US 11,721,020 B2
Flattened view for intra-lumenal navigation
Shlomo Ben-Haim, Geneva (CH); Leonid Gluhovsky, Gilon (IL); Yitzhack Schwartz, Haifa (IL); Eli Dichterman, Haifa (IL); and Yaara Yarden, Jerusalem (IL)
Assigned to Navix International Limited, Road Town (VG)
Filed by Navix International Limited, Road Town (VG)
Filed on Feb. 7, 2022, as Appl. No. 17/665,663.
Application 17/665,663 is a continuation of application No. 16/650,973, granted, now 11,282,191, previously published as PCT/EP2018/069569, filed on Jul. 18, 2018.
Application 16/650,973 is a continuation in part of application No. PCT/IB2018/050201, filed on Jan. 12, 2018.
Claims priority of provisional application 62/670,939, filed on May 14, 2018.
Claims priority of provisional application 62/564,479, filed on Sep. 28, 2017.
Claims priority of provisional application 62/564,479, filed on Sep. 28, 2017.
Claims priority of provisional application 62/445,368, filed on Jan. 12, 2017.
Claims priority of application No. 1810992 (GB), filed on Jul. 4, 2018.
Prior Publication US 2022/0156933 A1, May 19, 2022
Int. Cl. G06T 7/00 (2017.01); G06T 3/00 (2006.01); G06T 19/00 (2011.01)
CPC G06T 7/0012 (2013.01) [G06T 3/0037 (2013.01); G06T 19/00 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/30021 (2013.01); G06T 2207/30048 (2013.01); G06T 2210/41 (2013.01); G06T 2219/021 (2013.01)] 29 Claims
OG exemplary drawing
 
1. An apparatus comprising:
an input configured to receive signals from a catheter, wherein the signals are indicative of measurements taken by the catheter inside a heart chamber;
a processor configured to:
(a) convert the signals into coordinates of points defining a model surface modelling a three-dimensional surface of the heart chamber; and
(b) apply a transformation to the points of the model to transform each of the points to a corresponding point of an unfolded model; and
a display for displaying a view of the unfolded model,
wherein the transformation has the effect of transforming a notional closed surface centred on a reference point within a volume surrounded by the model surface to a notional open surface such that for each point of the model, a normal distance between the notional closed surface and the point is substantially equal to a normal distance between the notional open surface and the corresponding point of the unfolded model.