The application is Application No. 200780017743.8, entitled " is used to being mapped to electrophysiology information complicated severalThe divisional application of the Chinese patent application of what system and method in shape ".
The U.S. Provisional Patent Application 60/800,848 submitted to this application claims 17 days Mays 2006 applying date is (referred to as' 848 application) rights and interests.The application also requires U. S. application 11/ that on December 2006 applying date 29 submitted to, pending at presentThe rights and interests of 647,276 (referred to as ' 276 apply).' 848 applications and ' 276 application all the elements of the two are all included by quotingIn this application, as illustrated completely herein.
All the elements of following copending application are entirely included in the application by reference, as explained completely hereinState：The U. S. application 11/227006 of submission on the 15th of September in 2005；The 10/819027 of the submission of on April 6th, 2004；It is required that 2006The 11/647275 of 29 days December in 2006 submission of the rights and interests of U.S. Provisional Application 60/800858 that on May 17, in submits to；AndIt is required that the 11/ of 29 days December in 2006 submission of the rights and interests of U.S. Provisional Application 60/851042 that on October 12nd, 2006 submits to647298 (its be requirement on May 28th, 2004 submit to U.S. Provisional Application 60/575411 rights and interests on May in 2005 27The part of the U.S. Provisional Application 11/139908 of submission continues).
The content of the invention
The present invention is expanded by providing direct map electrophysiology measurement result to the ability of the 3-D view for obtaining beforeThe existing force of the electrophysiology mapping systems of the big heart.
Acquired electrophysiology measurement utilizes high resolution image data when the present invention provides combined treatmentAbility.Therefore, for improved treatment, the present invention allows the combination of different technologies.
By reading following description content and claims and referring to accompanying drawing, of the invention foregoing and other sidesFace, feature, details, using and advantage will be evident that.
Embodiments of the invention provide a kind of method in map electrophysiology information to threedimensional model, including stepSuddenly：The positional information of A) at least part of threedimensional model of acquisition heart, including heart surface multiple location points；B the heart) is obtainedElectrophysiology map, including multiple measurement points positional information and at each of multiple measurement points realize electrophysiology measurementAs a result；C location point) is selected from the multiple location points in threedimensional model and two is determined from the electrophysiology map of the heart mostClose measurement point；D Delaunay (the morals being defined as between two measurement points immediate with selected location point) are limitedIn Lip river) edge；Each repeat step C of multiple location points in for threedimensional model) and D), the electricity for limiting the connection heartAt least some of multiple delaunay edges of the multiple measurement points in physiology figure；F the delaunay edge) is connected many to be formedIndividual triangle；And G) recognized from threedimensional model multiple location points one of them, recognize the position that its surrounded by edges is recognizedOne of them of multiple triangles of point, and use the electro physiology measured at each for the vertex of a triangle for being recognizedMeasurement result is learned, location point of the electrophysiology level to being recognized is distributed based on interpolation method.
Methods described is also optional to distribute including the relative amplitude based on the electrophysiology level for being assigned to independent location pointEach independent location point of multiple location points in color or gray scale to threedimensional model, and in electrophysiology levelIn the case of being assigned to multiple location points, institute is presented using the color of the multiple location points in assigned threedimensional modelState threedimensional model.
Alternatively, the step of electrophysiology map of the acquisition heart inserts electrode in being additionally included in the part of heart；By the electrodeMultiple measurement points are placed in along heart surface；Receive the positional information of each along multiple measurement points of heart surface；ConnectIt is received in the electrophysiology measurement at each of multiple measurement points；And by electrophysiology measurement and measurement electro physiologyThe respective measurement point for learning measurement result is associated.
Alternatively, the step of at least part of threedimensional model for obtaining heart, is additionally included in insertion electricity in the part of heartPole；The electrode is placed in multiple location points along heart surface；Receive along heart surface multiple location points eachPositional information；And producing at least part of threedimensional model of heart, the threedimensional model is included along multiple positions of heart surfacePut the positional information of each a little.
Alternatively, the step of at least part of threedimensional model for obtaining heart, is additionally included in insertion electricity in the part of heartPole；The electrode is placed in more than first location point along heart surface；Receive along more than first location point of heart surfaceThe positional information of each；At least part of preliminary three-dimensional geometry of heart is produced, including along the first of heart surfaceThe positional information of each of multiple location points；And the preliminary three-dimensional geometry is processed to produce including more than second positionThe threedimensional model of the positional information of each of point, wherein more than described second (location point) includes coming from more than first positionAt least some location points of point.
Alternatively, the step of processing the preliminary three-dimensional geometry to produce threedimensional model can include processing the primary threeGeometry is tieed up to produce with more than second threedimensional model of the positional information of each of location point, wherein the three-dimensional mouldType has the resolution ratio higher than preliminary three-dimensional geometry so that more than second location point is quantitatively more than more than first positionPoint.The step for the treatment of preliminary three-dimensional geometry, can also process preliminary three-dimensional geometry to produce using smoothing algorithmWith for more than second threedimensional model of the positional information of each of location point.Can use includes CT scan, MRI, thunderThe technology of picture, x-ray imaging, fluoroscopic image, infrared imaging, ultrasonic imaging and its combination is reached to produce the three-dimensional mouldType.
Alternatively, from the multiple location points in the threedimensional model select location point and from the electrophysiology map of the heart reallyFixed this two closest to can also include selecting location point from the multiple location points in threedimensional model the step of measurement point, andDetermined using Kirsanov-Hoppe geodesic algorithms in the electrophysiology on the immediate heart of selected location pointTwo measurement points in figure.Additionally, connection delaunay edge can also include using not connecting also the step of turning into triangleAdditional triangle is produced to the measurement point at delaunay edge.
Alternatively, from the multiple location points in the threedimensional model select location point and from the electrophysiology map of the heart reallyThe step of fixed two immediate measurement points, can include selecting location point from the multiple location points in threedimensional model, andDetermined using Fast-Marching (Fast marching) geodesic algorithms on the immediate heart of selected location pointTwo measurement points in electrophysiology map.
According to another embodiment of the present invention, there is provided a kind of side in map electrophysiology information to threedimensional modelMethod, comprises the following steps：A) obtain at least part of threedimensional model of heart, including on heart surface multiple location points positionInformation；The positional information and reality at each of multiple measurement points of the B) electrophysiology map of the acquisition heart, including multiple measurement pointsExisting electrophysiology measurement；C location point) is selected from the multiple location points in threedimensional model and from the electro physiology of the heartTwo measurement points immediate with selected location point are determined in figure；D) restriction is defined as immediate with selected location pointDelaunay (delaunay) edge between two measurement points；E) for threedimensional model in multiple location points in eachRepeat step C) and D), at least some of multiple delaunays of the multiple measurement points in the electrophysiology map for limiting the connection heartEdge；F) connect the delaunay edge and form triangle to produce triangulated model, and three are filled using new triangleAny space in angling model；G) recognize compared with the arbitrfary point on immediate delaunay edge close to measurement pointAt least one location point, and electrophysiology level at least one location point is distributed, wherein the electrophysiology distributedLevel is identical with the electrophysiology measurement measured in measurement point；And H) using being measured at each of vertex of a triangleElectrophysiology measurement, based on interpolation method (such as barycentric interpolation) distribution electrophysiology level to be located at triangle in extremelyA few location point.
According to still another embodiment of the invention, there is provided a kind of for being in map electrophysiology information to threedimensional modelSystem, including：Modeling processor, at least part of threedimensional model for producing heart, it includes the multiple positions on heart surfacePut positional information a little；Electrophysiology measuring apparatus, the electrophysiology map for producing the heart, including for the position of multiple measurement pointsThe electrophysiology measurement that confidence ceases and realized at each of multiple measurement points, the electrophysiology measurement and surveyThe respective measurement point for measuring electrophysiology measurement is associated；Delaunay edge processor is more in threedimensional model for processingThe subset of individual location point, and each location point for being processed, it is determined that most being connect with processed location point onIn the electrophysiology map of the heart two near measurement points, the processor limits multiple delaunay edges, each moral Lip riverInward flange is right with each immediate measurement point of processed location point including being defined as；Triangulation processor, for baseMultiple triangles in the electrophysiology map of the edge limited heart of multiple delaunays；With projection processor, using with triangleThe related electrophysiology measurement of each of summit, electrophysiology level is distributed based on interpolation method to positioned at multiple trianglesAt least one of one of them of shape location point.
Alternatively, the processor is based on using the electrophysiology measurement measured at the end points at delaunay edgeBilinear interpolation come distribute electrophysiology level to positioned at delaunay edge at least one location point close in threshold value.
Alternatively, the electrophysiology measurement that the processor is also measured based on measurement point close in threshold value come pointWith electrophysiology level at least one location point, wherein the electrophysiology level for being distributed and the electrophysiology in measurement pointLevel is identical.
According to another embodiment of the present invention, there is provided a kind of side in map electrophysiology information to threedimensional modelMethod, comprises the following steps：A) obtain at least part of threedimensional model of heart, including on heart surface multiple location points positionInformation；B the electrophysiology map of the heart, including the positional information for multiple measurement points and each in multiple measurement points) are obtainedLocate the electrophysiology measurement realized；C location point) is selected from the multiple location points in threedimensional model and from the electro physiology of the heartLearn two immediate measurement points of determination in figure；D) limit be defined as two measurement points immediate with selected location point itBetween edge；E) for threedimensional model in multiple location points each repeat step C) and D), for limiting the connection heartAt least some of multiple edges of the multiple measurement points in electrophysiology map；F the edge) is connected to produce multiple polygons；And one of them of multiple location points, multiple of the identification edge around the location point for being recognized G) are recognized from the threedimensional modelIt is polygonal one of them, and measure knot using the electrophysiology that is measured at each for the polygonal summit for being recognizedReally, electrophysiology level to the location point for being recognized is distributed based on interpolation method.
According to still another embodiment of the invention, there is provided a kind of for being in map electrophysiology information to threedimensional modelSystem, including：Surface modeling controller, at least part of threedimensional model for obtaining heart, including the multiple on heart surfaceThe positional information of location point；Electrophysiology measuring apparatus, the electrophysiology map for producing the heart, including for multiple measurement pointsPositional information and at each of multiple measurement points realize electrophysiology measurement, the electrophysiology measurement andThe respective measurement point for measuring electrophysiology measurement is associated；Edge processor, for processing the multiple positions in threedimensional modelSubset a little is put, and is determined immediate in institute with processed location point on for each processed location pointState two measurement points in the electrophysiology map of the heart, the processor limits multiple edges, each edge include being defined as withEach immediate measurement point of processed location point it is right；Geometry processor, for based on multiple edge limited heartsMultiple polygons in electrophysiology map；And mapping projector, use each the related electro physiology to polygonal summitLearn measurement result, based on interpolation method distribution electrophysiology level to be located at multiple it is polygonal one of them at least one of positionPut a little.
Alternatively, the processor also uses the electrophysiology measurement measured at the end points at the edge based on doubleLinear interpolation distributes at least one location point of the electrophysiology level to edge is located adjacent to.
Alternatively, the geometry processor limits the electrophysiology map of the heart using multiple triangles.It is describedMapping projector is raw based on interpolation method distribution electricity using each the related electrophysiology measurement to vertex of a triangleLevel of science to positioned at triangle one of them at least one of location point.
According to still another embodiment of the invention, there is provided a kind of calculating in map electrophysiology information to threedimensional modelThe method of machine, comprises the following steps：A at least part of threedimensional model of dissection, including multiple on dissection surface) are receivedThe positional information of location point；B) receive the electrophysiology map for dissection, including positional information for multiple measurement points andThe electrophysiology measurement realized at each of multiple measurement points；C) for threedimensional model in multiple location points inEach independent location point, employs a computer to determine immediate with the independent location point from the electrophysiology map twoIndividual measurement point and then limit include determined by measurement point to edge；D) employ a computer to connect the edgeForm the grid of closed polygon；E) employ a computer to from the closed polygon table for being located at edge around the location point for being recognizedThreedimensional model identification location point on face, wherein, the computer uses the polygon around the location point for being recognized at edgeSummit each at the electrophysiology measurement that measures, distribute electrophysiology level to the position for being recognized based on interpolation methodPut a little；And F) output includes the positional information and the electro physiology of each for being assigned to multiple location points for multiple location pointsThe output file of level.
According to another embodiment of the present invention, there is provided for the method in map electrophysiology information to threedimensional model, bagInclude following steps：A) obtain at least part of threedimensional model of heart, including on heart surface multiple location points positional information；B the electrophysiology map of the heart, including the positional information for multiple measurement points and realization at each of multiple measurement points) are obtainedElectrophysiology measurement；C the threedimensional model) is processed using triangulation, so as to produce including the thin of multiple trianglesThe threedimensional model for dividing, each of multiple measurement points is summit in the triangle；And D) process subdivision using extraction algorithmTo produce including more than second threedimensional model of the revision of triangle, each of plurality of measurement point is triangle to threedimensional modelThe summit of shape.
Alternatively, the triangulation processing step is programmed to the triangle for forbidding producing the distance threshold for being longer than predeterminedEdge.
The present embodiment can also include being projected using Kirsanov-Hoppe or Fast Marching geodesic algorithms to be surveyedMeasure point electrophysiology measurement to segment threedimensional model summit or edge the step of.
Alternatively, the present embodiment can also include based on distribute electrophysiology level relative amplitude come distribute color orPerson's gray scale uses the multiple summits in the threedimensional model of assigned revision to each summit of the threedimensional model of revisionThe color present revision threedimensional model the step of.
Specific embodiment
The present invention is improved system capability and is mapped with the improved electrophysiology for producing dissection.The invention is not restricted to produce the heartDirty accurate model, but for illustrative purposes, herein generally by for the navigation of assessment and the treatment of the tissue of the heart andAlignment system is reference.Method described herein can be applied equally to the modeling of human anatomy's other parts.In order to illustrateThe purpose of the present invention, the technology for producing the electrophysiology map of the tissue of the heart explained below.
In the presence of the multiple legacy systems for producing cardiac three-dimensional model, including use such as CT scan, MRI, ultrasonic waveThe system of the technology of imaging, radar imagery, x-ray imaging and fluoroscopic image.The output of these data can be multiple x-y-zData coordinates, spherical coordinates and/or other forms for providing 3-D view.These imaging techniques are generally used in diagnosis, withAnd for preparing the treatment and/or operation of patient.Sometimes, a few houres and in several days of some situations before treatment and/or operationPerform imaging process.
Certainly, threedimensional model can use piecewise approximation, such as CT or MRI scan image including being segmented.SegmentationThe subregion of specification of a model 3-D view separated from larger three-dimensional image digital, for example, the image and heart of atrium dextrumRemainder separate.Other methods and skill of the threedimensional model of the part for producing patient can also be used according to the present inventionArt, including the methods and techniques for example disclosed in United States Patent (USP) 6728562 (' 562 patent), its all the elements are included by referenceIn this application.
The other of threedimensional model other technologies for producing dissection discussed further below.
It is used to produce the available technology of electrophysiology map below in conjunction with Fig. 1 discussion, Fig. 1 shows the schematic diagram of alignment system 8,There is the electrical activity in the heart 10 of patient 11 in the system 8, and three-dimensional mapping electricity is living by the conduit and measurement of the heart that navigatesInformation dynamic and/or related to electrical activity or that characterize electrical activity carries out the electrophysiologic studies of the heart.System 8 is used forOne or more electrode helps produce anatomical model.System 8 can be also used for measuring at along multiple points of heart surfaceElectrophysiology data, and store and the positional information of each measurement point at measurement electrophysiology data is associatedMeasured data.
To put it more simply, patient 11 is schematically depicted as ellipse.Shown three groups of surface electrodes (for example, plate electrode) are along XAxle, Y-axis and Z axis are applied to the surface of patient 11.X-axis surface electrode 12,14 is applied to patient, such as patient's chest along first axle(skin being for example applied under each arm of patient) and left and right electrode can be referred to as on the side of cavity region.Y-axis electrode18th, 19 patient is applied to along the second axle generally perpendicular to X-axis, such as along the femoribus internus and neck area of patient, andAnd left leg and neck electrodes can be referred to as.Z axis electrode 16,22 is all along the 3rd axle application generally perpendicular to X-axis and Y-axisSuch as and chest and back electrode can be referred to as along the breastbone and spine of patient in chest area.Heart 10 is located at theseBetween surface electrode pair.Additional surface reference electrode (for example, " sternite (belly patch) ") 21 is provided for system 8With reference to and/or earth electrode.Sternite electrode 21 is the replacement of fixed intracardiac electrode 31.Further, it will be understood that patient 11 will haveThere are most or all of traditional electrocardiogram (ECG) system leads in place.Although being not shown in Fig. 1, the ECG informationCan be used for system 8.
In a preferred embodiment, positioning/mapped system is St.Jude Medical, Atrial FibrillationThe EnSite of Division, IncNavigation and visualization system.But can position system using other with reference to the present inventionSystem, such as including Biosense Webster, the CARTO of Inc navigation and alignment system and Medtronic, Inc'sNavigation system in LOCALISA hearts.The positioning of following patent (it is all incorporated by reference in the present invention) description and mapping systemSystem can be used with the present invention：United States Patent (USP) 6990370,6978168,6947785,6939309,6728562,6640119th, 5983126 and 5697377.
The representative conduit 13 with least one electrode 17 (such as remote electrode) is also illustrated in figure.Shown representativeness is ledPipe electrode 17 is referred to as " roving electrode (roving electrode) " or " measuring electrode " through specification.Generally will be using leadingOn pipe 13 or multiple this supravasal multiple electrodes.For example, in one embodiment, system 8 can include patient's heart and/Or up to 12 supravasal up to 64 electrodes arranged in vascular system.Certainly, this embodiment is for illustration only, andAny number of electrode and conduit can be used in the scope of the present invention.
Optional fixed reference electrode 31 (for example investing the wall of heart 10) is also illustrated on a second catheter 29.For schoolStandard, the electrode 31 can static (for example invest or close to the wall of heart) or be closed with fixed space with roving electrode 17System's arrangement.Fixed reference electrode 31 can be used for supplement or the replacement of above-mentioned surface reference electrode 21.In multiple examples, the heartCoronary sinus electrode or other fixed electrodes in dirty 10 can serve as measuring the reference of voltage and displacement.
Each surface electrode is coupled to variable connector 24 and selects electrode pair by operation software on the computer 20,It couples the electrode to signal generator 25.For example, computer 20 can include traditional all-purpose computer, special-purpose computer,Distributed computer or any other type of computer.Computer 20 can include one or more processor, such asSingle CPU or multiple processing units, commonly referred to parallel processing environment.
Generally, by it is a series of driven and sense electric dipole produce three specified vertical electric fields, for realize lifeCatheter navigation in thing conductor.Alternatively, these perpendicualr fields can be decomposed and it is any to surface electrode can be byDipole is driven to for providing effective electrode triangulation.Additionally, the flexibility of this non-perpendicular method strengthening system.ForThe axle of any desired, by the caused potential measured by intracardiac electrode 17 of one group of predetermined drive configuration (source-meeting point) by algebraicallyIt is combined to produce and passes through the same effective electromotive force of the simple potential for driving uniform current to obtain with along vertical axis.
It is thereby possible to select any two is used as on being grounded with reference to (for example in surface electrode 12,14,16,18,19,22Sternite 21) dipole source electrode and drain electrode, while the electrode measurement of dead on ground connection reference voltage.It is arranged in heart 10In measuring electrode 17 in the field from current impulse, and measured relative to ground (for example, sternite 21).In practiceIn, the conduit in heart can include multiple electrodes, and can measure the potential of each electrode.As described above, at least oneElectrode can be fixed on the inner surface of heart to form fixed reference electrode 31, and it is equally measured relative to ground.From tableThe data group of each of face electrode, internal electrode and dummy electrodes may be used to determine heart 10 in measuring electrode 17 orThe position of other electrodes.
Those of ordinary skill in the art can will readily recognize that measuring electrode 17 can be used for measuring electrophysiology data,And system 8 can be used for the electrophysiology data that storage is associated with the positional information of the measurement point of measurement electrophysiology data(for example, voltage reads, including being not limited to the voltage change of time cycle).
For example, measuring all of raw electrode voltage data and by calculating by A/D converter 26 under software controlMachine 20 is stored.When replacement group surface electrode is chosen and remaining non-driven electrode is used to measure voltage, the electrode swashsEncourage process quickly and order occurs.The set of this voltage measurements is referred to herein as " electrode data set ".In every a pair of surfaces electricityDuring the excitation each time of pole, each individual voltage measurement result that softward interview is realized in each electrode.
Raw electrode data is used to determine the such as electrode of the endocardial of roving electrode 17 and the heart positioned at patient 11And/or in vascular system or surrounding any number of other electrodes three dimensions (X, Y, Z) in " basis " position.Fig. 2Show to extend into the conduit 13 of heart 10, it can be traditional electrophysiology duct (sometimes referred to as " EP conduits ").Fig. 2In, conduit 13 extends into the left ventricle 50 of heart 10.Conduit 13 includes the remote electrode 17 of the discussion of above-mentioned reference picture 1 and hasThere is supplementary electrode 52,54 and 56.Because each of these electrodes is present in patient's (for example, positioned at left ventricle of heart),Position data can simultaneously be collected for each electrode.Additionally, when the electrodes are disposed adjacent to the surface, although unnecessary directBe arranged on heart surface, and when current source 25 " closing " (i.e., when none of the surface electrode pairs is energized), electrode 17,52,At least one of 54 and 56 can be used for measuring the electrical activity (such as voltage) on the surface of heart 10.
When surface electrode is to applying electric field to heart, the data of the position for determining endocardial electrodes are measured.It is logicalCross simultaneously or sequentially (such as multiplex) sampling multiple (for example, 62 electrodes being distributed in up to 12 conduits) and/orPerson by the patient that samples (for example, heart chamber) by one or more mobile electrode (for example, roving electrode 17), can be withCollect multiple electrodes position.In one embodiment, the position data for single electrode is sampled simultaneously, and it allows heartbeatSingle stage or the Data Collection in period.In another embodiment, it is synchronous with one or more stage of heartbeat orAny specific stage of heartbeat need not be considered, position data can be collected.When each phase data of heartbeat is collected, corresponding to alongThe data of the position of the wall of heart will be changed over time.In one kind change, the data corresponding to outside or interior location canFor determining the position of the wall of heart in minimum and maximum volume respectively.For example, by selecting outermost point, it is possible to produce" shell " of heart shape during expression maximum volume.
Electrode data can be used for the raw position data for producing breathing offset to come modified electrode position, such as in the U.S.Described in patent application publication 2004/0254437, entire contents are incorporated by reference in the application.Electrode data also may be usedFor compensating the change of the impedance of patient body, such as in the Co-pending U.S. Patent Application of submission on the 15th of September in 2005Described in 11/227580, entire contents are also included within the application by reference.
In a word, system 8 is selected one group of surface electrode and is then driven it using current impulse first.When delivering electric currentDuring pulse, the electrical activity measured at least one for measuring and storing residual surface electrode and internal electrode, such as voltage.ThisIn, the compensation of the pseudomorphism of such as respiration and/or impedance variations can be performed as described above.As described above, by system 8 comeCollect the different location data points associated from multiple electrodes position (for example, intracardiac electrode position).The every bit tool of concentrationThere is space coordinates.In one embodiment, system 8 collects up to 64 location data points of electrode, and these electrodes can be simultaneouslyOr it is in close proximity to each other on up to 12 conduits.However, it is possible to collect less or larger data group andThe expression of the heart of less complex and low resolution or more complicated and high-resolution is produced respectively.
For example it is identical or before during, can from the location data points produce patient part, for example, patientThe region of heart or the threedimensional model in the region of peripheral vascular system, or the threedimensional model in preceding generation, example can be usedSuch as the CT or MRI scan image of segmentation.The model of segmentation is represented and separate 3-D view from larger three-dimensional image digitalSubregion, for example, from heart remainder separate atrium dextrum image.Exemplary segmentation apply including ANALYZE (Mayo,Minneapolis, MN), Verismo (St.Jude Medical, Inc., St.Paul, MN) and CardEP (GeneralElectric Medical Systems,Milwaukee,WI).It is three-dimensional when being produced from the location data points collected by system 8During model, such as by scanning on heart surface during the single process of one or more electrode, the outermost position of dataPoint is determined for the shape of the body for corresponding to patient's heart region.
According to the present invention it is also possible to other methods and techniques of the threedimensional model using the part for producing patient.ExampleSuch as, it is possible to use the such as canonical algorithm of Qhull algorithms produces convex closure (convex hull).For example, Qhull algorithms existBarber, C.B., Dobkin, D.P., and Huhdanpaa, H.T.'s " The Quickhull algorithm for convexhulls,"ACM Trans.,on Mathematical Software,22(4):Described in 469-483, Dec 1996.ForOther algorithms of calculating convex hull shape are also known and are readily adaptable for use in realization of the invention.The surface is then moreIt is re-sampled on uniform grid and the surface smooth to provide appropriateness can be interpolated, the surface is stored as three-dimensionalModel is presented to doctor with during in identical process or afterwards.The surface sampled again can generally have larger numberData point.The surface of sampling again can also be processed using smoothing algorithm, it is outer by what is more smoothed to geometry oneSee.For example, this threedimensional model provides the estimation border of the inside of the heart area from point set.
Fig. 3 illustrates description for producing the another exemplary method of the shell corresponding to heart chamber shape.Access oneThe position data of the location data points 40 of one or more electrode on the section time in identification heart chamber.The position data canTo be represented as the point cloud in heart chamber.So as to farthest location data points 40 correspond to lax or diastole state (correspondenceIn maximum volume) heart chamber inwall.By coordinating the array of " lattice " 44 around multigroup location data points 40, from the positionData provide shell or surface.By the mean center point 42 in the cloud for determining location data points 40 and then from the centerPoint 42 extends radially outwardly border, builds lattice 44.Lattice 44 extend to the farthest location data points in the section surrounded by lattice 44.It is noted that while Fig. 3 is schematically shown with two dimension, but lattice 44 are said three-dimensional bodies.Therefore the radial end faces 46 of lattice 44 are approximateIn the surface of heart chamber wall.The surface of " smooth " shell can then be come using conventional graphic shading algorithms, so thatProduce the radial end faces 46 in lattice 44.
(it requires the U.S. submitted on May 17th, 2006 to the U. S. application 11/647275 submitted on December 29th, 2006The rights and interests of provisional application 60/800858) described in point of use cloud produce graphics another example.Requiring in October, 2006The U. S. application 11/647298 that the 29 days December in 2006 of the rights and interests of the U.S. Provisional Application 60/851042 submitted to for 12nd submits to(it is (its interim Shen in the U.S. for requiring the submission of on May 28th, 2004 of U. S. application 11/139908 submitted on May 27th, 2005Please 60/575411 rights and interests) part continue) in describe another technology of graphics for producing tissue surface.
Different electrophysiology datas can be measured and the display 23 by system shown in Figure 18 is supplied to heart specialFamily.Fig. 4 shows the illustrative computer display that can be shown by computer 20.For example, display 23 is displayed forData to user, such as doctor and be presented that certain option allows user's custom-built system 8 be configured to concrete application.Should noteAnticipate and arrive, can easily change the content on display, and the specific data for being presented are for illustration only and are not intended to limitThe present invention.Image panel 60 shows the threedimensional model of heart chamber 62 to recognize while receive the region of depolarising waveform, i.e.,With " isochrone " of false color or grey scale mapping to the model.In one kind change, the isochrone is mapped to corresponding to himFrom the three-dimensional coordinate (for example, X, Y, Z) of its EGM for obtaining.Isochrone is also illustratively shown with bar 64, knownInformation not related to the particular color or gray scale for being mapped to threedimensional model.In this image, a pair supravasal multiple electricityThe position of pole is also mapped onto threedimensional model.For example, other data that may map to heart surface model include surveying voltageThe sequential relationship of amplitude and signal on heartbeat event.Additionally, the peak-to-peak voltage that particular location is measured on heart wall can alsoIt is mapped to show the region for reducing conductivity and the infarct area that heart can be reflected.
For example, in changing shown in Fig. 4, bar 64 is classified with millisecond and shows to be mapped to each face of threedimensional modelColor or gray scale are assigned to specific time relationship.The pass between color or gray scale on threedimensional model image 62 and bar 64System the information with reference to shown in the panel 66 can also be determined as user.Fig. 5 shows the enlarged drawing of the panel 66 described in Fig. 4.HereinIn change, panel 66 is shown for producing the isochronal timing information being mapped on threedimensional model 62 shown in Fig. 4.Generally, baseWhen being selected as " zero " on schedule.For example, in Fig. 5, appear in the voltage on reference electrode flex point 70 be used as producing it is isochronalBasic timing point.The voltage can be obtained from virtual reference or physical reference (such as the roving electrode 17 shown in Fig. 1).In this change, the voltage trace corresponding to datum mark is marked with " REF " in Fig. 5.Roving electrode signal is described and is marked with Figure 5“ROV”.The flex point 72 of voltage signal ROV corresponds to roving electrode 31.Color guide bar 65 shows color or gray toneDistribution, it is respectively used to refer to the visible timing relationship and the flex point 70 and 72 of roving voltage signals REF and ROV between.
The amplitude of the voltage signal ROV corresponding to roving electrode 17 is also illustrated on the panel 66 of Fig. 5.Change over time signalThe amplitude of ROV is located between two adjustable bands 74 and 76, the selection mark of its peak-to-peak voltage that can be used for setting signal ROVIt is accurate.In implementing, the heart area with low peak-to-peak voltage is the result of blocking tissue, and peak-to-peak voltage is converted into ashDegree, or the ability of false color allows to recognize the region of infraction or atrophy.Additionally, the signal " V1 " for changing over time also is shownGo out and corresponding to surface reference electrode, such as traditional ECG surface electrodes.For example, signal V1 (can such as cure userTeacher) it is directed to the same event detected on patient surface.
Can be mapped to in patient's heart and/or around the related different time domain information of the EP activities of patient's heartThe threedimensional model.For example, measured at the time difference of the action potential measured at roving electrode and reference electrode, roving electrodeThe peak negative voltage of the action potential that the peak-to-peak voltage and/or roving electrode of action potential are measured can be mapped to three-dimensional mouldType.In one embodiment, the EP activities from up to 62 roving electrodes can be collected and mapped to threedimensional model.
Multiple fragmentation electrograph (complex fractionated electrogram, CFE) and frequency-domain information can also be byIt is mapped to threedimensional model.For example, CFE information can be used for recognizing and guiding the ablation targets of atrial fibrillation.CFE informationIt is related to irregular electric excitation (such as atrial fibrillation), wherein, EGM includes the baseline of EGM at leastTwo discrete deviations and/or disturbance, the sustained deviation that the EGM has the excitation complexity of extension (are greater than 10 secondsCycle).With being for example consistent with the cardiac muscle with short refractory period and micro reentry with the EGM of continuous pump quickly.ExampleSuch as, Fig. 6 shows a series of EGMs.(Fig. 6 is related to following articles：NADEMANEE, Koonlawee, M.D., FACC, etc.People writes, A new approach for catheter ablation of atrial fibrillation:Mapping ofthe electrophysiologic substrate,Journal of the American College ofCardiology,(2004)Vol.43,No.11,2044-53.).The first two EGM RAA-prox and RAA-dist includeThe typical electrograms of the atrium dextrum from patient, such as patrol respectively from the proximal roving electrode in patient atrium dextrum and distal endTelegram in reply pole.3rd EGM LA-roof includes CFE EGMs, such as from the top of patient atrium sinistrum.In the 3rd electricityIn graphy figure LA-roof, the Cycle Length that numeral is represented shown in EGM is substantially shorter than in the first two EGMThe Cycle Length that numeral shown in RAA-prox and RAA-dist is represented.In the figure 7 in another shown example, the first electricityGraphy figure RA-Septum includes quick and continuous pump indicated by an arrow compared to the second EGM RA.For example, this is quickIt is consistent with continuous pump and cardiac muscular tissue with short refractory period and micro reentry, such as atrial fibrillation " nest(nest)”。
The presence of CFE information can be detected from by the EP information (for example, EGM) collected by electrode, for example,By monitoring the deviation number in EGM segmentation；Calculate the average time between the deviation in EGM segmentation；MonitoringChanging over time between the Cycle Length large deviations of EGM；And calculate slope, derivative and the amplitude of EGM.ExampleSuch as, discrete activation has the related peak-to-peak value for measuring over a certain time period.It is discrete sharp that the peak-to-peak value can be used for quantizationEncourage.As shown in Figure 5, the moment of discrete activation can be marked on the EGM on user display.EGM is brokenThe moment and/or other quantizations split may be used to determine whether presence and/or the missing of CFE information.For example, predetermined period of timeEquispaced between interior discrete activation is used as the index of the fragmentation degree for quantifying given EGM.In this exampleIn, if only having a discrete activation within cycle preset time, can be with apportioning cost 1 to EGM, if in preset timeCycle memory then distributes relatively low or high value in more than one discrete activation.For example, another quantization can include quantifying electricityTemporal change between the discrete activation of graphy figure.These or other quantization of time-domain can be with the shapes of EGMState is related, and the foundation physiology based on the region for being carried out EGM sampling again.
In diagnosis atrial fibrillation and guiding ablation catheter, can be recognized by the fragmentation quantified in EGMCorresponding to beginning and the EGM of the physiological mechanisms for keeping atrial fibrillation.These quantizations can be used for identification and disappear againThe region that will be ablated to except atrial fibrillation.Mid-diastolic potentials in the ischemic area of the chamber of the heart can also lead toThe fragmentation of the EGM for quantifying to be collected in heart area is crossed to recognize.The tissue of health will be traced corresponding to the electricity without fragmentationFigure (that is, single discrete activation), and the EGM that unhealthy tissue (for example, ischemic tissue) will correspond to fragmentation is (i.e. multipleThe disturbance of discrete activation and/or baseline).The moment of the CFE information in EGM or other quantizations can then be mappedTo in above-mentioned threedimensional model.
For supplement and/or replacement from collected EP information analyses and the time domain information of mapping, frequency-domain informationThreedimensional model can also be mapped to.For example, in one embodiment, Fast Fourier Transform (FFT) (FFT) or conversion are with the timeVariable signal can be used for signal collected by conversion to frequency domain for the other method of frequency-domain information.Frequency domain describes tableShow the energy of the frequency component for changing over time electrogram signal or the spectrum of power.FFT and other transform methods are abilityIt is known and be will not be described in further detail herein in domain.
Fig. 8 shows to be collectively forming the Compact myocardial muscle of the wall of heart and comparing side by side for Fibrillar myocardial muscle.Compact myocardial muscle tissue bagMultigroup tight connection cell is included, the cell is between the depolarizing phase of heart in an uniform way by going up in any direction with same speedDegree transmission electrical activity carrys out conduct electrical activity.But, fibrillar myocardial muscle tissue generally includes loosely connected cell, such as nerve, vascularTransition and atrial tissue between.Weak link between these damaged tissues is caused by the stretching and/or degeneration of cell, also may be usedTo form fibrillar myocardial muscle tissue.In A rows, first row show the uniform of the compact myocardial muscle tissue between the wall depolarizing phase of heart orPerson's consistent excitation.But in a second column, the irregular excitation of the fibrillar myocardial muscle tissue between depolarizing phase is shown, its medium wave is not byWith stock fibrillar myocardial muscle tissue or fibrillar myocardial muscle tissue different piece when with different rates propagate, so as to cardiac muscle differencePart causes nonsynchronous contraction.
In B rows, the time of the compact myocardial muscle tissue and fibrillar myocardial muscle tissue during the depolarization phase of heartbeat is shownDomain electrogram signal.As shown in Figure 8, time-domain electrogram signal is generally included for compact myocardial muscle tissue (institute in row 1Show) two-phase or three-phase shape and the more multiphase shape for fibrillar myocardial muscle tissue (shown in row 2).Finally, shown in row CFor compact myocardial muscle tissue and the frequency domain of the electrogram signal of the row B of fibrillar myocardial muscle tissue.By the compact substance to row B row 1Changing over time shown in the fibrillar myocardial muscle tissue of cardiac muscular tissue and row B row 2 performs FFT on the time cycle of EGM, obtainObtain frequency domain.As shown in row c of fig. 8, the frequency spectrum for compact myocardial muscle tissue generally includes the single peak value around fundamental frequencyLocate by a relatively large margin, and the dextroposition of the frequency caused by multiple harmonics frequency components, the frequency spectrum of fibrillar myocardial muscle tissueBe typically included at its fundamental frequency more by a small margin.
As shown in Figure 8, fibrillar myocardial muscle tissue can cause the irregular ripple of electrical activity between the depolarizing phase of heartBefore.The ratio of fibrillar myocardial muscle tissue and compact myocardial muscle tissue is bigger, the tendency more may with atrial fibrillation.In this areaIn domain, what " atrial fibrillation nests " (or " AFIB nests ") can be identified as atrial fibrillation can the energy.Therefore, lead toFrequency of use domain information is crossed, doctor can further recognize causes the possibility problem points of atrial fibrillation.
The index of multiple numerals can be obtained from the frequency spectrum of electrogram signal.Then any these indexs can be reflectedIt is mapped to the threedimensional model of patient's heart and is recognized with allowing the user of such as doctor on the wall corresponding to the heart of concrete propertyPosition.In an exemplary variations of the invention, can recognize that EGM is believed in the frequency spectrum obtained by FFTNumber dominant frequency.For example, as illustrated in figure 9 a, typical normal or compact myocardial muscle tissue can have single peak in frequency spectrumValue, and fibrillar myocardial muscle tissue has the spectrum peak (spectral peaks) more than compact myocardial muscle tissue.For as described aboveThreedimensional model on heart wall around multiple points can determine the quantity of spectrum peak.(Fig. 7-9A and following article phasesClose：PACHON, Jose, C, et al. write, A new treatment for atrial fibrillation based onspectral analysis to guide the catheter RF-ablation,Europace,(2004)6,590-601,The European Society of Cardiology.)
In another change of the invention, the maximum peak amplitude at dominant frequency can be by the frequency of electrogram signalSpectrum is determined and can be mapped to the threedimensional model of heart.For example, in figure 9 a, it can be seen that compact myocardial muscle tissue is in masterFrequency at maximum peak amplitude it is higher, about 175dB mV, and maximum peak amplitude of the fibrillar myocardial muscle tissue at dominant frequency compared withIt is low, about 80dB mV.These values can also be mapped on the threedimensional model of heart.
In another change, it may be determined that the ratio of the energy of the energy of one band of frequency domain and the second band of frequency domainAnd by the threedimensional model of the rate maps to heart.For example, Fig. 9 B show energy in 60-240Hz passbands and less than 60HzEnergy ratio, ratio in the frequency spectrum of the EGM of fibrillar myocardial muscle tissue is more than the EGM of compact myocardial muscle tissueRatio in frequency spectrum.
Although the time-domain and frequency-domain information of the graphics for being described herein as that patient's heart can be converted intoExample, one of ordinary skill in the art will recognize that other time domain and frequency-domain information can also be determined and be reflectedIt is mapped to threedimensional model.For example, can determine following information from time-domain or frequency domain and map that to threedimensional model：InstituteFor example, the low frequency or high frequency pass band (being represented with Hz) of concern；The frequency with ceiling capacity is (for example, with Hz tables in passbandShow)；Multiple peak values (for example, counting) in passband；The energy of each peak value, power and/or area (for example, being represented with dB)；Ratio, the Yi Jipin of energy in each peak value in energy and/or area and another passband and/or area in each peak valueThe width (for example, being represented with Hz) of each peak value in spectrum.
Figure 10 show for determining in time-domain and/or frequency domain from the information for changing over time EGM andFor mapping the information a to example of the method for threedimensional model (for example, heart).In operation 100, multiple electrodes are (for exampleContact or noncontact, single-stage or bipolar mapping electrodes) it is used for the electrogram signal for changing over time of sampling.For example, shouldElectrogram signal can be sampled along the wall of heart and/or peripheral vascular system in multiple places.
Then in operation 102, execution FFT is traced with determining electricity on the time cycle of the EGM for changing over timeThe frequency-domain information of figure.In operation 104, the real-time display of time-domain and/or frequency-domain information can be shown.Then in operationIn 106, one or more parameter is determined.Exemplary parameter is described above is, and for example includes roving electrode and referenceTime difference between electrode；The peak-to-peak voltage of roving electrode；The peak negative voltage of roving electrode；CFE information；Electrogram signalDominant frequency；Maximum peak amplitude at the dominant frequency；In one band of frequency domain in second band of energy and frequency domain energy ratio；Low frequency or high frequency pass band of interest；Frequency with ceiling capacity in passband；Multiple peak values in passband；Each peak valueEnergy, power and/or area；The energy of the energy and/or area of each peak value with each peak value of another passband and/or faceLong-pending ratio；With the width of each peak value in frequency spectrum.Color, shade and/or gray scale are distributed to quilt in operation 108The value of the parameter of identification, and in operation 110, color, color depth corresponding to the parameter of the EGM by electrode sampleShallow and/or gray scale is updated onto threedimensional model (such as heart) continuously and in real-time.
The specific region of interested one is the area maps for including the heart of autonomic nerve cells.ECG letters can be mappedCease to recognize electric transmission by the focal of heart.The starting point of electric signal usually is from chief cell beam or nerve center clump(ganglia plexi).The scope of any cardiac arrhythmia triggered for malfunction in automatic cells, for this malfunctionThe ability of detection can significantly strengthen therapeutic effect and minimize the scope for the treatment of.Subdivision section is mapped in frequency domainThe specific advantage of EGM is the region of its have the ability quick identification and positioning cardiac arrhythmia.For example, if it is determined that it is specific fromMain nerve tract is the root of Fibrillation, is directed at the region of this initial neural input rather than the multiple fibr tissues for the treatment ofRegion can substantially reduce the quantity of the damage needed for treating the situation.
As described above, in the tissue that positioning needs treatment, electrophysiology data can be with highly useful.But for mappingTo there is challenge on the threedimensional model of heart in the electrophysiology data.Projection process of the invention will now be described.
As described above, the electrode of at least one EP conduits is moved and its detection heart in movement on heart surfaceOther EP signals on electric excitation or heart surface.During measuring each time, together with EP voltages or the value of signal, markThe real time position of catheter electrode.The set of location point and correlation measurements is referred to here as " EP data sets ".The subsequent quilt of this dataElectrode position when projecting the surface of threedimensional model corresponding to the sampled EP data of acquisition.Because the model is not in positioningProduced when surface electrode is powered, projection process can be used for the immediate heart that the information of arrangement electricity is represented to geometrySurface.In one exemplary embodiment, for example, the value of the single immediate position in EP data sets, threedimensional modelSurface on every bit be colored or impose shades of gray.This new point is used as the EP data being presented in the image of doctor" position " for representing.
In another embodiment, EP data are mapped to threedimensional model with improved technology using new.Because measurement shouldThe point of EP data may be not identical set for producing the physical location of threedimensional model, the EP data must be projected ontoOn the surface of threedimensional model.In this preferred embodiment, the EP data are projected onto on threedimensional model is used to show.The EP dataValue (crest voltage, actuation duration, peak frequency or other values) must be also interpolated on the point of 3 dimensional coil geometry.OneThe denier EP data are projected onto on threedimensional model, and EP data can be converted into color simultaneously according to the computer graphics techniques of standardAnd be presented.Must determine the method that threedimensional model is associated with EP data structures.For multiple surface-interpolation problems, expect to produceThe good triangulation of raw data point ' it is connected in the triangle of filling x-y plane (2 dimension).Then use this triangleThree end points smooth weighted average, the data value of arbitrfary point that can approximately planar.This is based on inserting for triangulationValue is known as barycentric interpolation, it is to be understood that, it can also use the other well known method of interpolation.In general two-dimensional spaceIn, generally using the specific triangulation of referred to as delaunay triangulation, and optimal result can be provided known in it.Moral sieve Triangle ID subdivision is closely related with Voronoi diagram, and wherein Voronoi diagram refers to：Around one group of region of each data point,It is relative to any other point closer to that data point.More specifically, each logarithm that its Voronoi area is mutually borderedStrong point is connected by the edge in delaunay triangulation.But can trust that is used to calculate random and complexity in the absence of known algorithmDelaunay triangulation on surface (such as with reference to the threedimensional model of heart of the present invention).The method of the preferred embodimentIt is calculated as below to the good approximate of delaunay triangulation.It is immediate that every EP data points are projected onto on threedimensional model itsPoint, and these points for being projected are searched to determination Voronoi neighbours.Summit is selected in the three-dimensional model, and in EP numbersAccording to the two EP data points searched in figure closest to the summit in threedimensional model.Generally, search for first and selected summit phaseAdjacent EP data points, and the neighbours of neighbours are generally then searched for, until finding two immediate EP data points.Can with heightEnergy property, these data points have the Voronoi area being mutually bordered, and so as to two points are connected by delaunay edge.It is rightEach other summit in threedimensional model repeat this process.Then, thus group delaunay edge forms multiple triangles, canKnow that each edge should be the part of exactly two triangle.If produced triangulation have any " hole " ' four orThe circle of person's more multiple edge not include arbitrary triangle ' then by recurrence increase clamping ring two data points most short new sideEdge can fill this some holes.Although it is delaunay edge that nearly all edge has found, because of two closest to data pointAlgorithm does not find each delaunay edge, and this is just necessary.Once EP data points have been collected into this triangle cut openIn point, measured data can be interpolated on each summit of threedimensional model.Most of summit is located in one of moralThe inside of Lip river interior triangular, and be used in three data points of triangle each at the EP data that measure carry out interpolation.Some summits can be close enough with triangular rim (for example, it is located at or very close to triangular rim) so that will be byThe value of distribution by from two respective measurement results of end points by bilinear interpolation.Preferably, threshold value can be set to be applied to be displayed inPlus the summit must approach more with edge before bilinear interpolation.Several summits can be more closer than any edge or triangleIn data point, in this case, summit must be allocated orders the same EP data with close data.Preferably, Ke YishePutting threshold value must be approached more with the summit before being displayed in the value of distribution measurement point with measurement point.Once EP data values are dividedMultiple points in dispensing threedimensional model, then produce firm color diagram, and preferably, the color are smoothed using smoothing algorithmFigure is presented with providing the color of clinical rational, wherein, the point in threedimensional model is only from the measurement result used close to measurement pointObtain their color.
The embodiment described in leading portion will be discussed in the context of Figure 11-14.Figure 11 is the three-dimensional of the part of heartModel, wherein having connected the location point 91 using triangulation.The surface can again sample on more uniform gridAnd rational smooth surface can be further interpolated to give, it is stored as threedimensional model for identical or afterwardsProgram during be shown to doctor.The surface sampled again generally has a greater amount of data points.Smoothing algorithm can also be usedThe surface that treatment is sampled again, gives geometry more smooth outward appearance.For example, the threedimensional model provides heart area from the group pointThe estimation border of the inside in domain.Represent the three-dimensional that the mark 92 of the data measurement points in EP data sets is had been superimposed upon in Figure 11On model.As it was previously stated, being usually no longer and position for the position of the data measurement points (being represented by mark 92) of EP data setsThe same position of point 91.Therefore, mark 92 is entirely located in triangle sometimes, and is displayed in triangle in other timesOn edge or close to the edge.
Figure 12 shows to include a series of EP data sets of measurement points 93 that each measurement point has corresponding voltage level.ShouldVoltage level is represented that changing the color of mark 92 is used to show the voltage level by mark 92.
It is appreciated that the EP data sets described in Figure 12 are identical with the global geometric shape in Figure 11, it can be observed that EP numbersAccording to collection measurement point 93 and do not correspond to the location point 91 of threedimensional model, although produced using the same area of same cardiac.ItsLack man-to-man position corresponding relation, this produces projection to survey EP data to the demand of threedimensional model.In order to help projectJourney, the chosen position point 91 from multiple location points 91 of the threedimensional model including Figure 11.Next, by selected location point 91Position compares with the position of at least one subset of multiple measurement points 93, immediate with selected location point 91 for determiningTwo measurement points 93.The immediate measurement point to being considered as forming delaunay edge 94 (it is drawn on Figure 12 with green line),The immediate measurement point 93 for probably being recognized to being Voronoi neighbours.Can be designed for using any number ofThe algorithm (including such as Kirsanov-Hoppe or Fast Marching geodesic algorithms) of estimated distance is closest to recognizeMeasurement point.Identification based on the degree of closeness with selected location point to measurement point pair can be repeated to identify additional moralLip river inward flange.During accessing for the immediate measurement point pair of each location point, it is likely that form multiple triangles.If after this algorithm, still residue is not the location point of the part of triangle, then formed to other measurement points by setting-outTriangular relationship, to those measurement point optimal selections (preferably produce that length is shorter three that can be connected using shortest distance linesAngled edge).
When selected location point 91 and its respective proximity relation closest between measurement point 93 pairs can use it is variousWhen method is tracked, equal figure shows this relation in Figure 12 and Figure 13.In fig. 12, the midpoint 95 at most of delaunay edgeWith at least one contacted with midpoint 95 and usual a plurality of line (they are shown with dark-coloured, red ink).These lines are representedWith the connection of the multiple location points in threedimensional model.Mean for the particular location point in the presence of the line to particular location point, reallyImmediate measurement point is determined to form the right of recognized delaunay edge.Same red line is shown in Figure 12 and 13, butIt is that there is delaunay edge shown in Figure 12, and there is threedimensional model shown in Figure 13.Figure 13 includes the threedimensional model of Figure 11, range lineIt is added between the selected location point and the delaunay edge of location point selected by for being used for recognizing in threedimensional model thereonRelation.When the measurement data of EP figures is projected onto on the location point of threedimensional model, these relations are used.These red lines are only trueIt is scheduled on and which delaunay edge is used in triangulation；Which delaunay edge interpolation threedimensional model it is not used to indicate fromMultiple location points.
The actual projected of EP data values is below described.Relative to the triangle for having been used for modeling EP data sets, three are accessedEach position point in dimension module.In theory, if threedimensional model is added to when on the triangulated model of EP data sets, location pointRelation and triangle between makes it easier to observation.Most of location point 91 by be located at EP data sets triangulated model whereinOne inside of triangle, and be assigned to the location point 91 EP data values can based on Atria summit (measurePosition 93) measured value carry out interpolation using barycentric interpolation method.Barycentric interpolation well known in the art and it is a kind of method for optimizing.But it is understood that other known interpolation method can also be used.Some location points 91 can be very close to triangular rim(such as in triangular rim or with its very close to) so that respectively control oneself survey EP of the value distributed from two end points at edgeData value is by bilinear interpolation.Some location points 91 than any edge or triangle closer to measurement point, in this situation, positionPut a little 91 will be allocated with the same EP data values of the measured value of immediate measurement point.Once EP data values byThe multiple points (and preferably, all location points of threedimensional model) in threedimensional model are distributed to, then the threedimensional model is (right with itThe EP data values of the distribution answered) coloring process can be sent to, it can be based on distributed EP data levels (for example, peak valueVoltage, actuation duration, peak frequency or other values) colour the threedimensional model.Figure 14 is represented from the defeated of the coloring processGo out, wherein color representation projects the different voltage water distributed on the threedimensional model of Figure 11 by by the EP datagrams of Figure 12It is flat.
In another embodiment, using the technology including segmenting the threedimensional model, the EP data are mapped to the three-dimensional mouldType.Specifically, the threedimensional model is segmented in this way using triangulation：So that all of EP data points vertices are located at carefullyIn the threedimensional model for dividing.(mesh-coarsening) or extraction algorithm then can be roughened using grid (allows people to specifyOutput vertex collection, its will be designated as be exactly just EP data points collection) treatment subdivision after threedimensional model.Extraction program can be withThen determine the correct connection of the point on threedimensional model.In this embodiment, it is preferable that using Kirsanov-Hoppe orFast Marching geodesic algorithms, each summit of EP data is projected onto the three-dimensional of immediate summit or subdivisionThe edge of model.The output of extraction program can then be sent to coloring process, its voltage level that can be based on threedimensional modelThreedimensional model is coloured.It can also be recognized that the delaunay edge for being longer than predetermined distance threshold will be prohibited.
Although describing multiple embodiments of the invention, ordinary skill in the art with a certain degree of particularity abovePersonnel can make the various changes to these open embodiments in the case of the spirit or scope of the present invention is not departed from.For example,When description above description is mapped to the data of threedimensional model, data can also be mapped to arbitrary figure, including but not limitIn two dimension or image or model three-dimensional, static or change over time.Institute it is directive with reference to (such as it is upper and lower, toIt is upper, downward, left and right, to the left, to the right, top, bottom, above, below, vertical, level, clockwise and anticlockwise) be merely to illustrate withHelp reader to understand the present invention, rather than limiting the invention, especially for position of the invention, be orientated or makeWith.Annexation broadly understands that it can include the centre between element connection with reference to (for example, attachment, coupling, connection etc.)Relative movement between part and element.Therefore, annexation is with reference to referring to not necessarily that two elements are joined directly together and mutuallyThere is fixed relationship between phase.Be appreciated that description above include or accompanying drawing in all the elements for showing be merely to illustrate andIt is unrestricted.In the case where the mental condition of the invention being defined by the appended claims is not departed from, details can be made to the present inventionOr the change in structure.