Real-time display of tissue deformation by interactions with an intra-body probe

Patent metadata

Field	Value
Publication number	US-2022211293-A1
Application number	US-202217701830-A
Country	US
Kind code	A1
Filing date	Mar 23, 2022
Priority date	Nov 16, 2016
Publication date	Jul 7, 2022
Grant date	—

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. In some embodiments, measurements of and/or effects on tissue by sensed and/or commanded probe-tissue interactions are converted into adjustments to the simulated organ geometry, allowing dynamic visual simulation of intra-body states and/or events based on optionally partial and/or non-visual input data. Adjustments to geometry are optionally to 3-D positions of simulated data and/or to simulated surface properties affecting geometrical appearances (e.g., normal mapping). Optionally, 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. Optionally, physiology, motion physics, and/or other physical processes are simulated based on live inputs, as part of assigning geometrical adjustments to the simulated tissue.

First claim

What is claimed is:

1 . A method of visually displaying effects of a medical procedure, comprising:
receiving interaction data from an intrabody probe indicating touching contacts between the intrabody probe and a body tissue region, wherein the interaction data at least associate the contacts to contacted positions of the body tissue region; adjusting geometrical rendering data representing a shape of the body tissue region to obtain adjusted geometrical rendering data, wherein the adjusting is based on an indication in the interaction data of a change in the shape of the body tissue region due to the contacting; rendering the adjusted geometrical rendering data to a rendered image; and displaying the rendered image; wherein the geometrical rendering data are adjusted as a function of time since occurrence of an indicated contact.

2 . The method of claim 1 , wherein the receiving, the adjusting, and the displaying are performed iteratively for a sequence of contacts for which interaction data is received.

3 . The method of claim 1 , wherein the adjusting is as a function of time relative to a time of occurrence of at least one of the indicated contacts, and comprises adjusting the geometrical rendering data to indicate gradual development of a change in geometry of the body tissue region as a result of the contacts.

4 . The method of claim 3 , wherein the gradually developed change in geometry indicates a developing state of edema.

5 . The method of claim 4 , comprising geometrically distorting the rendering of the geometrical rendering data into a swollen appearance, to an extent based on the indicated development of the state of edema.

6 . The method of claim 3 , wherein the contacts comprise mechanical contacts, and the gradual development of a change in geometry indicates swelling of the body tissue region in response to tissue irritation by the mechanical contacts.

7 . The method of claim 3 , wherein the contacts comprise an exchange of energy between the intrabody probe and the body tissue region by a mechanism other than contact pressure.

8 . The method of claim 1 , wherein the extent and degree of the adjusting model a change in a thickness of the body tissue region.

9 . The method of claim 1 , wherein the interaction data describe an exchange of energy between the intrabody probe and the body tissue region by a mechanism other than contact pressure.

10 . The method of claim 9 , wherein the adjusting comprises updating the geometrical rendering data based on a history of interaction data describing the exchange of energy.

11 . The method of claim 10 , wherein the exchange of energy comprises operation of an ablation modality.

12 . The method of claim 11 , wherein the updating changes an indication of lesion extent in the geometrical rendering data based on the history of interaction data describing the exchange of energy by operation of the ablation modality.

13 . The method of claim 11 , wherein the updating comprises adjusting the geometrical rendering data to indicate a change in mechanical tissue properties, based on the history of interaction data describing the exchange of energy.

14 . The method of claim 11 , wherein the ablation energy exchanged between the intrabody probe and the body tissue region comprises at least one of the group consisting of: radio frequency ablation, cryoablation, microwave ablation, laser ablation, irreversible electroporation, substance injection ablation, and high-intensity focused ultrasound ablation.

15 . The method of claim 10 , wherein the updating comprises adjusting the geometrical rendering data to indicate a change in tissue thickness, based on the history of interaction data describing the exchange of energy.

16 . The method of claim 10 , wherein effects of the history of interaction data describing the exchange of energy are determined from modelling of thermal effects of the exchange of energy on the body tissue region.

17 . The method of claim 16 , wherein the modelling of thermal effects accounts for local tissue region properties affecting transfer of thermal energy between the intrabody probe and the body tissue region.

18 . The method of claim 9 , wherein the exchange of energy between the intrabody probe and the body tissue region induces edema, and the adjusting comprises adjusting the geometrical rendering data to indicate the edema.

19 . The method of claim 1 , wherein the body tissue region comprises a tissue of at least one organ of the group consisting of the heart, vasculature, stomach, intestines, liver and kidney.

20 . The method of claim 1 , further comprising assigning material appearance properties across an extent of the geometrical rendering data, based on the interaction data; and wherein the displaying of the rendered image uses the assigned material appearance properties.

Assignees

• Navix Int Ltd

Inventors

• Shmayahu Yizhaq
• Schwartz Yitzhack

Classifications

• A61B2034/2068

  using pointers, e.g. pointers having reference marks for determining coordinates of body points · CPC title

• A61B2034/104

  Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring · CPC title

• A61B2018/0212

  using an instrument inserted into a body lumen, e.g. catheter · CPC title

• G06T7/0012

  Biomedical image inspection · CPC title

• A61B2018/00577

  Ablation · CPC title