US 12,279,833 B2
2D pathfinder visualization
Vadim Gliner, Haifa (IL); Assaf Govari, Haifa (IL); Alon Boumendil, Givat Nili (IL); Yair Palti, Herzelia (IL); and Remi Bettan, Haifa (IL)
Assigned to Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed by Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed on Aug. 5, 2022, as Appl. No. 17/881,756.
Application 17/881,756 is a continuation of application No. 16/726,668, filed on Dec. 24, 2019, granted, now 11,446,095.
Prior Publication US 2023/0039532 A1, Feb. 9, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 6/03 (2006.01); A61B 6/46 (2024.01); G06T 7/30 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 6/032 (2013.01); A61B 6/463 (2013.01); G06T 7/30 (2017.01); A61B 2034/2051 (2016.02); G06T 2207/10081 (2013.01); G06T 2207/30004 (2013.01); G06T 2207/30241 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A medical apparatus, comprising:
(a) a medical instrument, which is configured to move within a body of a patient;
(b) a position tracking system, which is configured to track coordinates of the medical instrument within the body;
(c) a display screen; and
(d) a processor, which is configured to:
(i) obtain, based on preoperative image data, three-dimensional (3D) data representative of at least a part of the body within a common frame of reference,
(ii) receive a start point and a termination point associated with the body,
(iii) calculate, based on the 3D data, a 3D path of the medical instrument from the start point to the termination point,
(iv) identify, based on the 3D data, one or more turning points along the 3D path that exceed a curvature threshold, and
(v) display, on the display screen, a virtual camera view for one or more of the turning points comprising a virtual representation of the medical instrument relative to two-dimensional (2D) preoperative image data, including respective 2D indications of a desired direction to the 3D path from the medical instrument.