Real-time correction of anatomical maps

Abstract

To provide systems for real-time correction of anatomical maps.SOLUTION: A system includes a display, an input device, and a processor. The processor is configured to: add, to a point cloud representing an anatomical volume, multiple points corresponding to respective locations of a probe within the anatomical volume; remove a subset of the points from the point cloud in response to an input received via the input device, subsequently to adding the points; and add, to the point cloud, other points corresponding to respective subsequent locations of the probe within the anatomical volume, subsequently to removing the subset. Other embodiments are also described.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the field of anatomical mapping. [Background technology]

[0002] U.S. Patent Application Publication No. 2009 / 0148012 to Altmann et al. describes a medical imaging method that includes creating an anatomical map of the interior wall of a body cavity of a subject by inserting a probe into the body and collecting data using the probe. A three-dimensional (3-D) contour is depicted in a 3-D image of the body cavity based on the map. Summary of the Invention [Means for solving the problem]

[0003] According to some embodiments of the present invention, there is provided a system including a display and a processor. The processor is configured to calculate a point P' on a virtual surface of a point cloud representing an anatomical volume by projecting onto the virtual surface another point P corresponding to a location on the anatomical surface of the anatomical volume. The processor is further configured to define a virtual sphere centered on a virtual line connecting point P to point P', such that point P lies on the spherical surface of the virtual sphere. The processor is further configured to perform an operation selected from the group of operations consisting of: expanding the point cloud across the virtual sphere; and excluding the virtual sphere from the point cloud. Following the operation, the processor is further configured to reconstruct the virtual surface such that point P lies on the virtual surface due to the execution of the operation, and display the reconstructed virtual surface on the display.

[0004] In some embodiments, the processor is configured to reconstruct the virtual surface by applying a ball pivot algorithm (BPA) to the point cloud with a ball radius r, and the processor is configured to define the virtual sphere such that the radius R of the virtual sphere is at least 2r.

[0005] In some embodiments, R=2r.

[0006] In some embodiments, the processor is further configured to identify the point P in response to input from a user.

[0007] In some embodiments, the input indicates that the intracellular probe is in position.

[0008] In some embodiments, the input includes a selection of a point P from a display of the point cloud.

[0009] In some embodiments, the anatomical volume includes at least a portion of a chamber of the heart.

[0010] According to some embodiments of the present invention, there is further provided a method that includes using a processor to calculate a point P' on a virtual surface of a point cloud representing an anatomical volume by projecting onto the virtual surface another point P that corresponds to a location on the anatomical surface of the anatomical volume. The method further includes defining a virtual sphere centered on a virtual line connecting point P to point P', such that point P lies on a spherical surface of the virtual sphere. The method further includes performing an operation selected from the group of operations consisting of: expanding the point cloud across the virtual sphere; and excluding the virtual sphere from the point cloud. Following performing the operation, the method further includes reconstructing the virtual surface such that point P lies on the virtual surface due to the performance of the operation.

[0011] According to some embodiments of the present invention, there is further provided a computer software product including a tangible, non-transitory computer-readable medium having program instructions stored thereon. The instructions, when loaded by a processor, cause the processor to calculate a point P' on a virtual surface of a point cloud representing an anatomical volume by projecting onto the virtual surface another point P corresponding to a location on the anatomical surface of the anatomical volume. The instructions further cause the processor to define a virtual sphere centered on a virtual line connecting point P to point P', such that point P lies on the spherical surface of the virtual sphere. The instructions further cause the processor to perform an operation selected from the group of operations consisting of: expanding the point cloud across the virtual sphere and excluding the virtual sphere from the point cloud. The instructions further cause the processor, following the operation, to reconstruct the virtual surface such that execution of the operation causes point P to lie on the virtual surface.

[0012] According to some embodiments of the present invention, there is also provided a system including an input device and a processor. The processor is configured to add a plurality of points corresponding to respective positions of the probe within the anatomical volume to a point cloud representing the anatomical volume. The processor is further configured, following adding the points, to remove a subset of the points from the point cloud in response to input received via the input device. The processor is further configured, following removing the subset, to add other points to the point cloud corresponding to respective subsequent positions of the probe within the anatomical volume.

[0013] In some embodiments, The input indicates that the probe is to be used in point removal mode. The processor is configured to remove the subset by removing the point in response to determining, for each point in the subset, that there is a probe at the location to which the point corresponds.

[0014] In some embodiments, The input is the first input. The processor is configured to add another point to the point cloud in response to a second input indicating that the probe is to be used in a point-adding mode.

[0015] In some embodiments, the processor is configured to remove the point in response to determining that the probe is pressed against a surface of the anatomical volume.

[0016] In some embodiments, the input indicates a time period, and the subset includes points that were added to the point cloud during the time period.

[0017] In some embodiments, the period begins T units of time before the time the input is presented, and the input indicates the period by indicating T.

[0018] In some embodiments, the input indicates an integer N, and the subset includes the N most recently added points to the point cloud.

[0019] In some embodiments, the anatomical volume includes at least a portion of a chamber of the heart.

[0020] According to some embodiments of the present invention, there is further provided a method including using a processor to add to a point cloud representing an anatomical volume a plurality of points corresponding to respective positions of a probe within the anatomical volume, the method further including, following adding the points, removing a subset of the points from the point cloud in response to input from a user, and following removing the subset, adding other points to the point cloud corresponding to respective subsequent positions of the probe within the anatomical volume.

[0021] According to some embodiments of the present invention, there is further provided a computer software product including a tangible, non-transitory computer-readable medium having stored thereon program instructions. The instructions, when read by a processor, cause the processor to add to a point cloud representing an anatomical volume a plurality of points corresponding to respective positions of a probe within the anatomical volume. The instructions further cause the processor, following adding the points, to remove a subset of the points from the point cloud in response to input from a user. The instructions further cause the processor, following removing the subset, to add other points to the point cloud corresponding to respective subsequent positions of the probe within the anatomical volume. [Brief explanation of the drawings]

[0022] The present invention will be more fully understood when considered in conjunction with the drawings in which: [Figure 1] 1 is a schematic illustration of an anatomical mapping system, according to some exemplary embodiments of the present invention; [Figure 2] 1 is a schematic illustration of a technique for generating an anatomical map, according to some exemplary embodiments of the present invention; [Figure 3] FIG. 1 is a flow diagram of an algorithm for generating an electroanatomical map, according to some exemplary embodiments of the present invention. [Figure 4A] FIG. 1 is a schematic illustration of a technique for reconstructing a model, according to some exemplary embodiments of the present invention; [Figure 4B] FIG. 1 is a schematic illustration of a technique for reconstructing a model, according to some exemplary embodiments of the present invention; [Figure 5] FIG. 1 is a flow diagram of an algorithm for reconstructing a model, according to some exemplary embodiments of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] Overview In anatomical mapping of a heart chamber, a physician moves a probe within the heart chamber while a tracking system tracks the probe's position. Based on the tracking, a model of the heart chamber is constructed. The model includes a point cloud containing multiple points corresponding to the position of the probe (usually at the distal end of the probe) within the heart chamber, and a surface surrounding the point cloud that represents the tissue surrounding the heart chamber. The surface may be associated with electrical properties of the tissue that can be derived from electrogram signals acquired by the probe at various locations on the tissue.

[0024] A challenge in performing such mapping is that spurious points may be added to the model due to, for example, respiratory motion or excessive force exerted on the tissue by the probe. Traditionally, these points are removed after mapping by modifying the surface of the model (e.g., using spline deformation and / or areal interpolation) so that the surface passes through points known to correspond to locations on the tissue. (These points, referred to herein as "anchor points," may correspond to locations where electrogram signals were acquired because physicians are typically careful not to press too hard against the tissue when acquiring electrogram signals.) However, this deformation can compromise the accuracy of the model.

[0025] To address this challenge, embodiments of the present invention provide various techniques for removing spurious points from a model. After removing the spurious points, the surface may be reconstructed. Thus, it may not be necessary to deform the surface.

[0026] One such technique provides a point removal mode for the probe's operation. While the probe is operating in this mode, the probe is moved to a particular position and the point corresponding to this position is removed from the model. The physician can thus correct the model in real time by switching from the normal point addition mode to the point removal mode and then moving the probe to any position corresponding to a spurious point.

[0027] Another such technique defines, for each anchor point, a virtual sphere (as described in detail below with reference to FIG. 4A ) whose surface passes through the anchor point, and then removes any points within the virtual sphere from the point cloud. The model surface, or at least a portion of the model surface near the anchor point, is then reconstructed so that the model surface passes through the anchor point. Advantageously, this technique may be performed following the acquisition of each new anchor point, during or after the construction of the point cloud.

[0028] If the anchor points are located outside the point cloud, a variation of the latter technique may be performed, whereby following the definition of a virtual sphere, this virtual sphere is filled with additional points to augment the point cloud.

[0029] System Description Reference is first made to FIG. 1, which is a schematic illustration of an anatomical mapping system 20, according to some embodiments of the present invention.

[0030] The system 20 includes an intracorporeal probe 26 connected proximally to a console 32. The system 20 further includes a processor 34, typically included in the console 32.

[0031] System 20 is used to generate an anatomical map 38 of a volume of heart 24 of subject 22, such as at least a portion of a chamber of heart 24. Map 38 includes a point cloud that includes a plurality of points corresponding to respective locations within the mapped volume, thereby representing the mapped volume. Map 38 further includes a virtual surface 46 around the periphery of the point cloud. While the map is being generated and / or following generation of the map, the processor may display the map on display 36.

[0032] More specifically, as physician 30 moves probe 26 within the volume, processor 34 continually identifies subvolumes 27 occupied by the distal tip of the probe. For each identified subvolume 27, processor 34 further constructs a point cloud by adding one or more points (typically multiple points) corresponding to the subvolume 27 to the point cloud. (Each added point thus corresponds to a respective position of the probe within the mapped volume, specifically, any portion of the distal tip of the probe.) Following and / or while the point cloud is being constructed, processor 34 generates virtual surface 46. (Note that for ease of explanation, subvolume 27 may be referred to herein as the "probe position.")

[0033] Typically, the distal end of probe 26 includes at least one sensing electrode 28. As the probe is moved within the heart, electrodes 28 acquire electrogram signals from the cardiac tissue. Processor 34 analyzes these signals and, in response, annotates map 38 to indicate the electrical properties of the tissue (e.g., by coloring the map using a sliding color scale). In such embodiments, map 38 may be referred to as an "electroanatomical map" or an "electrophysiological map."

[0034] In some embodiments, to facilitate tracking of the probe, one or more electromagnetic coils are coupled to the distal end of the probe to generate a magnetic field in the vicinity of the subject 22. As the probe is moved within the heart, the magnetic field induces position-dependent signals in the coils. Based on these signals, a processor determines the position of each coil, thereby identifying subvolume 27. Such magnetic-based tracking is disclosed, for example, in U.S. Patent Nos. 5,391,199, 5,443,489, and 6,788,967 to Ben-Haim, 6,690,963 to Ben-Haim et al., 5,558,091 to Acker et al., and 6,177,792 to Govari, the disclosures of which are incorporated herein by reference.

[0035] Alternatively or additionally, one or more electrodes coupled to the distal end of the probe may pass current through multiple electrode patches coupled to the subject's body at different respective locations. (Typically, these electrodes do not include electrode 28.) Based on the current and body impedance measurements derived therefrom, a processor may ascertain the location of each electrode, thereby identifying subvolume 27. Such a hybrid technique combining impedance-based tracking with magnetic-based tracking is described in U.S. Patent No. 8,456,182 to Bar-Tal et al., the disclosure of which is incorporated herein by reference.

[0036] Alternatively or additionally, the processor may use any other suitable tracking technique to track the probe and thereby build the point cloud.

[0037] In general, the processor 34 may be embodied as a single processor or as a set of cooperatively networked or clustered processors. In some embodiments, the functionality of the processor 34 described herein is implemented solely in hardware, e.g., using one or more application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs). In other embodiments, the functionality of the processor 34 is implemented at least partially in software. For example, in some embodiments, the processor 34 is embodied as a programmed digital computing device including at least a central processing unit (CPU) and random access memory (RAM). Program code and / or data, including a software program, are loaded into the RAM for execution and processing by the CPU. The program code and / or data may be downloaded to the processor in electronic form, e.g., over a network. Alternatively or additionally, the program code and / or data may be provided and / or stored on a non-transitory tangible medium, such as magnetic, optical, or electronic memory. Such program code and / or data, when provided to the processor, results in a machine or special-purpose computer configured to perform the tasks described herein.

[0038] Generation of anatomical maps Reference is now made to FIG. 2, which is a schematic illustration of a technique for generating a map 38, according to some embodiments of the present invention.

[0039] Figure 2 shows a portion of a point cloud 42, which represents the mapped volume of the heart by including a plurality of points 44 corresponding to respective positions of the probe 26 within the heart, as described above with reference to Figure 1. Figure 2 also shows a virtual surface 46 representing the anatomical surface 40 of the mapped volume (i.e., the tissue surrounding the mapped volume).

[0040] Typically, the processor generates the virtual surface 46 by applying the ball-pivoting algorithm (BPA) described by Bernardini, Fausto, et al., "The ball-pivoting algorithm for surface reconstruction," IEEE Transactions on Visualization and Computer Graphics 5.4 (1999):349-359, to the point cloud, which is incorporated herein by reference. This algorithm (i) finds a seed triangle whose vertices are points on the periphery of the point cloud, and then (ii) calculates the surface 46 as a triangular mesh that approximately interpolates the points on the periphery of the point cloud by extending the triangulation by pivoting a virtual ball around the edges of existing triangles until no open edges remain. Alternatively, the processor may use any other suitable surface generation algorithm.

[0041] The leftmost portion of Figure 2 illustrates a scenario in which probe 26 pushes surface 40 outward from its natural position 48, creating a ridge 50 on the surface. As a result, spurious points corresponding to one or more positions of the probe within ridge 50 are added to the point cloud, and virtual surface 46 acquires a spurious ridge 52, as shown in the central portion of Figure 2.

[0042] To address this issue, embodiments of the present invention provide various techniques for removing a subset of points 44 from the point cloud and then regenerating a virtual surface 46, as shown in the rightmost portion of Figure 2. Following removal of the subset, other points may be added to the point cloud. In this way, spurious points can be removed during the mapping procedure, thereby reducing the required post-processing of the map.

[0043] Typically, the removal of a subset of points is initiated by a user of the system. For example, a user, such as physician 30, may provide an input indicating that some of the points should be removed from the point cloud in response to noticing ridge 52 (FIG. 1) displayed on display 36. Subsequently, in response to this input, the processor may remove the subset of points.

[0044] In some embodiments, the probe can be used in two different modes: a point-adding mode and a point-removing mode. While the probe is in the point-adding mode, the processor adds a respective point corresponding to each new position of the probe. Meanwhile, while the probe is in the point-removing mode, the processor removes any points corresponding to the probe's position. (The probe may also have a third, inactive mode in which no points are added or removed.)

[0045] In such an embodiment, the above-mentioned input from the user indicates that the probe is to be used in point removal mode, and the processor removes each point in the subset in response to the probe verifying that the points are at the corresponding locations. For example, following adding a first group of points to the point cloud, the physician may provide an input indicating that the probe is to be used in point removal mode. The physician may then pass the probe through a previously mapped portion of the subject's anatomy. In response to the input and verifying the probe's location within this portion, the processor may remove the points corresponding to these locations. Then, after removing the probe from this portion, the physician may provide another input indicating that the probe is to be used again in point addition mode. In response to this input, the processor may re-add points to the point cloud.

[0046] To reduce the number of valid points removed from the point cloud, the processor may check whether the probe is pressed against surface 40 before removing a point, for example, by processing a signal from a pressure sensor at the distal end of the probe. In response to determining that the probe is pressed against the surface, the processor may remove the point. Otherwise, the processor may not remove the point.

[0047] Instead of, or in addition to, operating the probe in point removal mode, other techniques may be used to remove points from the point cloud. For example, a point removal initiation input from a user may indicate a time period, and the removed subset of points may include points added to the point cloud during that time period. As a particular example, the time period may begin T units of time (e.g., seconds) before the time the input is presented, and the input may indicate the time period by indicating a time representing T. Alternatively, the input may indicate an integer N, and the subset may include the N points most recently added to the point cloud.

[0048] In general, the user can use any suitable input device to provide the above-described input. For example, the user can press one or more buttons or keys on the console 32 (FIG. 1) or on the control handle of the probe. Alternatively or additionally, the display may include a touchscreen, and the user may provide at least some of the input via the touchscreen. Alternatively or additionally, the user may provide at least some of the input using a keyboard and / or a mouse. As yet another option, the user may use a foot pedal, for example, to toggle between modes in which to operate the probe.

[0049] Reference is now made to FIG. 3, which is a flow diagram of an algorithm 54 for generating map 38 (FIG. 1) according to some embodiments of the present invention.

[0050] Algorithm 54 causes the processor to repeatedly verify the position of the probe in a location verification step 56. Following verifying the position of the probe, the processor checks in a first test step 58 whether the probe is in a point addition mode. If yes, the processor adds one or more points corresponding to the position to the point cloud in a point addition step 60. Otherwise, the processor checks in a second test step 62 whether the probe is in a point removal mode. If yes, the processor removes one or more points corresponding to the position in a point removal step 64. Following adding or removing a point, or if the probe is not in a point addition or point removal mode (but is instead in an inactive mode), the processor returns to location verification step 56.

[0051] In parallel with algorithm 54, the processor may execute another algorithm for receiving input from a user and toggling between modes in response. Additionally, in parallel with algorithm 54, the processor may execute another algorithm for intermittently regenerating virtual surface 46 (FIG. 2). For example, the processor may intermittently regenerate a portion of the virtual surface in each peripheral portion of the point cloud where points are added or removed.

[0052] Using anchor points In some embodiments, the processor identifies one or more anchor points known to correspond to locations on the anatomical surface. For each anchor point, the processor can remove a portion of the point cloud that lies outside the anchor point and then reconstruct the virtual surface so that it passes through the anchor point. (This technique may be performed instead of or in addition to the point removal technique described above.) Alternatively, the processor can expand the point cloud so that after reconstructing the virtual surface, the virtual surface passes through the anchor point.

[0053] Typically, the processor identifies each anchor point in response to input from a user, such as physician 30 (FIG. 1). For example, as discussed above in the overview, electrogram signals may be acquired at various locations on the anatomical plane during mapping. At each of these locations, the physician may place the probe in contact with the tissue, typically without pressing outward on the tissue, and then provide input to the processor indicating that the probe is located on the tissue. (Generally, the user may use any suitable input device to provide this input, as discussed above with reference to FIG. 2.) In response to such input, the processor may identify a point corresponding to the probe's location as an anchor point. (Note that an anchor point may already belong to the point cloud because the probe was previously in the current location.) Alternatively or additionally, while the point cloud is being displayed on display 36 (FIG. 1), the user may select one of the points belonging to the point cloud as an anchor point, for example, by using a touchscreen or a mouse to perform this selection.

[0054] To explain further details, reference is now made to Figures 4A-B, which are schematic illustrations of techniques for reconstructing models, according to some embodiments of the present invention.

[0055] The leftmost portion of Figure 4A illustrates a scenario in which the point cloud is erroneously expanded outward, thereby erroneously expanding virtual surface 46. (The shaded areas in Figures 4A-B correspond to the point cloud.) In this scenario, the processor removes points from the point cloud such that anchor point P, which corresponds to a location on the anatomical surface, is at the periphery of the point cloud, as shown in the center portion of Figure 4A. The processor then reconstructs virtual surface 46 such that P is on the virtual surface by locating P at the periphery of the point cloud, as shown in the rightmost portion of Figure 4A.

[0056] Specifically, after identifying point P, the processor calculates another point P' on the virtual surface by projecting P onto the virtual surface. In other words, the processor calculates P' as the point on the virtual surface that is closest to P. (P' may be an original point belonging to the point cloud, but typically P' is a new point defined by the processor.) Next, the processor defines a virtual sphere 43 whose center is on a virtual line 47 connecting P and P' (i.e., whose center 45 is located on the virtual line 47) such that P is located on the (spherical) surface of the virtual sphere 43. Next, the processor excludes the virtual sphere from the point cloud, i.e., the processor removes from the point cloud each point located within the virtual sphere. Finally, the processor reconstructs the virtual surface such that P is located on the virtual surface due to the exclusion of the virtual sphere from the point cloud.

[0057] Typically, the virtual surface is reproduced using a BPA. In such an embodiment, the radius R of the virtual sphere is at least 2r, where r is the radius of the virtual ball 49 used in the BPA, so that the ball 49 can be pivoted within the area where the points have been removed. For example, R may be equal to 2r.

[0058] As shown in FIG. 4B , the above-described technique may also be used to advance the point cloud and virtual surface outward if peripheral portions of the anatomical volume are lost during mapping. In other words, the processor may identify P′ as described above and shown in the leftmost portion of FIG. 4B , and then define a virtual sphere. The processor may then expand the point cloud to fill the entire virtual sphere, i.e., fill the portion of the virtual sphere that is outside the point cloud with new points, as shown in the center portion of FIG. 4B . (The new points may have any suitable inter-point spacing.) Finally, as shown in the rightmost portion of FIG. 4B , the processor may reconstruct the virtual surface as described above, such that P lies on the virtual surface by expanding the point cloud to fill the entire virtual sphere.

[0059] Reference is now made to FIG. 5, which is a flow diagram of an algorithm 66 for reconstructing a model, according to some embodiments of the present invention.

[0060] The algorithm 66 begins with a point identification step 68 in which the processor identifies an anchor point P. Then, in a projection step 70, the processor calculates a point P' by projecting P onto a virtual surface. Next, in a virtual sphere definition step 72, the processor defines a virtual sphere. Following the definition of the virtual sphere, in a point cloud modification step 74, the processor modifies the point cloud relative to the virtual sphere (by adding or removing points from the virtual sphere) so that P is on the periphery of the point cloud. Finally, in a reconstruction step 76, the processor reconstructs the virtual surface, thereby later positioning P on the virtual surface.

[0061] It should be noted that although the above description is primarily directed to mapping of cardiac chambers, the techniques described herein may also be applied to mapping of any other anatomical volume, such as, for example, the ENT volume.

[0062] Those skilled in the art will understand that the present invention is not limited to what is specifically shown and described above in this specification. Rather, the scope of the embodiments of the present invention includes both combinations and subcombinations of the various features described above in this specification, as well as variations and modifications of features that are not present in the prior art and that would occur to one of ordinary skill in the art upon reading the above description. Documents incorporated by reference into this patent application are considered to be an integral part of this application, except that if any term is defined in these incorporated documents in a way that contradicts the definition given herein, either expressly or impliedly, then only the definition given herein shall be considered.

[0063] [Embodiment] (1) A system for real-time correction of an anatomical map, comprising: An input device; 1. A processor, comprising: adding a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input received via the input device; and a processor configured to add other points to the point cloud corresponding to each subsequent position of the probe within the anatomical volume following removal of the subset. (2) the input indicates that the probe is to be used in point removal mode; 2. The system of claim 1, wherein the processor is configured to remove the subset by removing the point in response to confirming that, for each of the points in the subset, the probe is present at the position corresponding to the point. (3) the input is a first input; The system of embodiment 2, wherein the processor is configured to add the other points to the point cloud in response to a second input indicating that the probe is being used in point addition mode. (4) The system of embodiment 2, wherein the processor is configured to remove the point in response to determining that the probe is pressed against a surface of the anatomical volume. (5) The system of embodiment 1, wherein the input indicates a time period and the subset includes points among the points that were added to the point cloud during the time period.

[0064] (6) The system of embodiment 5, wherein the period begins T units of time before the time the input is presented, and the input indicates the period by indicating T. (7) The system of embodiment 1, wherein the input indicates an integer N and the subset includes the N points among the points that were most recently added to the point cloud. (8) The system of embodiment 1, wherein the anatomical volume includes at least a portion of a cardiac chamber. (9) A method for real-time correction of an anatomical map, comprising: adding, using a processor, a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input from a user; and subsequent to removing the subset, adding other points to the point cloud corresponding to each subsequent position of the probe within the anatomical volume. (10) the input indicates that the probe is to be used in point removal mode; 10. The method of claim 9, wherein removing the subset includes, for each of the points in the subset, removing the point in response to confirming that the probe is present at the position to which the point corresponds.

[0065] (11) The input is a first input; A method as described in embodiment 10, wherein adding the other points to the point cloud includes adding the other points to the point cloud in response to a second input indicating that the probe is being used in point addition mode. (12) The method of embodiment 10, wherein removing the point includes removing the point in response to confirming that the probe is pressed against a surface of the anatomical volume. (13) The method of embodiment 9, wherein the input indicates a time period, and the subset includes points among the points that were added to the point cloud during the time period. (14) The method of embodiment 13, wherein the period begins T units of time before the time the input is presented, and the input indicates the period by indicating T. (15) The method of embodiment 9, wherein the input indicates an integer N, and the subset includes the N points of the points that were most recently added to the point cloud.

[0066] (16) The method of embodiment 9, wherein the anatomical volume comprises at least a portion of a cardiac chamber. (17) A computer software product including a tangible, non-transitory computer-readable medium having stored thereon program instructions, said instructions, when read by a processor, causing said processor to: adding a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input from a user; a computer software product that, following removal of the subset, causes other points corresponding to each subsequent position of the probe within the anatomical volume to be added to the point cloud. (18) the input indicates that the probe is to be used in point removal mode; 18. The computer software product of claim 17, wherein the instructions cause the processor to remove the subset by removing the point in response to determining, for each of the points in the subset, that the probe is at the location to which the point corresponds. (19) The input is a first input; 20. The computer software product of claim 18, wherein the instructions cause the processor to add the other points to the point cloud in response to a second input indicating that the probe is being used in a point addition mode. (20) The computer software product of claim 18, wherein the instructions cause the processor to remove the point in response to verifying that the probe is pressed against a surface of the anatomical volume.

Claims

1. 1. A system for real-time correction of an anatomical map, comprising: An input device; 1. A processor, comprising: adding a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input received via the input device; a processor configured to, following removal of the subset, add other points to the point cloud corresponding to each subsequent position of the probe in the anatomical volume acquired as the probe moves over time; The system, wherein the input indicates a time period, and the subset includes the points that were added to the point cloud during the time period.

2. A system for real-time correction of an anatomical map, comprising: An input device; 1. A processor, comprising: adding a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input received via the input device; a processor configured to, following removal of the subset, add other points to the point cloud corresponding to each subsequent position of the probe in the anatomical volume acquired as the probe moves over time; the input indicates that the probe is to be used in point removal mode; The processor is configured to remove the subset by removing the point in response to determining, for each of the points in the subset, that the probe is at the location to which the point corresponds.

3. the input is a first input, The system of claim 2 , wherein the processor is configured to add the other points to the point cloud in response to a second input indicating that the probe is being used in a point-adding mode.

4. The system of claim 2 , wherein the processor is configured to remove the point in response to determining that the probe is pressed against a surface of the anatomical volume.

5. The system of claim 1 , wherein the period begins T units of time before the time the input is presented, and the input indicates the period by indicating T.

6. A system for real-time correction of an anatomical map, comprising: An input device; 1. A processor, comprising: adding a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input received via the input device; a processor configured to, following removal of the subset, add other points to the point cloud corresponding to each subsequent position of the probe in the anatomical volume acquired as the probe moves over time; The system, wherein the input indicates an integer N, and the subset includes the N most recently added points of the points to the point cloud.

7. The system of claim 1 , 2 or 6 , wherein the anatomical volume includes at least a portion of a chamber of a heart.

8. 1. A method of operating a system for real-time correction of an anatomical map, comprising: a processor of the system adding to a point cloud representing an anatomical volume a plurality of points corresponding to respective positions of a probe within the anatomical volume; subsequent to adding the points, the processor removing a subset of the points from the point cloud in response to input from a user; and the processor, following removal of the subset, adding other points to the point cloud corresponding to each subsequent position of the probe within the anatomical volume acquired as the probe moves over time; A method of operating a system wherein the input indicates a time period, and the subset includes those points that were added to the point cloud during the time period.

9. A method of operating a system for real-time correction of anatomical maps, comprising: a processor of the system adding to a point cloud representing an anatomical volume a plurality of points corresponding to respective positions of a probe within the anatomical volume; subsequent to adding the points, the processor removing a subset of the points from the point cloud in response to input from a user; and the processor, following removal of the subset, adding other points to the point cloud corresponding to each subsequent position of the probe within the anatomical volume acquired as the probe moves over time; the input indicates that the probe is to be used in point removal mode; A method of operating a system, wherein removing the subset includes the processor removing the point in response to confirming, for each of the points in the subset, that the probe is present at the position to which the point corresponds.

10. the input is a first input, 10. The method of claim 9, wherein adding the other points to the point cloud includes the processor adding the other points to the point cloud in response to a second input indicating that the probe is being used in a point addition mode.

11. 10. The method of claim 9, wherein removing the point comprises removing the point in response to the processor determining that the probe is pressed against a surface of the anatomical volume.

12. 9. The method of claim 8, wherein the period begins T units of time before the time the input is presented, and the input indicates the period by indicating T.

13. A method of operating a system for real-time correction of anatomical maps, comprising: a processor of the system adding to a point cloud representing an anatomical volume a plurality of points corresponding to respective positions of a probe within the anatomical volume; subsequent to adding the points, the processor removing a subset of the points from the point cloud in response to input from a user; and the processor, following removal of the subset, adding other points to the point cloud corresponding to each subsequent position of the probe within the anatomical volume acquired as the probe moves over time; A method of operating the system wherein the input indicates an integer N, and the subset includes the N most recently added points of the points to the point cloud.

14. 14. A method of operating a system according to any one of claims 8, 9 or 13, wherein the anatomical volume comprises at least a portion of a chamber of the heart.

15. A computer program comprising instructions for causing a processor of a system to perform a process, the instructions, when read by the processor, causing the processor to: adding a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input from a user; subsequent to removing the subset, adding other points to the point cloud corresponding to each subsequent position of the probe acquired as the probe moves through the anatomical volume over time; The computer program product, wherein the input indicates a time period, and the subset includes those points that were added to the point cloud during the time period.

16. A computer program comprising instructions for causing a processor of a system to perform a process, the instructions, when read by the processor, causing the processor to: adding a plurality of points to a point cloud representing an anatomical volume, the points corresponding to respective positions of the probe within the anatomical volume; subsequent to adding the points, removing a subset of the points from the point cloud in response to input from a user; subsequent to removing the subset, adding other points to the point cloud corresponding to each subsequent position of the probe acquired as the probe moves through the anatomical volume over time; the input indicates that the probe is to be used in point removal mode; 10. A computer program product, the instructions of which cause the processor to remove the subset by removing the point in response to determining, for each of the points in the subset, that the probe is at the location to which the point corresponds.

17. the input is a first input, 17. The computer program product of claim 16, wherein the instructions cause the processor to add the other point to the point cloud in response to a second input indicating that the probe is being used in a point-adding mode.

18. 17. The computer program of claim 16, wherein the instructions cause the processor to remove the point in response to determining that the probe is pressed against a surface of the anatomical volume.

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