Real-time display of treatment-related tissue changes using virtual material

Patent metadata

Field	Value
Publication number	US-11793571-B2
Application number	US-202016906041-A
Country	US
Kind code	B2
Filing date	Jun 19, 2020
Priority date	Nov 16, 2016
Publication date	Oct 24, 2023
Grant date	Oct 24, 2023

Abstract

In some embodiments, data sensed and/or operational parameters used during a catheterization procedure are used in the motion frame-rate updating and visual rendering of a simulated organ geometry. The organ geometry is rendered as a virtual material using a software environment (preferably a graphical game engine) which applies simulated optical laws to material appearance parameters affecting the virtual material's visual appearance, as part of simulating a scene comprising the simulated organ geometry, and optionally also comprising simulated views of a catheter probe used for sensing and/or treatment. Optionally, measurements of and/or effects on tissue by sensing and/or commanded probe-tissue interactions are converted into material appearance changes, allowing dynamic visual simulation of intra-body states and/or events based on optionally non-visual input data. In some embodiments, physiology, motion physics, and/or other physical processes are simulated based on live inputs as part of associating material appearance properties to the simulated tissue's geometry.

First claim

What is claimed is:

1. A method of visually displaying tissue-probe interactions, the method comprising:
receiving interaction data indicating contact between an intrabody probe and a body tissue region, wherein the interaction data are associated to positions within the body tissue region;
deforming geometrical rendering data indicating geometry of the tissue region, based on a change in shape of the body tissue region indicated in the interaction data;
adjusting data indicating a position of the intrabody probe, based on the interaction data; and
rendering the deformed geometrical rendering data to a rendered image;
wherein the rendered image comprises a representation of the intrabody probe in the indicated position; and
the representation shows the intrabody probe interacting with the deformed geometry of the body tissue region from said indicated position; and
presenting the rendered image.

2. The method of claim 1 , wherein receiving interaction data comprises receiving interaction data indicating contact between an intrabody probe and a surface of a body tissue region, wherein the interaction data are associated to surface locations on said surface of the body tissue region.

3. The method of claim 1 , further comprising associating material appearance properties to an extent of the geometrical rendering data, based on the interaction data; and wherein the rendering of the deformed geometrical rendering data uses the associated material appearance properties to produce the rendered image.

4. The method of claim 3 , wherein the rendering uses the associated material appearance properties to simulate interactions of tissue represented by the geometrical rendering data, of the tissue indicated as having a change in shape, with light.

5. The method of claim 1 , wherein said material properties comprises volumetric material properties.

6. The method of claim 1 , wherein the rendered image includes a cross-sectional view of the body tissue region.

7. The method of claim 6 , wherein the extent and depth of the deforming represent a local indentation of a thickness of the body tissue region where it is intersected by the cross-sectional view, in response to contact pressure applied to the tissue by the intrabody probe in the indicated position.

8. The method of claim 1 , wherein the extent and degree of the deforming simulate stretching of the body tissue region in response to contact pressure applied to the tissue by the intrabody probe in the indicated position.

9. The method of claim 1 , wherein the interaction data includes probe-sensed characteristics of tissue in the vicinity of the intrabody probe which modifies the rendering of deformation.

10. The method of claim 1 , wherein the interaction data includes operation data indicating activation of the intrabody probe to treat tissue and wherein said rendering reflects both geometrical deformation by the probe and said operational data.

11. The method of claim 1 , wherein the interaction data indicate a change of the tissue due to the interaction between the intrabody probe and the body tissue region.

12. The method of claim 1 , wherein the receiving comprises receiving interaction data including operation data indicative of use of an ablation device operated using the intrabody probe to ablate in the body tissue region.

13. The method of claim 1 , wherein the receiving comprises receiving interaction data measuring a force of contact between the intrabody probe and the body tissue region.

14. The method of claim 1 , wherein the interaction data indicate a quality of contact between the intrabody probe and the body tissue region.

15. The method of claim 13 , comprising deforming the geometrical rendering data at the region corresponding to the region of contact to an extent based on the measured force of contact.

16. The method of claim 1 , wherein the interaction data indicate injection of a substance from the intrabody probe to the body tissue region, which injection affects tissue behavior and/or geometry.

17. The method of claim 1 , wherein the geometrical rendering data represent thickness of a tissue in the tissue region, and the associating associates the material appearance properties across an extent of the thickness.

18. The method of claim 1 , wherein the receiving, the associating, the rendering, and the presenting are performed for each of a sequence of interactions between the intrabody probe and one or more body tissue regions.

19. The method of claim 1 , wherein the representation shows the intrabody probe deformed in shape in response to the indicated contact.

20. The method of claim 19 , wherein the rendering is to a rendered image from a simulated viewpoint at least partially based on a determined position of the intrabody probe relative to the tissue region determined from measurements.

21. The method of claim 20 , wherein the simulated viewpoint is at least partially based on a determined orientation of the intrabody probe.

22. The method of claim 1 , wherein said rendering comprises time-evolving rendering reflecting a physical process other than electrical activity and said rendering also including changes in rendering independent of any probe movement.

23. A system for displaying effects of interactions between an intrabody probe and a body tissue region as images, the system comprising:
computer circuitry configured to:
receive interaction data indicating the interactions, and associated to positions within the body tissue region,
associate, based on the interaction data, material appearance properties to an extent of geometrical rendering data indicating geometry of the tissue region, and
render the geometrical rendering data to a rendered image using the associated material appearance properties; and

a display, configured to present the rendered image.

24. The system of claim 23 , wherein the computer circuitry is configured to render the geometrical rendering data using a graphical game engine.

25. The system of claim 23 , wherein the interaction data includes sensed positions of the intrabody probe.

26. The system of claim 23 , wherein the interaction data includes probe-sensed characteristics of tissue in the vicinity of the probe.

27. The system of claim 23 , wherein the interaction data includes treatment status data indicating activation of the intrabody probe to treat tissue.

28. The system of claim 23 , wherein the associated material appearance properties are used to simulate interactions of tissue represented by the geometrical rendering data, of the tissue indicated as having a change in shape, with light.

29. The method of claim 1 , wherein the rendered image presents the body tissue region as a volume having a superficial surface and a cross-sectional surface.

Assignees

• Navix Int Ltd

Inventors

• Shmayahu Yizhaq
• Schwartz Yitzhack

Classifications

• A61B34/10 Primary

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B18/06

  caused by chemical reaction {, e.g. moxaburners} · CPC title

• A61B18/1492

  having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence) · CPC title

• A61B18/24

  with a catheter (A61B18/26, A61B18/28 take precedence) · CPC title

• A61B90/37

  Surgical systems with images on a monitor during operation · CPC title