US 11,730,395 B2
Reconstruction of an anatomical structure from intrabody measurements
Eli Dichterman, Haifa (IL); and Shlomo Ben-Haim, Milan (IT)
Assigned to Navix International Limited, Road Town (VG)
Appl. No. 16/639,610
Filed by Navix International Limited, Road Town (VG)
PCT Filed Jul. 18, 2018, PCT No. PCT/IB2018/055344
§ 371(c)(1), (2) Date Feb. 17, 2020,
PCT Pub. No. WO2019/034944, PCT Pub. Date Feb. 21, 2019.
Application 16/639,610 is a continuation in part of application No. PCT/IB2018/050192, filed on Jan. 12, 2018.
Claims priority of provisional application 62/693,478, filed on Jul. 3, 2018.
Claims priority of provisional application 62/546,775, filed on Aug. 17, 2017.
Claims priority of provisional application 62/546,775, filed on Aug. 17, 2017.
Claims priority of provisional application 62/445,433, filed on Jan. 12, 2017.
Prior Publication US 2020/0289025 A1, Sep. 17, 2020
Int. Cl. A61B 5/107 (2006.01); A61B 5/06 (2006.01); A61B 5/00 (2006.01); A61B 5/02 (2006.01); G16H 50/50 (2018.01); G16H 40/63 (2018.01)
CPC A61B 5/1076 (2013.01) [A61B 5/02028 (2013.01); A61B 5/062 (2013.01); A61B 5/063 (2013.01); A61B 5/1075 (2013.01); A61B 5/4836 (2013.01); A61B 5/6852 (2013.01); G16H 40/63 (2018.01); G16H 50/50 (2018.01)] 28 Claims
OG exemplary drawing
 
1. A method of reconstructing a shape of a volume of a part of a subject based on intrabody measurements of a plurality of crossing electromagnetic fields established within the volume, the method comprising:
receiving, by computer circuitry, measurements of the crossing electromagnetic fields carried out using at least one sensor carried on an intrabody probe, the measuring being carried out with the intrabody probe at multiple locations in the volume, to provide a set of measurement samples, taken at respective locations;
generating, by computer circuitry and through minimizing a cost function, a transformation that transforms the set of measurement samples to geometric positions;
transforming, using said generated transformation at least some of the measurements in said set of measurement samples into a set of geometric positions; and
reconstructing the shape of said volume from said set of geometric positions;
wherein said generating and said transforming use only reference positions that are within said part of the subject;
wherein the cost function is evaluated during the minimizing, and, for each sample pair of a plurality of sample pairs of the set of measurement samples:
transforming the sample pair into a corresponding position pair, and
associating the position pair with a desired pair-distance; and
wherein the cost function comprises a distance distortion penalty term that increases with an increase in absolute value of a difference between:
distance separating positions of each corresponding position pair, and
a respectively associated desired pair-distance.