (15) receiving, in an anatomical map of the organ, a tracked position of a distal tip of the catheter moved within the organ; dynamically varying a transparency level in a sub-volume of the anatomical map of the organ surrounding the distal tip in response to the tracked position; (i) displaying the anatomical map using a first transparency level, and (ii) displaying the sub-volume surrounding the distal tip using a second transparency level different from the first transparency level.

[0071] (16) The method of embodiment 15, wherein the organ includes a heart, and the distal tip of the catheter includes one or both of (i) one or more sensing electrodes for sensing electroanatomical signals when placed in contact with tissue of the heart, and (ii) one or more ablation electrodes for applying ablation energy when placed in contact with tissue of the heart. (17) The method of embodiment 16, wherein the anatomical map includes at least a tag, the tag being displayed at a given location on the anatomical map and indicating an attribute of the heart at the given location. (18) The method of embodiment 17, comprising changing the size of the sub-volume depending on the distance between the tracked position of the distal tip and the position of the tag. (19) The method of embodiment 15, wherein displaying the anatomical map includes displaying an opaque view of an outer surface of the anatomical map to visualize a three-dimensional (3D) topography of the anatomical map to a user. (20) The method of embodiment 15, wherein displaying the sub-volume surrounding the distal tip includes displaying a fully transparent view of the exterior surface in the sub-volume of the anatomical map to enable a user to visualize features of the organ within the sub-volume surrounding the distal tip.

Claims

1. 1. A system comprising:

1. A processor, comprising: receiving, on an anatomical map of an organ, a tracked position of a distal tip of a catheter moved within the organ and presented on the anatomical map; a processor configured to dynamically change a transparency level in a sub-volume of the anatomical map of the organ surrounding the distal tip in response to the tracked position; a display configured to display (i) the anatomical map using a first transparency level, and (ii) the sub-volume surrounding the distal tip using a second transparency level different from the first transparency level.

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

3. The system of claim 2 , wherein the anatomical map includes at least tags, the tags being displayed at given locations on the anatomical map to indicate attributes of the heart at the given locations.

4. The system of claim 3 , wherein the processor is configured to change the size of the sub-volume depending on the distance between the tracked position of the distal tip and a position of the tag.

5. The system of claim 2 , wherein the first transparency level comprises an opaque view of an outer surface of the anatomical map for visualizing a three-dimensional (3D) topography of the anatomical map to a user.

6. The system of claim 2 , wherein the second transparency level includes a fully transparent view of an outer surface of the sub-volume of the anatomical map to display to a user features of the organ within the sub-volume surrounding the distal tip.

7. 2. The system of claim 1, wherein when the distal tip is moved and reaches a given position within the organ, the processor is configured to dynamically change the transparency level within 2 seconds after the distal tip reaches the given position.

8. 1. A system comprising: a processor configured to receive (i) a first location of a tag located within an interior volume of an anatomical map of an organ, the first location of the tag indicative of an attribute of the organ at the first location, and (ii) one or more second locations of a distal tip of a catheter being moved within the organ, wherein the processor is configured to change a transparency level of a sub-volume of the anatomical map that includes the distal tip and the tag when a distance between the first location and at least one of the second locations is less than a threshold; a display configured to display the sub-volume and the anatomical map to a user.

9. 9. The system of claim 8, wherein the processor is configured to estimate a movement direction of the distal tip based on the one or more second positions, and the thresholds include (i) a first threshold along the movement direction, and (ii) a second threshold along a given direction other than the movement direction, the second threshold being different from the first threshold.

10. 9. The system of claim 8, wherein the processor is configured to apply a first transparency level to the anatomical map and a second transparency level, different from the first transparency level, to the sub-volume of the anatomical map that includes the distal tip and the tag.

11. The system of claim 8 , wherein the second transparency level is greater than the first transparency level to display to the user the sub-volume including at least the distal tip and the tag.

12. 9. The system of claim 8, wherein the organ includes a heart, and the tag is based on at least one of an electrocardiogram signal and an intracardiac electrogram signal acquired when the distal tip is located at the first position.

13. receiving, in an anatomical map of an organ, a location of a tag formed in the organ in response to a medical procedure performed at said location; dynamically changing a transparency level in a sub-volume of the anatomical map of the organ surrounding the tag; (i) displaying the anatomical map using a first transparency level, and (ii) displaying the sub-volume surrounding the tag using a second transparency level different from the first transparency level.

14. 14. The method of claim 13, wherein the organ includes a heart, the medical procedure includes ablation energy applied to tissue of the heart at the location, and the tag indicates the ablation energy applied to the tissue.

15. receiving, in an anatomical map of an organ, a tracked position of a distal tip of a catheter moved within the organ; dynamically varying a transparency level in a sub-volume of the anatomical map of the organ surrounding the distal tip in response to the tracked position; (i) displaying the anatomical map using a first transparency level, and (ii) displaying the sub-volume surrounding the distal tip using a second transparency level different from the first transparency level.

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

17. 17. The method of claim 16, wherein the anatomical map includes at least tags, the tags being displayed at given locations on the anatomical map to indicate attributes of the heart at the given locations.

18. The method of claim 17 , comprising resizing the sub-volume in response to a distance between the tracked position of the distal tip and a position of the tag.

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

20. 16. The method of claim 15, wherein displaying the sub-volume surrounding the distal tip comprises displaying a fully transparent view of an exterior surface in the sub-volume of the anatomical map to allow a user to visualize features of the organ within the sub-volume surrounding the distal tip.

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