Computerized methods, systems, and GUIs for real-time proximity feedback in intraluminal catheter therapy.

Abstract

This computer system provides real-time, continuous graphical proximity feedback based on changes in electrical impedance sensed by the electrodes of a catheter. [Solution] The computer implementation method provides real-time visual feedback of intraluminal catheter engagement within a patient's luminal organ. A catheter with electrodes on its distal end assembly is positioned within the organ, a 3D model of its internal surface is generated, and it is rendered as a 3D anatomical map. For each electrode, a proximity value indicating the distance to the tissue wall is determined based on at least measured impedance and converted into a graphical attribute value. Continuous proximity visualization features are formed by ordering graphical attributes according to electrode positions representing variations in proximity. The features are projected onto the 3D anatomical map, creating an integrated graphical representation displayed on a computer display.

Description

Technical Field

[0001] The subject matter of the present disclosure relates to intraluminal catheter therapy.

Background Art

[0002] Intraluminal catheter therapy (ICT) or catheterization is an extremely important means in the medical field for both the diagnosis and treatment of various medical disorders. This minimally invasive procedure involves introducing an elongated flexible tube or catheter into a luminal organ. Catheters equipped with electrodes are used, inter alia, to map the lumen and identify the exact location associated with an abnormal medical condition.

[0003] Cardiac ICT is a specific example of ICT and is an important tool for both the diagnosis and treatment of cardiac disorders, particularly arrhythmias. This involves inserting a catheter equipped with electrodes into the heart through a blood vessel, using the catheter to generate a map of the electrical activity of the heart, and identifying the exact location of abnormal electrical activity. The identified site can then be treated through ablation, and the target energy neutralizes the abnormal tissue and restores a normal heart rhythm. This integrated approach has revolutionized cardiac treatment and provided patients with a less invasive option with a shorter recovery time.

Summary of the Invention

Means for Solving the Problems

[0004] An important aspect of catheterization is to ensure an accurate and effective interaction between the distal end assembly of the catheter and the target tissue or anatomical structure. Proximity detection of the electrodes of the catheter to the tissue wall of the organ is important for accurate and effective results.

[0005] Medical practitioners (e.g., physicians) manipulating catheters can benefit from knowing the level of contact between the catheter and the tissue wall, in other words, how much force is being applied to the tissue wall. The force distribution on the distal end assembly can help physicians to precisely manipulate the end. Furthermore, it is desirable to avoid applying excessive force to the tissue when manipulating the catheter, as this can cause deformation of the tissue surface, such as tenting, resulting in inefficient procedures. An indicator of the force applied to the tissue wall is also useful during various other procedures, such as pulsed field ablation (PFA). Too little contact may render the ablation ineffective, while too much pressure can cause excessive tissue damage.

[0006] Feedback regarding catheter engagement with tissue is crucial in all these situations. Engagement includes proximity measurements that directly indicate the distance to the tissue, and forces that can be inferred from variations in these measurements. This feedback allows physicians to dynamically adjust catheter positioning and applied force, supporting accurate catheter navigation and effective treatment. By utilizing impedance measurements and dynamically adjusting the visual appearance of a graphical indicator representing electrode proximity, the system enables physicians to make precise, real-time adjustments to catheter positioning and applied force. This ensures accurate mapping, effective ablation, and a lower risk of tissue damage. For example, low impedance may prompt repositioning to improve tissue contact, while high impedance signals excessive pressure, requiring force reduction to prevent tissue tenting or damage.

[0007] Existing visualization techniques utilize graphical representations in addition to the graphical representation of the catheter itself, often resulting in crowded and visually dense displays. Since catheters are typically positioned within the volume of the heart, anatomical maps representing the internal structure of the heart can obscure the catheter's display data. Rendering the map semi-transparent is a common approach applied to address this problem, but this complicates depth perception and can further hinder usability.

[0008] The subject matter of this disclosure includes a computer system, method, and graphical user interface (GUI) that provide real-time, continuous graphical proximity feedback in accordance with changes in electrical impedance sensed by electrodes of a catheter. Unlike conventional approaches, this system shifts visual feedback to an anatomical map by applying continuous visualization that dynamically represents proximity data directly onto an anatomical map in a seamless and uninterrupted manner on a mapped surface.

[0009] For example, by presenting real-time, continuous visual feedback on an anatomical map rather than around the catheter's representation, the system provides a clearer, more interpretable display that avoids visual confusion and improves the physician's ability to interpret and respond to proximity information. [Brief explanation of the drawing]

[0010] To understand the subject matter of this disclosure and to see how it can actually be put into practice, the subject matter is described here only as a non-limiting example, with reference to the attached drawings. [Figure 1] This is a schematic diagram and example of a catheter-based electrophysiological mapping and ablation system 10. [Figure 2]This block diagram schematically illustrates a computer system configured to provide graphical ICT proximity feedback according to an embodiment of the subject matter of this disclosure. [Figure 3] This is a schematic block diagram illustrating a real-time proximity feedback engine implemented as part of the computer system shown in Figure 2, according to an embodiment of the subject matter of this disclosure. [Figure 4] This is a flowchart of the actions performed to provide continuous visual proximity feedback according to an embodiment of the subject matter of this disclosure. [Figure 5] This is a graph illustrating the impedance-neighbor profile according to an embodiment of the subject matter of this disclosure. [Figure 6] An embodiment of a continuous visual proximity feedback implementation, as disclosed herein, is illustrated. [Figure 7] This is a flowchart of the actions performed to provide directional proximity feedback according to an embodiment of the subject matter of this disclosure. [Figure 8] An embodiment of directional proximity feedback, as disclosed herein, is described. [Figure 9] This is a flowchart of the actions taken for a dynamic model update procedure derived from proximity, according to an embodiment of the subject matter of this disclosure. [Modes for carrying out the invention]

[0011] The following detailed description includes many specific details to help fully understand the invention. However, it will be understood by those skilled in the art that the subject matter disclosed herein can be carried out without these specific details. In other cases, well-known methods and features are not described in detail so as not to obscure the subject matter disclosed herein.

[0012] We focus on Figure 1, which illustrates an embodiment of the ICT system. More specifically, Figure 1 shows a catheter-based electrophysiological mapping system 10. In some cases, the system 10 can also be used for ablation. The system 10 includes one or more catheters that are percutaneously inserted by a physician 24 into the cardiac chambers or vascular structures of the heart 12 through the patient's vascular system. Typically, a delivery sheath catheter is inserted into the left or right atrium near a desired location in the heart 12. One or more catheters may then be inserted into the delivery sheath catheter to reach a desired location within the heart 12. Catheter types may include, for example, catheters dedicated to sensing intracardiac electrogram (IEGM) signals, catheters dedicated to ablation, and / or catheters dedicated to both sensing and ablation. An exemplary catheter 14 is illustrated herein. In some embodiments, the physician 24 may position the distal end assembly 28 of the catheter 14 in contact with the cardiac wall to sense a target site in the heart 12. For ablation, physician 24 may also position the distal end of the ablation catheter in contact with the target site for tissue ablation.

[0013] Catheter 14 is an exemplary catheter comprising a distal assembly and optionally having one, preferably more than one, electrodes 66 distributed across a plurality of frame elements 62 at the distal tip 28. The electrodes are generally configured to deliver ablation energy to tissue and / or to sense electrical signals of the heart. Catheter 14 additionally includes one or more position sensors 70 implanted in or near the distal tip 28 to track the position and orientation of the distal tip 28. The position sensors 70 may be, for example, magnetic-based position sensors, such as a position sensor comprising three magnetic coils for sensing three-dimensional (3D) position and orientation, or a position sensor comprising one magnetic coil for sensing a single direction. One commercially available catheter incorporating the features of the disclosed catheter is the VARIPULSE® pulsed-field ablation (PFA) catheter, available from Biosense Webster Inc., 31A Technology Drive, Irvine, CA 92618.

[0014] In one embodiment, electrical activity at points within the heart is typically sensed and measured by inserting a catheter incorporating one or more electrical sensors into the cardiac chambers and acquiring data at multiple points. These data are then used to compute an electroanatomical map (or "electroanatomical map") of the cardiac chambers or a portion thereof. In another embodiment, an anatomical map, such as one generated from an MRI or CT scan, is imported into the system.

[0015] A magnetic-based position sensor 70 may operate in conjunction with a location pad 25 which includes a plurality of magnetic coils 32 configured to generate a magnetic field within a given working volume. The real-time position of the distal end of the shaft of the catheter 14 may be tracked based on the magnetic field generated by the location pad 25 and sensed by the magnetic-based position sensor 70. Details of magnetic-based position sensing technology are described in U.S. Patents No. 5,539,199, No. 5,443,489, No. 5,558,091, No. 6,172,499, No. 6,239,724, No. 6,332,089, No. 6,484,118, No. 6,618,612, No. 6,690,963, No. 6,788,967, and No. 6,892,091.

[0016] System 10 may further include one or more electrode patches 38 positioned to contact the skin on the patient 23 in order to establish a location reference for the location pad 25 and impedance-based tracking of the electrodes 66. In the case of impedance-based tracking, a current is directed to the electrodes 66 and sensed in the electrode skin patches 38 so that the location of each electrode can be triangulated through the electrode patches 38. Details of impedance-based location tracking technology are described in U.S. Patents 7,536,218, 7,756,576, 7,848,787, 7,869,865, and 8,456,182.

[0017] Electrode 66 may also be configured to receive an AC signal while paired with a reference electrode. The impedance in response to the AC signal may be sensed and used to determine local proximity between electrode 66 and a tissue wall (e.g., a cavity wall). An exemplary method for evaluating proximity based on impedance is described, for example, in U.S. Patent Application Publication No. 20210177504.

[0018] Recorder 11 can be used to record and display the electrocardiogram 21 captured by the body surface ECG electrode 18 and the intracardiac electrogram (IEGM) captured by the electrode 66 of the catheter 14. Recorder 11 may include pacing capabilities for pacing the rhythm of the heart and / or may be electrically connected to an independent pacer.

[0019] In some embodiments, system 10 includes an ablation energy generator 50, which is adapted to conduct ablation energy to electrode 66 at the distal tip of a catheter configured to ablate. The energy generated by ablation energy generator 50 can include radiofrequency (RF) energy, or pulsed field ablation (PFA) energy including unipolar or bipolar high voltage DC pulses that can be used to perform irreversible electroporation (IRE), or combinations thereof, but is not limited thereto.

[0020] In some embodiments, system 10 further includes a patient interface unit (PIU) 30, which is an interface device configured to establish electrical communication between a catheter, other electrophysiological devices, a power source, and a workstation 55 for controlling the operation of system 10. The electrophysiological devices of system 10 can include, for example, a plurality of catheters, location pads 25, body surface ECG electrodes 18, electrode patches 38, ablation energy generator 50, and recorder 11. According to some embodiments, PIU 30 additionally includes processing capabilities for implementing real-time calculation of the location of the catheter and for performing ECG calculations.

[0021] Workstation 55 includes a processing circuit with one or more processors operably connected to a certain type of computer memory. Appropriate operating software and user interface capabilities can be executed by the processing circuit. Workstation 55 optionally, for example, render a 3D graphical representation of a model (a "3D anatomical map") 20 to model the endocardial anatomical structure in 3D and display it on display device 27, and on display device 27, display the activation sequence or other data compiled from the recorded potential map 21 on the rendered anatomical map 20 as an overlaid or overlaid representative visual symbol (e.g., by color coding) or image, display the real-time location and orientation of one or more catheters within the heart chamber, and display on display device 27 the sites of interest such as the locations where ablation energy is applied, etc., and can provide multiple functions including. One commercially available product embodying the elements of system 10 is available as the CARTO (trademark) 3 system, commercially available from Biosense Webster.

[0022] FIG. 2 illustrates, as an example, a computer system configured to process, render, and display visual feedback of the proximity of a catheter to a tissue wall in real time during intravascular catheter therapy (ICT). Such a computer system may correspond, for example, to computer 55 shown as part of system 10 of FIG. 1. As described further below, the computer system is designed to provide dynamic and continuous proximity feedback by integrating measurements from the electrodes of the catheter and projecting them onto a 3D anatomical map of the anatomical structure being examined. This allows the spatial relationship of the catheter to the tissue wall to be clearly visualized.

[0023] System 55, as an embodiment, shows a processing circuit 200 including at least one processing unit, such as a central processing unit (CPU 201) and / or a graphics processing unit (GPU 205), operably connected to computer memory 203. According to the embodiments disclosed herein, the processing circuit is configured to generate, render, and display a 3D anatomical map. This graphical representation serves as a visual reference for anatomical structures (e.g., the heart) and supports real-time interaction with catheter positioning and proximity feedback.

[0024] The processing circuitry generates 3D anatomical maps, manages and displays proximity data, and performs calculations and other operations necessary to support system tasks. For example, CPU201 may handle data processing and system tuning, while GPU205 may accelerate graphical rendering tasks such as creating anatomical maps, applying textures, and overlaying real-time proximity feedback onto 3D graphical representations.

[0025] Memory 203 is configured to store data necessary for system operation, including, for example, dedicated computer instructions for generating, updating, and displaying 3D graphical representations and proximity feedback. Furthermore, data storage device 210 stores various types of data, such as computer programs, system files, and user interface software, which can be loaded into memory 203 during execution.

[0026] Figure 2 illustrates, as an example, several functional modules executable by the computer 55, which are stored in the data storage device 210 and loaded into memory 203 during operation to enable real-time processing and visualization. These functional modules are, A cardiac mapping module 211 is configured to map the internal lumen surface of the heart and generate a 3D model of the endocardial anatomical structure of the heart, A map rendering module 213 configured to render a 3D graphical representation of a model and display it on a display device, An impedance measurement module 215 configured to receive impedance measurements from electrodes, The system includes a real-time proximity feedback engine 220 configured to calculate proximity values ​​based on measured impedance and generate continuous visual (graphical) proximity feedback projected onto a 3D graphical representation of the heart. This integrated display reduces visual clutter and allows physicians to efficiently evaluate and adjust the catheter's position relative to cardiac tissue in real time.

[0027] Optionally, the computer system 55 includes a mapping update module 217 configured to perform a dynamic model update procedure derived from proximity, as further described with reference to Figure 9.

[0028] A display device (corresponding, for example, to the display 27 shown in Figure 1) and a user interface device 207 such as a mouse, keyboard, or touchscreen are operably connected to a computer 55 to enable real-time visualization and interaction with a graphical display. This interface allows the physician to view a 3D graphical representation of the heart and simultaneously evaluate proximity feedback, facilitating real-time adjustments to catheter positioning.

[0029] Figure 3 illustrates a non-limiting embodiment of the logic design of the real-time proximity feedback engine 220. The engine is: The system includes a TPI calculator 323 configured to calculate a tissue proximity index (TPI) value based on impedance measurements obtained from a catheter electrode, a proximity visualization module 325 configured to convert proximity values ​​into corresponding graphical attributes, and a visual feedback rendering module 327 configured to generate and render continuous visual proximity feedback as disclosed herein.

[0030] Figure 4 is a flowchart illustrating the operation performed to provide continuous visual proximity feedback according to a particular embodiment of the subject matter of this disclosure. For clarity, and as a non-limiting embodiment, the description of the operation in Figure 4 (and Figures 7 and 9) is made with reference to the components described in the preceding figures.

[0031] During intraluminal catheterization (ICT), a catheter equipped with position sensors and electrodes is inserted into a specific compartment of the heart (block 401). The catheter maps the internal lumen surface of the heart to create a 3D model of the endocardial anatomical structure. As the physician navigates the catheter through various regions, the position sensors track its movement and, combined with input from external pads, transmit position data to a computer. The recorded positions outline the internal structures of the heart. Based on this data, a 3D model of the heart is constructed (block 403, e.g., by the cardiac mapping engine 211). The mapped data is then processed (e.g., by the map rendering module 213) to render and display a 3D graphical representation of the model ("3D anatomical map").

[0032] Simultaneously with cardiac mapping, a catheter equipped with multiple electrodes measures impedance in real time (block 405). Impedance serves as an indicator of the proximity of each electrode to the tissue wall, and variations reflect differences in the electrical properties of the tissue compared to other media that the electrodes may come into contact with, such as air or blood, when not in direct contact with the tissue. This real-time impedance measurement provides crucial feedback on the level of contact between the distal assembly of the catheter and the tissue wall of the luminal organ during procedures such as intraluminal catheter therapy (ICT).

[0033] As illustrated in Figure 1, the distal assembly of the catheter features multiple electrodes distributed along its length, forming a circumferential (or, in other embodiments, elongated) electrode array. Each electrode independently measures impedance and transmits the data to a processing system for analysis (e.g., by an impedance measurement module 215). In some configurations, as shown in Figure 1 illustrating the VARIPULSE® catheter, the electrodes are positioned on a contoured distal assembly, such as a circular or variable loop structure. This configuration allows for the establishment of tissue contact of the electrodes over a nearly planar local contact area. This design facilitates accurate contact mapping while reducing the complexity of data interpretation.

[0034] The system processes impedance data (for example, by the real-time proximity feedback engine 220) to generate real-time visual feedback indicating the proximity of the electrodes to the tissue. A novel visual feedback function characterized by continuous graphical elements is disclosed herein, as will be further described below. This visual feedback allows physicians to evaluate the interaction of the catheter with the tissue and adjust its positioning or applied force. Low impedance values ​​observed in a particular electrode or a group of electrodes may suggest insufficient contact with the tissue and prompt repositioning of the electrode, while high impedance values ​​may indicate excessive pressure and require force reduction to prevent tissue damage. The system enhances the precision, safety, and effectiveness of procedures by providing real-time insights into catheter-tissue interactions.

[0035] The impedance values ​​measured at each electrode are converted into their respective proximity values, which indicate the distance from the tissue wall, using the TPI (TPI), which represents the relationship between impedance and proximity to the tissue wall (by the TPI calculator 323 in block 409, e.g., in engine 220).

[0036] Figure 5 is a graph illustrating the TPI profile (impedance-proximity profile), where the x-axis corresponds to the proximity (reciprocal of distance) of the electrode to the tissue, and the y-axis corresponds to the impedance value measured by the electrode. Each electrode is characterized by its own impedance profile that reflects its interaction with the tissue.

[0037] As shown in Figure 5, the graph is nonlinear and can be divided into three distinct stages, including a non-contact stage, a contact stage, and a contact saturation stage. In the initial non-contact stage, the electrode is in contact with the blood but not with the tissue wall. At this stage, the measured impedance is relatively low. As the electrode approaches the tissue wall, the measured impedance increases. A sharp increase in the measured impedance is observed at a specific point indicating initial contact between the electrode and the tissue. After this sharp rise, the graph levels off and enters the saturation stage. During this stage, the electrode is in full contact with the tissue, and applying additional pressure does not result in a significant further increase in the impedance measurement, even if it does increase.

[0038] Each proximity value of each electrode, derived from the measured impedance of each electrode, is converted into a corresponding graphical feature (by the proximity visualization module 325 in block 411, e.g., engine 220). These features are then visualized on a 3D anatomical map of the heart. This process ensures that proximity data is represented effectively and intuitively, enabling physicians to accurately assess and adjust catheter-tissue interactions in real time.

[0039] For example, a graphical feature index can be used to define the relationship between proximity values ​​or ranges of proximity values ​​and the graphical features and / or attributes used to represent them. This index can be defined according to various relationships. For example, a linear relationship may be used, in which case the graphical feature (e.g., the diameter of a tubular segment or the intensity of its color) changes proportionally to the proximity value. Alternatively, a nonlinear relationship may be employed to emphasize subtle changes in proximity within a particular range.

[0040] In some embodiments, the graphical feature index may define a first threshold, below which all proximity values ​​are assigned a first graphical feature (e.g., a blue shade indicating minimal contact). Similarly, proximity values ​​exceeding a second threshold, which is higher than the first threshold, may be assigned a second graphical feature (e.g., a red shade indicating excessive pressure). For proximity values ​​between the first and second thresholds, multiple distinct graphical features (e.g., various shades of green) may be assigned, with the specific feature determined based on the exact proximity value.

[0041] According to the subject matter of this disclosure, proximity data inferred from impedance measured by electrodes is visually represented as a continuous series of graphical elements projected onto a 3D graphical representation of the model (hereinafter, "continuous proximity visualization features"). Rather than indicating proximity with individual graphical elements representing the electrodes themselves, proximity feedback is represented as a continuous series of graphical elements, such as ribbons, strips, or tubes (e.g., having rectangular or cylindrical cross-sections), projected directly onto each location on the surface of the 3D anatomical map.

[0042] One embodiment of the projection method involves sampling discrete points along the catheter trajectory corresponding to electrode positions (optionally including additional interpolated locations to improve trajectory resolution). These points are then projected onto a 3D anatomical surface by identifying the nearest point on the surface for each sampled point, ensuring that the catheter trajectory is accurately aligned with the tissue geometry. To create a visually continuous representation, a smooth and continuous trajectory along the tissue surface can be provided by applying mathematical smoothing curves, such as quadratic B-splines, to the projection points. This projection approach is particularly applicable to circular catheters, such as the VARIPULSE® catheter described above, where the sampled points correspond to circumferential positions along the loop structure.

[0043] (For example, block 413, by the visual feedback rendering module 327) The rendering process integrates continuous proximity visualization features with the anatomical map in real time. This visualization approach allows physicians to view the anatomical structure of the heart in a clear and intuitive manner, along with seamless, real-time proximity feedback. By directly embedding proximity feedback onto the surface of the anatomical map, the system reduces visual clutter, enhances usability, and provides an integrated graphical representation that supports accurate catheter positioning during procedures such as intraluminal catheterization (ICT).

[0044] Figure 6-A illustrates an example of continuous proximity visualization features within the cardiac chambers. A 3D graphical representation of the internal ventricular lumen space is depicted with an ablation catheter (603) positioned inside the blood vessel (601). The graphical representation highlights the internal spatial structure of the cardiac chambers and provides a clear visualization of the catheter's position relative to the lumen wall.

[0045] The catheter itself is represented, for example, by a graphical feature (605) consisting of a pattern of continuous segments exhibiting alternating colors. Segments of the first color correspond to the electrodes of the catheter, and segments of the other color represent the space between the electrodes.

[0046] The graphical representation of the catheter's proximity to the tissue is displayed separately from the catheter's representation as a continuous proximity visualization feature formed as a strip with a rectangular cross-section, which is projected onto a 3D graphical representation of the tissue wall (607). Each segment or area along the strip is logically associated with its respective electrode. For example, different areas along the strip can correspond to sampled points linked to specific electrodes, creating a continuous graphical representation of proximity. The features are rendered as visually continuous features to provide seamless proximity feedback. Graphical attributes such as width or color are used to indicate proximity perceived by each electrode. For example, a graphical feature index may determine the width of the strip in each logical segment based on the impedance measured by the corresponding electrode, according to the associated sampled points. The relationship between proximity values ​​and graphical feature values ​​(e.g., width) can be defined by an appropriate graphical feature index, as described with respect to block 411. Additionally or alternatively, other graphical attributes such as intensity or transparency may be used to visualize proximity.

[0047] The dynamic fluctuations of graphical attribute values ​​displayed along a continuous strip provide a seamless visual indicator of proximity differences, enabling physicians to evaluate and adjust catheter positioning in real time. This method represents catheter-tissue interaction in an intuitive and systematic way, enhancing visual clarity and facilitating improved catheter adjustments. As a result, this approach improves the accuracy, safety, and effectiveness of ICT procedures.

[0048] Figure 6-B illustrates a second embodiment of continuous proximity visualization features within the cardiac chamber. In this embodiment, feature (607) is characterized by a tubular cross-section projected onto a graphical representation of the tissue wall, providing a continuous representation of proximity along the catheter trajectory.

[0049] Figure 6-C illustrates a third embodiment of continuous proximity visualization features within the cardiac chambers, where the features are characterized by sliced ​​structures such as sliced ​​strips or tubes. In this embodiment, electrode proximity is indicated by varying the width of the sliced ​​features. Additionally, or alternatively, proximity can be represented by varying the space between slices, where a larger space indicates a lower proximity value and a smaller space indicates a higher proximity value. For example, each group of slices may correspond to each electrode, and the spacing between adjacent slices within the group is determined and updated according to the proximity of each electrode. The same principle described above with respect to Figure 6-A also applies to the embodiments in Figures 6-B and 6-C.

[0050] The operations described with reference to blocks 405-413 are performed dynamically and continuously to reflect the changing proximity of the electrode to the tissue wall in real time as the catheter is manipulated within the heart. This ensures that the graphical attributes of the continuous proximity visualization feature are dynamically updated to reflect the varying proximity of the electrode to the tissue wall as the catheter moves. As a result, this provides the medical practitioner with continuous, real-time visual feedback. During medical procedures such as organ mapping or ablation, the physician can use the continuous proximity visualization displayed on the screen to guide the catheter, adjust tissue contact, manage applied forces in real time, and improve the accuracy and efficiency of the procedure.

[0051] In another embodiment, instead of, or in addition to, continuous proximity visualization features, the graphical visualization includes at least one directional indicator (e.g., an arrow) to indicate electrodes on the catheter that are further away from the tissue. This arrow is dynamically projected onto the anatomical map at the position corresponding to electrodes with lower proximity values. The arrow points towards the nearest location on the tissue surface, visually guiding the physician on how to adjust the catheter position to improve contact with the tissue, thereby enhancing the precision and effectiveness of the procedure.

[0052] Figure 7 is another flowchart illustrating the actions taken to provide directional proximity feedback according to a particular embodiment of the subject matter of this disclosure.

[0053] The operations described in blocks 401, 403, 405, and 409 are similar to those described in detail with reference to Figure 4. These include inserting a catheter equipped with a position sensor and multiple electrodes into the organ to be examined (block 401), generating and rendering a 3D anatomical map of the heart (block 403), measuring impedance values ​​at each electrode (block 405), and converting these impedance values ​​to corresponding proximity values ​​using the Tissue Proximity Index (TPI) (block 709). For brevity, readers should refer to the description in Figure 4 for these operations.

[0054] Following these steps, Figure 7 introduces a new operation that begins with identifying one or more electrodes with the minimum proximity value based on the converted proximity data (block 711, e.g., by the TPI calculator). This process involves analyzing the proximity data derived from the impedance measurements of each electrode using the Tissue Proximity Index (TPI). Proximity values ​​below a predetermined threshold are flagged as minimum and indicate the electrode furthest from the tissue surface. By comparing the proximity values ​​of all electrodes, the system identifies the electrode with the lowest proximity value as the electrode that requires improved contact with the tissue.

[0055] For identified electrodes (and in some cases, only the electrode with the lowest proximity value), a directional indicator is rendered and projected onto a 3D anatomical map (by block 713, e.g., the visual feedback rendering module 327). In some embodiments, the directional indicator is designed to point to the electrode with the greatest distance from the surface, guiding the user to the weakest point or area that most requires repositioning to achieve optimal proximity. These indicators, such as arrows or vectors, are dynamically displayed at the location corresponding to the identified electrode. Arrows point towards the nearest point on the surface of the 3D anatomical map, providing the physician with visual guidance to adjust the catheter position to improve tissue contact. These actions enhance the visualization by adding readily implementable directional guidance, complementing the continuous proximity visualization features described in Figure 4. In such cases, the actions described with respect to blocks 711 and 713 can be integrated into the process described with reference to Figure 4. In particular, in some cases, directional guidance can be provided without continuous proximity visualization.

[0056] Figure 8 illustrates an example of combining continuous proximity visualization features within the cardiac chamber with directional proximity feedback indicators. A 3D anatomical map of the internal ventricular lumen space is depicted (601) with an ablation catheter (605) positioned inside a blood vessel (603). In addition to continuous proximity visualization features (607) projected onto a graphical representation of the tissue wall, directional arrows (609) are projected onto the anatomical map, starting from electrodes identified by the minimum proximity value and pointing towards the nearest tissue surface. By combining the continuous proximity visualization features with these directional arrows, the system provides a comprehensive feedback mechanism. This integration allows physicians to evaluate the overall catheter-tissue interaction while receiving specific guidance on how to adjust the catheter to improve contact in critical areas.

[0057] In addition to the techniques described above for real-time ICT proximity feedback, the subject of this disclosure further intends to provide computer implementation methods and computer systems for extending 3D anatomical models of organs examined during intraluminal catheter therapy (ICT).

[0058] According to the subject matter of this disclosure, it is suggested that real-time ICT proximity feedback be used to extend a 3D anatomical model of the heart.

[0059] Figure 9 is a flowchart illustrating an operation performed as part of a proximity-derived dynamic model update procedure in some embodiments of the subject matter of this disclosure.

[0060] The operations described in blocks 401, 403, 405, and 409 are similar to those described in detail with reference to Figure 4. These include inserting a catheter equipped with a position sensor and multiple electrodes into the organ to be examined (block 401), generating and rendering a 3D graphical representation of the model (block 403), measuring impedance values ​​at each electrode (block 405), and converting these impedance values ​​to corresponding proximity values ​​using the Tissue Proximity Index (TPI) (block 409). For brevity, readers should refer to the description in Figure 4 for these operations.

[0061] 3D anatomical models generated by position sensors may exhibit inaccuracies due to limitations in spatial resolution, calibration errors, or challenges in detecting complex anatomical structures. As a result, 3D anatomical maps based on these models may inaccurately depict the catheter's position relative to tissue walls, creating erroneous spatial location indicators. This misrepresentation can distort the actual positioning of the catheter within organs, leading to potential challenges in accurately guiding and monitoring the catheter during ICT, and impacting accuracy and effectiveness.

[0062] The model generation paths based on the positioning system (blocks 401 and 403) operate in parallel with the proximity estimation paths (blocks 405 and 409), and the outputs of these paths are then compared.

[0063] Proximity feedback is compared to a 3D model to identify discrepancies that indicate inconsistencies between the modeled anatomical structures and the tissue contacts inferred from the proximity data (911). Such discrepancies suggest inaccurate mapping.

[0064] For example, if proximity feedback indicates complete tissue contact while the 3D model shows a gap between the electrode and the tissue wall, this suggests that the model does not accurately represent the actual anatomical structure.

[0065] In response to the identification of differences, the computer system dynamically updates the 3D model by deforming or adjusting the mapped surface to interpolate the touch electrodes based on proximity feedback (block 913). The updated map is then rendered and displayed in real time based on the updated model, ensuring an accurate representation of the organ's anatomical structure (block 915).

[0066] In one embodiment, the mapping update module 217 receives positive proximity values ​​from the TPI calculator 323 and adjusts the 3D model accordingly. These values ​​represent the distance or contact level between the catheter electrode and the tissue wall. Using the TPI data, the mapping update module 217 deforms the mapped surface to align with actual anatomical features, ensuring that the 3D model and its graphical representation more accurately reflect the true spatial structure of the mapped organ. For example, if proximity feedback determines that the electrode is in complete contact with the tissue wall, the area of ​​the model corresponding to this contact point with the electrode can be consolidated toward the electrode to reflect zero distance and ensure a more accurate representation of the intraluminal structure of the organ.

[0067] Furthermore, the deformation of the mapped surface can be implemented as a continuous function of proximity values ​​(e.g., by the mapping update module 217). Areas with higher proximity values ​​indicate closer contact, are more deformed, and can be interpolated toward the electrode position. Conversely, areas with lower proximity values ​​are less adjusted, resulting in smoother and more continuous deformation across the mapped surface. This ensures a more accurate and realistic representation of the organ's anatomical structure, reflecting the degree of contact variation inferred from the proximity data. In some embodiments, functions define how proximity values ​​are translated into surface deformation, ensuring smooth and proportional adjustments. For example, a linear function may apply deformations directly proportional to proximity, while a nonlinear function, such as an exponential function, can emphasize higher proximity values ​​for sharper adjustments. These functions enable precise adaptation of the model to accurately reflect the anatomical structure.

[0068] The following is a non-exclusive list of some exemplary embodiments of the present disclosure. The disclosure also includes embodiments that have fewer features than all of the embodiments, and embodiments that use features from multiple embodiments, even if not listed below.

[0069] Example 1: A computer implementation method for providing real-time visual feedback for intraluminal catheter engagement using a catheter having electrodes on a distal end assembly, wherein the method provides real-time visual feedback for intraluminal catheter engagement while the catheter is positioned within the patient's luminal organ. Based on positional data obtained by a catheter, a three-dimensional (3D) model of the internal surface of a tubular organ is generated, and a 3D anatomical map is rendered to graphically represent the 3D model. For each electrode, the proximity value, which indicates the distance between the electrode and the tissue wall of the tubular organ, is determined based on at least the measured impedance, and the proximity value is converted into a corresponding graphical attribute value. Rendering sequential proximity visualization features that order graphical attributes, where each graphical attribute corresponds to the location of each electrode, and the corresponding graphical attribute value represents the variation in proximity values ​​across the electrodes. The process involves projecting continuous proximity visualization features onto the surface of tubular organs depicted by a map, thereby creating an integrated graphical representation. A method comprising displaying an integrated graphical representation on a computer display, and dynamically updating the visualization features in response to changes in measured impedance to provide real-time feedback on catheter engagement with the tissue wall.

[0070] Example 2: A method according to Example 1, wherein determining the proximity value includes applying a tissue proximity index to the impedance value measured by the electrode.

[0071] Example 3: A method according to Example 1 or 2, wherein converting proximity values ​​to corresponding graphic attribute values ​​includes applying a graphic feature index that defines the relationship between proximity values ​​or ranges of proximity values ​​and the graphic features and / or attribute values ​​used to represent them.

[0072] Example 4: A method according to any one of Examples 1 to 3, wherein a continuous proximity visualization feature is rendered as a strip or tube-like shape, and each electrode corresponds to a respective area along the continuous proximity visualization feature, rendered according to the graphical attributes assigned to the corresponding electrode.

[0073] Example 5: The method according to Example 4, wherein the graphic attributes include one or more of width, transparency, pattern, and color.

[0074] Example 6: The method according to Example 4, wherein the graphic attribute is the width of a continuous proximity visualization feature, the width of each area within the feature is determined according to the proximity value of each electrode, and variations in the proximity of different electrodes to the tissue wall induce variations in the width of the continuous proximity visualization feature, providing a visual representation of proximity differences.

[0075] Example 7: A method according to any one of Examples 1 to 6, wherein a continuous proximity visualization feature is rendered as a slice shape, each group of slices corresponds to a respective electrode, and the spacing between slices within a group is determined according to the proximity value of each electrode.

[0076] Example 8: Based on the impedance values ​​determined for each electrode, identify the electrode with the minimum nearest neighbor value, Rendering a directional guidance indicator onto a 3D anatomical map, wherein the directional guidance indicator points from the location of an identified electrode toward an adjacent tissue wall, thereby providing guidance for maneuvering the catheter to reduce the distance between the identified electrode and the tissue wall. A method according to any one of Examples 1 to 7, further comprising dynamically updating a directional guidance indicator in real time based on changes in proximity values, thereby enabling continuous guidance to optimize catheter engagement with the tissue wall.

[0077] Example 9: The method according to any one of Examples 1 to 8, wherein the tubular organ is the patient's heart.

[0078] Example 10: A computer system comprising a processing circuit configured to perform the operation according to any one of Examples 1 to 9.

[0079] Example 11: A non-temporary computer-readable storage medium that, when executed by a computer, tangibly embodies a program of instructions causing the computer to perform the method described in any one of Examples 1 to 9.

[0080] Example 12: An intraluminal catheter therapy (ICT) system comprising an operational computer system configured to perform the actions of any one of Examples 1 to 9.

[0081] Example 13: A computer implementation method for providing real-time visual proximity feedback for intraluminal catheter engagement using a catheter having electrodes on a distal end assembly, wherein the method provides that while the catheter is positioned within the patient's luminal organ, This involves mapping the inner surface of tubular organs and generating a three-dimensional (3D) model of the internal surface, Rendering a graphical map of a 3D model as a visual representation of a tubular organ, For each electrode, the proximity value, which indicates the distance between the electrode and the tissue wall of the tubular organ, is determined based on the measured impedance. Identifying the electrode with the minimum nearest proximity, Rendering a directional guidance indicator onto a 3D anatomical map, wherein the directional guidance indicator points from the location of an identified electrode toward an adjacent tissue wall, thereby providing guidance for maneuvering the catheter to reduce the distance between the identified electrode and the tissue wall. A computer implementation method comprising: dynamically updating a directional guidance indicator in real time based on changes in proximity values, thereby enabling continuous guidance to optimize catheter engagement with the tissue wall.

[0082] Example 14: A computer-implemented method for extending a three-dimensional (3D) anatomical model of a luminal organ during intraluminal catheter therapy (ICT), wherein the method involves positioning the catheter within the patient's luminal organ while Based on positional data acquired from position sensors, a 3D anatomical model of a tubular organ is generated, Rendering a graphical map of a 3D model as a visual representation of a tubular organ, Measuring the impedance values ​​at each electrode of the catheter, For each electrode, the proximity value, which indicates the distance between the electrode and the tissue wall of the tubular organ, is determined based on the measured impedance. By comparing proximity values ​​with a 3D anatomical model, the discrepancy between the catheter location represented in the anatomical model and the catheter location inferred from proximity feedback is identified. Based on proximity feedback, the 3D anatomical model is updated by deforming or adjusting the mapped surface to interpolate electrodes in contact with the tissue surface, thereby extending the model to better represent the actual anatomical features of the tubular organ. A computer implementation method comprising rendering and displaying updated 3D anatomical models and their respective graphic maps in real time, and providing an augmented representation of tubular organs.

[0083] Example 15: A computer system comprising a processing circuit configured to perform the operation according to Example 13 or 14.

[0084] Example 16: A non-temporary computer-readable storage medium that, when executed by a computer, tangibly embodies a program of instructions causing the computer to execute the method according to Example 13 or 14.

[0085] Example 17: An intraluminal catheter therapy (ICT) system comprising an operable computer system configured to perform the actions according to Example 13 or 14.

[0086] Example 18: A graphical user interface (GUI) for providing real-time visual feedback of intraluminal catheter engagement using a catheter having one or more electrodes positioned on the distal end assembly of the catheter. The GUI is computer-executable to render and display continuous proximity visualization features according to any one of Examples 1-9 and 13.

[0087] The term "luminal organ" refers to any organ that has a lumen, i.e., an internal space, cavity, or channel. Examples of luminal organs include blood vessels, kidneys, bladder, urethra, heart, and colon. While the subject matter of this disclosure primarily refers to intraluminal catheter therapy (ICT) in the heart, it should be noted that this is provided as a non-limiting example. The use of the disclosed innovations in ICT applications involving other luminal organs is also intended and falls within the scope of this disclosure.

[0088] While this disclosure has been described in terms of preferred embodiments, those skilled in the art will understand that the concepts on which this disclosure is based can be readily used as a basis for designing other structures, systems, and processes to accomplish some of the purposes of this disclosure.

[0089] The various illustrative logic blocks, modules, and algorithmic steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this hardware and software compatibility, various illustrative components, blocks, modules, and steps are described in general terms with respect to their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The described functionality can be implemented in various ways for each specific application, but such implementation decisions should not be interpreted as deviating from the disclosed subject matter.

[0090] Unless otherwise specifically stated, as will be apparent from the following considerations, throughout this specification, any consideration using terms such as “generating,” “rendering,” “measuring,” “converting,” “comparing,” and “updating” should be understood to include computer actions and / or processes that manipulate data and / or convert data into other data, where such data is represented as a physical quantity, such as an electron quantity, and / or such data represents a physical object.

[0091] Terms such as “computer,” “computer system,” and “computer device” should be interpreted broadly to include any kind of hardware-based electronic device having one or more data processing circuits. Each processing circuit may comprise one or more processors operably connected to computer memory (including non-temporary memory) loaded with executable instructions for performing operations, as will be further described below.

[0092] One or more processors as referred to herein may represent one or more general-purpose processing devices, such as microprocessors, central processing units, etc. More specifically, a given processor may be one of the following: a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a processor implementing another instruction set, or a processor implementing a combination of instruction sets. One or more processors may be one or more dedicated processing devices, such as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), a graphics processing unit (GPU), or a network processor.

[0093] Figures 1, 2, and 3 illustrate schematic diagrams of system architectures according to certain embodiments of the subject matter of this disclosure. The elements of Figures 1, 2, and 3 may consist of any combination of software, hardware, and / or firmware that perform the functions defined and described herein. The elements of Figures 1, 2, and 3 may be centralized in one location or distributed across two or more locations. In some embodiments, certain operations may be implemented by a remote cloud computing infrastructure, for example, information being sent from computer 55 to the cloud, where processing is performed, and the processing output is sent back to computer 55.

[0094] Furthermore, it should be understood that the expressions and terminology used herein are for illustrative purposes only and should not be considered limiting. Note that the words “comprising,” “including,” and “having,” as used throughout the attached claims, should be interpreted as “including but not limited to.” The indefinite articles “a” and “an,” as used herein and in the claims, should be understood as “at least one,” unless explicitly stated otherwise. The phrases “and / or,” as used herein and in the claims, should be understood as “either or both,” of the thus combined elements, that is, elements that exist as a combination in some cases and as separate in others. The term “each” may not be understood exclusively as referring to each and all, and may also refer to “at least some,” where technically relevant.

[0095] All patents and patent applications referenced herein are incorporated by reference in whole to the same extent as when each individual patent or patent application is specifically and individually incorporated herein by reference. No reference or specification of any reference in this application should be construed as an admission that such documents are available as prior art to this disclosure.

[0096] It will also be understood that the system according to the subject matter of this disclosure may be a suitably programmed computer. Similarly, the subject matter of this disclosure envisions a computer program that is readable by a computer in order to perform the method of the subject matter of this disclosure. The subject matter of this disclosure further envisions a machine-readable (e.g., non-temporary) memory that tangibly embodies a program of machine-executable instructions in order to perform the method of the subject matter of this disclosure.

[0097] Therefore, it is important that the scope of this disclosure is not construed as being limited by the illustrative examples described herein. Other modifications are possible within the scope of this disclosure as defined in the appended claims. Other combinations and subcombinations of features, functions, elements, and / or properties may be asserted by amendments to the claims or by presentation of new claims in this application or a related application. Such amendments or new claims, whether they cover different combinations or the same combinations, and whether they differ from, broader, narrower, or equivalent to the original claims, are also deemed to be included in the subject matter of the invention described herein.

[0098] [Implementation Method] (1) A computer implementation method for providing real-time visual feedback of intraluminal catheter engagement while using a catheter having electrodes on a distal end assembly, wherein the method includes, while the catheter is positioned within the patient's luminal organ, To generate a three-dimensional (3D) model of the internal surface of the tubular organ, Rendering a 3D anatomical map that graphically represents the aforementioned 3D model, For each electrode, Based on at least the measured impedance, a proximity value indicating the distance between the electrode and the tissue wall of the tubular organ is determined, Converting the aforementioned proximity value into a corresponding graphical attribute value, Rendering a sequence of proximity visualization features that order the aforementioned graphical attributes, wherein each graphical attribute corresponds to the location of each electrode, and the corresponding graphical attribute value represents the variation in proximity values ​​across the electrodes. The continuous proximity visualization features are projected onto the surface of the tubular organ depicted by the map, and an integrated graphical representation is created. Displaying the aforementioned integrated graphical representation on a computer display, A method comprising dynamically updating the visualization features in response to a measured change in impedance and providing real-time feedback on catheter engagement with the tissue wall. (2) The method according to Embodiment 1, wherein determining the proximity value includes applying a tissue proximity index to the impedance value measured by the electrode. (3) The method of Embodiment 1 or 2, wherein converting the proximity values ​​to corresponding graphical attribute values ​​includes applying a graphical feature index that defines the relationship between the proximity values ​​or range of proximity values ​​and the graphical features and / or attribute values ​​used to represent them. (4) The method according to any one of embodiments 1 to 3, wherein the continuous proximity visualization feature is rendered as a strip or tube-like shape, and each electrode corresponds to a respective area along the continuous proximity visualization feature rendered according to the graphical attributes assigned to the corresponding electrode. (5) The method according to Embodiment 4, wherein the graphical attribute includes one or more of width, transparency, pattern, and color.

[0099] (6) The method according to Embodiment 4, wherein the graphical attribute is the width of the continuous proximity visualization feature, the width of each area within the feature is determined according to the proximity value of each electrode, and variations in the proximity of different electrodes to the tissue wall induce variations in the width of the continuous proximity visualization feature, thereby providing a visual representation of proximity differences. (7) The method according to any one of embodiments 1 to 6, wherein the continuous proximity visualization features are rendered as slice shapes, each group of slices corresponds to each electrode, and the spacing between slices within a group is determined according to the proximity value of each electrode. (8) Based on the impedance value determined for each electrode, identify the electrode having the minimum proximity value, Rendering a directional guidance indicator onto the 3D anatomical map, wherein the directional guidance indicator points from the location of the identified electrode toward an adjacent tissue wall, thereby providing guidance for maneuvering the catheter to reduce the distance between the identified electrode and the tissue wall. The method according to any one of embodiments 1 to 7, further comprising dynamically updating the directional guidance indicator in real time based on the change in the proximity value, thereby enabling continuous guidance to optimize catheter engagement with the tissue wall. (9) The method according to any one of embodiments 1 to 8, wherein the tubular organ is the patient's heart. (10) A computer system comprising a processing circuit configured to perform the operations described in any of embodiments 1 to 9.

[0100] (11) A non-temporary computer-readable storage medium which, when executed by a computer, tangibly embodies a program of instructions causing the computer to perform the method described in any of embodiments 1 to 9. (12) A computer-aided method for providing real-time visual proximity feedback for intraluminal catheter engagement using a catheter having electrodes on a distal end assembly, wherein the method includes, while the catheter is positioned within a patient's luminal organ, Based on the positional data acquired by the catheter, a three-dimensional (3D) model of the internal surface is generated. The graphical map of the 3D model is rendered as a visual representation of the tubular organ, For each electrode, a proximity value indicating the distance between the electrode and the tissue wall of the tubular organ is determined based on the measured impedance, Identifying the electrode with the minimum nearest proximity, Rendering a directional guidance indicator onto a 3D anatomical map, wherein the directional guidance indicator points from the location of the identified electrode toward an adjacent tissue wall, thereby providing guidance for maneuvering the catheter to reduce the distance between the identified electrode and the tissue wall. A computer implementation method comprising: dynamically updating the directional guidance indicator in real time based on the change in the proximity value, thereby enabling continuous guidance for catheter engagement with the tissue wall. (13) A computer-implemented method for extending a three-dimensional (3D) anatomical model of a luminal organ during intraluminal catheter therapy (ICT), wherein the method comprises, while the catheter is positioned within the patient's luminal organ, Based on the positional data acquired by the catheter, a three-dimensional (3D) model of the internal surface is generated. The graphical map of the 3D model is rendered as a visual representation of the tubular organ, To measure the impedance value at each electrode of the catheter, For each electrode, based on the measured impedance, a proximity value indicating the distance between the electrode and the tissue wall of the tubular organ is determined, The proximity value is compared with the 3D anatomical model to identify the difference between the location of the catheter represented in the anatomical model and the location of the catheter inferred from the proximity feedback. Based on the proximity feedback, the 3D anatomical model is updated by deforming or adjusting the mapped surface to interpolate electrodes in contact with the tissue surface, thereby extending the model to better represent the actual anatomical features of the tubular organ. A computer implementation method comprising rendering and displaying the updated 3D anatomical model and its respective graphical map in real time, and providing an augmented representation of the tubular organ. (14) A computer system comprising a processing circuit configured to perform the operations described in Embodiment 12 or 13. (15) A non-temporary computer-readable storage medium which, when executed by a computer, tangibly embodies a program of instructions causing the computer to carry out the method described in Embodiment 12 or 13.

Claims

1. A computer implementation method for providing real-time visual feedback of intraluminal catheter engagement while using a catheter having electrodes on a distal end assembly, wherein the method includes, while the catheter is positioned within the patient's luminal organ, To generate a three-dimensional (3D) model of the internal surface of the tubular organ, Rendering a 3D anatomical map that graphically represents the aforementioned 3D model, For each electrode, Based on at least the measured impedance, a proximity value indicating the distance between the electrode and the tissue wall of the tubular organ is determined, Converting the aforementioned proximity value into a corresponding graphical attribute value, Rendering a sequence of proximity visualization features that order the aforementioned graphical attributes, wherein each graphical attribute corresponds to the location of each electrode, and the corresponding graphical attribute value represents the variation in proximity values ​​across the electrodes. The continuous proximity visualization features are projected onto the surface of the tubular organ depicted by the map, and an integrated graphical representation is created. Displaying the aforementioned integrated graphical representation on a computer display, A method comprising dynamically updating the visualization features in response to a measured change in impedance and providing real-time feedback on catheter engagement with the tissue wall.

2. The method according to claim 1, wherein determining the proximity value includes applying a tissue proximity index to the impedance value measured by the electrode.

3. The method according to claim 1, wherein converting the proximity values ​​to corresponding graphical attribute values ​​includes applying a graphical feature index that defines the relationship between the proximity values ​​or range of proximity values ​​and the graphical features and / or attribute values ​​used to represent them.

4. The method according to claim 1, wherein the continuous proximity visualization feature is rendered as a strip or tube-like shape, and each electrode corresponds to a respective area along the continuous proximity visualization feature rendered according to the graphical attributes assigned to the corresponding electrode.

5. The method according to claim 4, wherein the graphical attribute includes one or more of width, transparency, pattern, and color.

6. The method according to claim 4, wherein the graphical attribute is the width of the continuous proximity visualization feature, the width of each area within the feature is determined according to the proximity value of each electrode, and variations in the proximity of different electrodes to the tissue wall induce variations in the width of the continuous proximity visualization feature, thereby providing a visual representation of proximity differences.

7. The method according to claim 1, wherein the continuous proximity visualization features are rendered as slice shapes, each group of slices corresponds to each electrode, and the interval between slices within a group is determined according to the proximity value of each electrode.

8. Based on the impedance value determined for each electrode, the electrode having the minimum nearest neighbor value is identified. Rendering a directional guidance indicator onto the 3D anatomical map, wherein the directional guidance indicator points from the location of the identified electrode toward an adjacent tissue wall, thereby providing guidance for maneuvering the catheter to reduce the distance between the identified electrode and the tissue wall. The method according to claim 1, further comprising dynamically updating the directional guidance indicator in real time based on the change in proximity value, thereby enabling continuous guidance to optimize catheter engagement with the tissue wall.

9. The method according to claim 1, wherein the tubular organ is the patient's heart.

10. A computer system comprising a processing circuit configured to perform the operation described in any one of claims 1 to 9.

11. A non-temporary computer-readable storage medium that, when executed by a computer, tangibly embodies a program of instructions causing the computer to perform the method according to any one of claims 1 to 9.

12. A computer-aided method for providing real-time visual proximity feedback for intraluminal catheter engagement using a catheter having electrodes on a distal end assembly, wherein the method includes, while the catheter is positioned within the patient's luminal organ, Based on the positional data acquired by the catheter, a three-dimensional (3D) model of the internal surface is generated. The graphical map of the 3D model is rendered as a visual representation of the tubular organ. For each electrode, a proximity value indicating the distance between the electrode and the tissue wall of the tubular organ is determined based on the measured impedance, Identifying the electrode with the minimum nearest proximity, Rendering a directional guidance indicator onto a 3D anatomical map, wherein the directional guidance indicator points from the location of the identified electrode toward an adjacent tissue wall, thereby providing guidance for maneuvering the catheter to reduce the distance between the identified electrode and the tissue wall. A computer implementation method comprising: dynamically updating the directional guidance indicator in real time based on the change in the proximity value, thereby enabling continuous guidance for catheter engagement with the tissue wall.

13. A computer-aided method for extending a three-dimensional (3D) anatomical model of a luminal organ during intraluminal catheter therapy (ICT), wherein the method involves positioning the catheter within the patient's luminal organ while Based on the positional data acquired by the catheter, a three-dimensional (3D) model of the internal surface is generated. The graphical map of the 3D model is rendered as a visual representation of the tubular organ. To measure the impedance value at each electrode of the catheter, For each electrode, based on the measured impedance, a proximity value indicating the distance between the electrode and the tissue wall of the tubular organ is determined, The proximity value is compared with the 3D anatomical model to identify the difference between the location of the catheter represented in the anatomical model and the location of the catheter inferred from the proximity feedback. Based on the proximity feedback, the 3D anatomical model is updated by deforming or adjusting the mapped surface to interpolate electrodes in contact with the tissue surface, thereby extending the model to better represent the actual anatomical features of the tubular organ. A computer implementation method comprising rendering and displaying the updated 3D anatomical model and its respective graphical map in real time, and providing an extended representation of the tubular organ.

14. A computer system comprising a processing circuit configured to perform the operation described in claim 12 or 13.

15. A non-temporary computer-readable storage medium that, when executed by a computer, tangibly embodies a program of instructions causing the computer to perform the method according to claim 12 or 13.

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