Dynamic mapping point filtering using a pre-acquired image

摘要

A method, including acquiring a body cavity image and receiving first and second sets of mapping points from a probe inserted into the cavity. A first registration, having a first cumulative error value, is performed between the first set's mapping points and the image, each of the first set's mapping points having a respective first point error value, and a 3D anatomical map is generated including the first set's mapping points whose respective first point error values are less than a specified threshold. A second registration is performed between the received mapping points and the image, each of the received mapping points having a respective second point error value, the second registration having a second cumulative error value lower than the first cumulative error value, and an updated 3D anatomical map is generated including the received mapping points whose respective second point error values are less than the specified threshold.

主权项

1. A method, comprising:
acquiring, from an imaging system, an image of a body cavity; receiving first and second sets of mapping points from a probe having a location sensor and inserted into the body cavity; performing, by a processor, a first registration between the mapping points in the first set and the image, each of the mapping points in the first set having a respective first point error value, the first registration having a first cumulative error value indicating a quality of the first registration; generating, using the first registration, a three-dimensional (3D) anatomical map comprising the mapping points in the first set whose respective first point error values are less than a point error threshold; performing a second registration between the mapping points in the first and the second sets and the image, each of the mapping points in the first and the second sets having a respective second point error value, the second registration having a second cumulative error value lower than the first cumulative error value; and generating an updated 3D anatomical map comprising the mapping points in the first and the second sets whose respective second point error values are less than the point error threshold.