Abstract: A method of estimating a spatial relationship between at least a part of a patient esophagus and a heart chamber, including: measuring at least one electric parameter at one or more positions within the heart chamber to obtain measured values; and estimating the spatial relationship based on the measured values.

Abstract: In some embodiments, a body cavity shape of a subject is reconstructed based on intrabody measurements of voltages by an intrabody probe (for example, a catheter probe) moving within a plurality of differently-oriented electromagnetic fields crossing the body cavity. In some embodiments, the method uses distances between electrodes as a spatially calibrated ruler. Positions of measurements made with the intrabody probe in different positions are optionally related by using spatial coherence of the measured electromagnetic fields as a constraint. Optionally, reconstruction is performed without using a detailed reference (image or simulation) describing the body cavity shape. Optionally, reconstruction uses further information to refine and/or constrain the reconstruction; for example: images, simulations, additional electromagnetic fields, and/or measurements characteristic of body cavity landmarks. Optionally, reconstruction accounts for time-dependent cavity shape changes, for example, phasic changes (e.g.

Abstract: Methods for creation and use (e.g., for navigation) of displays of flattened (e.g., curvature-straightened) 3-D reconstructions of tissue surfaces, optionally including reconstructions of the interior surfaces of hollow organs. In some embodiments, data comprising a 3-D representation of a tissue surface (for example an interior heart chamber surface) are subject to a geometrical transformation allowing the tissue surface to be presented substantially within a single view of a flattened reconstruction. In some embodiments, a catheter probe in use near the tissue surface is shown in positions that correspond to positions in 3-D space sufficiently to permit navigation; e.g., the probe is shown in flattened reconstruction views nearby view regions corresponding to regions it actually approaches. In some embodiments, automatic and/or easily triggered manual view switching between flattened reconstruction and source reconstruction views is implemented.

Abstract: There is provided a method of displaying a pre-acquired three dimensional (3D) image of at least a portion of an organ of a patient, the method comprising: receiving a plurality of electrical readings, each from a different electrode mounted on a catheter inside the portion of the organ of the patient, wherein the electrodes are mounted on the catheter at known distances from each other, transforming the plurality of electrical readings to a corresponding plurality of image points using a mapping transformation that transforms each electrical reading of the catheter from inside the portion of the organ of the patient to an anatomically corresponding image point in the 3D image based on the known distances, and displaying the 3D image with a marking of at least one of the plurality of image points.

Abstract: Systems, devices, and methods for co-registering electro-anatomical images are provided. In one embodiment of the present disclosure, treatment locations are displayed to the physician on an image of the remodeled heart by co-registering first and second electro-anatomical images based on: (1) a first electro-anatomical image of an anatomy, (2) treatment location data indicating treatment locations with respect to the first electro-anatomical image, (3) a second electro-anatomical image of the anatomy after the anatomy has remodeled, and (4) a non-rigid transformation that transforms the first electro-anatomical image to the second electro-anatomical image of the remodeled anatomy. The non-rigid transformation is applied to the treatment location data to map the treatment locations to the second electro-anatomical image of the remodeled anatomy.

Abstract: Systems and methods are described for planning of catheter ablation procedures, and in particular for planning of the placement of lesions and/or parameters used in ablation. In some embodiments, planning is based on thermal and/or dielectric simulation of lesions, individualized to the anatomy of the particular patient. Optionally, a plan comprises planning of a path along which an ablation lesion is to be formed, the ablation lesion optionally comprising one or more sub-lesions. The plan is optionally optimized for one or more criteria including, for example: minimization of path length, minimization of sub-lesion number, simplification of catheter maneuvering, avoidance of collateral damage to non-target tissue, access to the target dependent on anatomy shape and/or catheter mechanics, and/or features of the target anatomy such as tissue wall thickness and/or fiber direction.

Abstract: A method of estimating a location of a catheter in a heart chamber with respect to a model is provided. The model is generated based on readings received from the catheter. The method, in some embodiments, includes receiving readings from the catheter when the catheter is in the location to be estimated; and estimating the location based on the location readings received together with a completeness indicator, indicative of a completeness of the model. Examples of completeness indicators include elapsed time and variance in the model data.

Abstract: Systems and methods are described for planning of catheter ablation procedures, and in particular for planning of the placement of lesions and/or parameters used in ablation. In some embodiments, planning is based on thermal and/or dielectric simulation of lesions, individualized to the anatomy of the particular patient. Optionally, a plan comprises planning of a path along which an ablation lesion is to be formed, the ablation lesion optionally comprising one or more sub-lesions. The plan is optionally optimized for one or more criteria including, for example: minimization of path length, minimization of sub-lesion number, simplification of catheter maneuvering, avoidance of collateral damage to non-target tissue, access to the target dependent on anatomy shape and/or catheter mechanics, and/or features of the target anatomy such as tissue wall thickness and/or fiber direction.

Abstract: Devices and methods for assessing tissue contact based on dielectric properties and/or impedance sensing are disclosed. In some embodiments, one or more probing frequencies are delivered via electrodes including an electrode in proximity to a tissue (for example, myocardial tissue). In some embodiments, dielectric parameter values, optionally together with other known and/or estimated tissue characteristics, are measured to determine a contact quality with the tissue. In some embodiments, dielectric contact quality is used, for example, in guiding the formation of a lesion (for example, RF ablation of heart tissue to alter electrical transmission characteristics).

Abstract: Devices and methods for tissue lesion assessment and/or creation based on dielectric properties are disclosed. In some embodiments, one or more probing frequencies are delivered via electrodes including an electrode in proximity to a tissue (for example, myocardial tissue). Measured dielectric properties (such as impedance properties), optionally together with other known and/or estimated tissue characteristics, are used to determine the lesion state of the tissue. In some embodiments, a developing lesion state is monitored during treatment formation of a lesion (for example, ablation of heart tissue to alter electrical transmission characteristics).

Abstract: A method for reconstructing a radioactive emission image of an overall volume having first and second volumetric regions, each volumetric region having respectively independent dynamic characteristics. The method comprises the following steps: a) obtaining radioactive emissions from the overall volume, including the volumetric regions, b) reconstructing an initial radioactive emission image of the volumetric region according to the radioactive emissions, c) segmenting the initial radioactive emission image to delineate the first and second volumetric regions, and d) separately reconstructing the first and the second volumetric regions according to the respectively independent dynamic characteristics.

Abstract: A method of generating a combined image of a body part from a sequence of partially overlapping source images of the body part, each of the partially overlapping source images showing the body part at one of a plurality of different times, the source images being ordered in the sequence according to the different times, the method including defining a temporally coherent sequence of transformations, for registering the partially overlapping source images in the sequence with each other, registering the source images to each other using the defined temporally coherent sequence of transformations, to obtain co-registered images, and combining at least some of the co-registered images into a combined image. Related apparatus and methods are also described.

Abstract: Devices and methods for assessing tissue contact based on dielectric properties and/or impedance sensing are disclosed. In some embodiments, one or more probing frequencies are delivered via electrodes including an electrode in proximity to a tissue (for example, myocardial tissue). In some embodiments, dielectric parameter values, optionally together with other known and/or estimated tissue characteristics, are measured to determine a contact quality with the tissue. In some embodiments, dielectric contact quality is used, for example, in guiding the formation of a lesion (for example, RF ablation of heart tissue to alter electrical transmission characteristics).

Abstract: Devices and methods for tissue lesion assessment and/or creation based on dielectric properties are disclosed. In some embodiments, one or more probing frequencies are delivered via electrodes including an electrode in proximity to a tissue (for example, myocardial tissue). Measured dielectric properties (such as impedance properties), optionally together with other known and/or estimated tissue characteristics, are used to determine the lesion state of the tissue. In some embodiments, a developing lesion state is monitored during treatment formation of a lesion (for example, ablation of heart tissue to alter electrical transmission characteristics).

Abstract: 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 including: 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 probe at multiple locations in the volume, to provide a set of measurement samples, each taken at a location; generating, by computer circuitry and based on said measurement samples, a transformation that transforms measurement samples to geometric positions; transforming, using said generated transformation fewer than half 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.

Abstract: Methods for creation and use (e.g., for navigation) of displays of flattened (e.g., curvature-straightened) 3-D reconstructions of tissue surfaces, optionally including reconstructions of the interior surfaces of hollow organs. In some embodiments, data comprising a 3-D representation of a tissue surface (for example an interior heart chamber surface) are subject to a geometrical transformation allowing the tissue surface to be presented substantially within a single view of a flattened reconstruction. In some embodiments, a catheter probe in use near the tissue surface is shown in positions that correspond to positions in 3-D space sufficiently to permit navigation; e.g., the probe is shown in flattened reconstruction views nearby view regions corresponding to regions it actually approaches. In some embodiments, automatic and/or easily triggered manual view switching between flattened reconstruction and source reconstruction views is implemented.

Abstract: A method of estimating a spatial relationship between at least a part of a patient esophagus and a heart chamber, including :measuring at least one electric parameter at one or more positions within the heart chamber to obtain measured values; and estimating the spatial relationship based on the measured values.

Abstract: There is provided a method of displaying a pre-acquired three dimensional (3D) image of at least a portion of an organ of a patient, the method comprising: receiving a plurality of electrical readings, each from a different electrode mounted on a catheter inside the portion of the organ of the patient, wherein the electrodes are mounted on the catheter at known distances from each other, transforming the plurality of electrical readings to a corresponding plurality of image points using a mapping transformation that transforms each electrical reading of the catheter from inside the portion of the organ of the patient to an anatomically corresponding image point in the 3D image based on the known distances, and displaying the 3D image with a marking of at least one of the plurality of image points.

Abstract: Methods for estimating of the effectiveness of catheter ablation procedures to form lesions. Lesion effectiveness parameters are received, and effectiveness of a corresponding ablation (optionally planned, current, and/or already performed) is estimated. The estimating is based on use by computer circuitry of an estimator constructed based on observed associations between previously analyzed lesion effectiveness parameters, and observed lesion effectiveness. The estimator is used by application to the received lesion effectiveness parameters.

Abstract: Methods for estimating of the effectiveness of catheter ablation procedures to form lesions, and particular lesions which together form an ablation segment of an ablation line. Lesion effectiveness parameters are received, and effectiveness, optionally the joint effectiveness, of corresponding ablations (optionally planned, current, and/or already performed) is estimated. In some embodiments, estimating is based on use by computer circuitry of an estimator constructed based on observed associations between previously analyzed lesion effectiveness parameters, and observed lesion effectiveness. Additionally or alternatively, estimators may be constructed based on analytic functions. The estimator is used by application to the received lesion effectiveness parameters.