Real-time Anatomical Map Correction via Point Cloud Filtering
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Solution Overview
Problem
Conventional anatomical mapping techniques face challenges in accurately removing spurious points from models of anatomical volumes, such as heart chambers, due to respiratory movement or excessive probe force, which can compromise model accuracy and require post-processing deformation.
Innovation Solution
The system employs a processor to operate in point-removal mode, allowing real-time correction by removing points corresponding to spurious locations, and uses virtual spheres to exclude points from the point cloud, regenerating the surface to ensure accuracy without deformation, and switches between point-addition and point-removal modes based on user input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional anatomical mapping techniques are used to collect points during probe insertion, then the anatomical map can be created, but spurious points are introduced due to respiratory movement or excessive probe force
Solution Approach 1:
The system performs preliminary actions by identifying anchor points that represent true anatomical surface locations before final map generation. These anchor points serve as reference points to guide subsequent point validation, allowing the system to preemptively identify and remove spurious points caused by respiratory movement or excessive probe force.
Solution Approach 2:
The system implements feedback mechanisms by continuously comparing collected probe points against the virtual surface model and anchor points. When deviations are detected that indicate spurious points, the system provides feedback to exclude these points from the final anatomical map, thereby maintaining measurement precision while eliminating harmful artifacts.
2Measurement precision
If post-processing deformation is applied to remove spurious points, then model accuracy can be improved, but additional processing time and complexity are required
Solution Approach 1:
The system performs point validation and spurious point exclusion during the data collection phase itself, rather than requiring separate post-processing deformation steps. By integrating the validation logic into the real-time mapping process, the system eliminates the need for time-consuming post-processing while maintaining model accuracy.
Solution Approach 2:
The system extracts and removes spurious points from the point cloud during real-time processing by comparing points against the virtual surface and anchor points. This extraction of harmful elements occurs immediately during data collection, avoiding the need for subsequent post-processing deformation operations and reducing overall processing time.
3Productivity
If the probe is used to collect points during heart chamber mapping, then anatomical data is acquired, but respiratory movement and probe force cause spurious points to be added to the model
Solution Approach 1:
The system implements real-time feedback by continuously validating newly acquired probe points against the virtual surface model and anchor points. When spurious points are detected during data acquisition, the system immediately excludes them, allowing continuous high-rate data collection while maintaining data quality without requiring probe manipulation changes.
Solution Approach 2:
The system performs self-validation of collected points by automatically comparing them against the virtual surface and anchor points. This self-service mechanism allows the mapping system to autonomously identify and exclude spurious points generated during normal probe insertion, maintaining both productivity and data accuracy without external intervention.
Data Source
AI summary
A system includes 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, to 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 to 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.