diff --git a/bec_widgets/widgets/plots/heatmap/heatmap.py b/bec_widgets/widgets/plots/heatmap/heatmap.py
index 05501b9f..bb43852a 100644
--- a/bec_widgets/widgets/plots/heatmap/heatmap.py
+++ b/bec_widgets/widgets/plots/heatmap/heatmap.py
@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import json
+from dataclasses import dataclass
 from typing import Literal
 
 import numpy as np
@@ -8,7 +9,7 @@ import pyqtgraph as pg
 from bec_lib import bec_logger, messages
 from bec_lib.endpoints import MessageEndpoints
 from pydantic import BaseModel, Field, field_validator
-from qtpy.QtCore import QTimer, Signal
+from qtpy.QtCore import QObject, Qt, QThread, QTimer, Signal
 from qtpy.QtGui import QTransform
 from scipy.interpolate import (
     CloughTocher2DInterpolator,
@@ -78,6 +79,85 @@ class HeatmapConfig(ConnectionConfig):
     _validate_color_palette = field_validator("color_map")(Colors.validate_color_map)
 
 
+@dataclass
+class _InterpolationRequest:
+    x_data: list[float]
+    y_data: list[float]
+    z_data: list[float]
+    scan_id: str
+    interpolation: str
+    oversampling_factor: float
+
+
+class _StepInterpolationWorker(QObject):
+    """Worker for performing step-scan interpolation in a background thread.
+
+    This worker computes the interpolated heatmap image using the provided data
+    and settings, then emits the result or a failure signal.
+
+    Args:
+        x_data (list[float] or np.ndarray): The x-coordinates of the data points.
+        y_data (list[float] or np.ndarray): The y-coordinates of the data points.
+        z_data (list[float] or np.ndarray): The z-values (intensity) of the data points.
+        interpolation (str): The interpolation method to use.
+        oversampling_factor (float): The oversampling factor for the interpolation grid.
+        generation (int): The generation number for tracking requests.
+        scan_id (str): The scan identifier.
+        parent (QObject | None, optional): The parent QObject. Defaults to None.
+
+    Signals:
+        finished(image, transform, generation, scan_id):
+            Emitted when interpolation is successful.
+            - image: The resulting image (numpy array or similar).
+            - transform: The QTransform for the image.
+            - generation: The generation number.
+            - scan_id: The scan identifier.
+        failed(error_message, generation, scan_id):
+            Emitted when interpolation fails.
+            - error_message: The error message string.
+            - generation: The generation number.
+            - scan_id: The scan identifier.
+    """
+
+    finished = Signal(object, object, int, str)
+    failed = Signal(str, int, str)
+
+    def __init__(
+        self,
+        x_data: list[float] | np.ndarray,
+        y_data: list[float] | np.ndarray,
+        z_data: list[float] | np.ndarray,
+        interpolation: str,
+        oversampling_factor: float,
+        generation: int,
+        scan_id: str,
+        parent: QObject | None = None,
+    ):
+        super().__init__(parent=parent)
+        self._x_data = np.asarray(x_data, dtype=float)
+        self._y_data = np.asarray(y_data, dtype=float)
+        self._z_data = np.asarray(z_data, dtype=float)
+        self._interpolation = interpolation
+        self._oversampling_factor = oversampling_factor
+        self._generation = generation
+        self._scan_id = scan_id
+
+    def run(self):
+        try:
+            image, transform = Heatmap.compute_step_scan_image(
+                x_data=self._x_data,
+                y_data=self._y_data,
+                z_data=self._z_data,
+                oversampling_factor=self._oversampling_factor,
+                interpolation_method=self._interpolation,
+            )
+        except Exception as exc:  # pragma: no cover - defensive
+            logger.warning(f"Step-scan interpolation failed with: {exc}")
+            self.failed.emit(str(exc), self._generation, self._scan_id)
+            return
+        self.finished.emit(image, transform, self._generation, self._scan_id)
+
+
 class Heatmap(ImageBase):
     """
     Heatmap widget for visualizing 2d grid data with color mapping for the z-axis.
@@ -150,6 +230,10 @@ class Heatmap(ImageBase):
         self.scan_item = None
         self.status_message = None
         self._grid_index = None
+        self._interpolation_generation = 0
+        self._interpolation_thread: QThread | None = None
+        self._interpolation_worker: _StepInterpolationWorker | None = None
+        self._pending_interpolation_request: _InterpolationRequest | None = None
         self.heatmap_dialog = None
         bg_color = pg.mkColor((240, 240, 240, 150))
         self.config_label = pg.LegendItem(
@@ -426,6 +510,7 @@ class Heatmap(ImageBase):
         if current_scan_id is None:
             return
         if current_scan_id != self.scan_id:
+            self._invalidate_interpolation_generation()
             self.reset()
             self.new_scan.emit()
             self.new_scan_id.emit(current_scan_id)
@@ -531,13 +616,38 @@ class Heatmap(ImageBase):
         if self._image_config.show_config_label:
             self.redraw_config_label()
 
-        img, transform = self.get_image_data(x_data=x_data, y_data=y_data, z_data=z_data)
-        if img is None:
+        if self._is_grid_scan_supported(scan_msg):
+            img, transform = self.get_grid_scan_image(z_data, scan_msg)
+            self._apply_image_update(img, transform)
+            return
+
+        if len(z_data) < 4:
+            # LinearNDInterpolator requires at least 4 points to interpolate
+            logger.warning("Not enough data points to interpolate; skipping update.")
+            return
+
+        self._request_step_scan_interpolation(x_data, y_data, z_data, scan_msg)
+
+    def _apply_image_update(self, img: np.ndarray | None, transform: QTransform | None):
+        """Apply interpolated image and transform to the heatmap display.
+
+        This method updates the main image with the computed data and emits
+        the image_updated signal. Color bar signals are temporarily blocked
+        during the update to prevent cascading updates.
+
+        Args:
+            img(np.ndarray): The interpolated image data, or None if unavailable
+            transform(QTransform): QTransform mapping pixel to world coordinates, or None if unavailable
+        """
+        if img is None or transform is None:
             logger.warning("Image data is None; skipping update.")
             return
 
         if self._color_bar is not None:
             self._color_bar.blockSignals(True)
+        if self.main_image is None:
+            logger.warning("Main image item is None; cannot update image.")
+            return
         self.main_image.set_data(img, transform=transform)
         if self._color_bar is not None:
             self._color_bar.blockSignals(False)
@@ -545,6 +655,122 @@ class Heatmap(ImageBase):
         if self.crosshair is not None:
             self.crosshair.update_markers_on_image_change()
 
+    def _request_step_scan_interpolation(
+        self,
+        x_data: list[float],
+        y_data: list[float],
+        z_data: list[float],
+        msg: messages.ScanStatusMessage,
+    ):
+        """Request step-scan interpolation in a background thread.
+
+        If a thread is already running, the request is queued as a pending request
+        and will be processed when the current interpolation completes.
+
+        Args:
+            x_data(list[float]): X coordinates of data points
+            y_data(list[float]): Y coordinates of data points
+            z_data(list[float]): Z values at each point
+            msg(messages.ScanStatusMessage): Scan status message containing scan metadata
+        """
+        request = _InterpolationRequest(
+            x_data=list(x_data),
+            y_data=list(y_data),
+            z_data=list(z_data),
+            scan_id=msg.scan_id,
+            interpolation=self._image_config.interpolation,
+            oversampling_factor=self._image_config.oversampling_factor,
+        )
+
+        if self._interpolation_thread is not None:
+            self._pending_interpolation_request = request
+            return
+
+        self._start_step_scan_interpolation(request)
+
+    def _start_step_scan_interpolation(self, request: _InterpolationRequest):
+        self._interpolation_generation += 1
+        generation = self._interpolation_generation
+        self._interpolation_thread = QThread()
+        self._interpolation_worker = _StepInterpolationWorker(
+            x_data=request.x_data,
+            y_data=request.y_data,
+            z_data=request.z_data,
+            interpolation=request.interpolation,
+            oversampling_factor=request.oversampling_factor,
+            generation=generation,
+            scan_id=request.scan_id,
+        )
+        self._interpolation_worker.moveToThread(self._interpolation_thread)
+        self._interpolation_thread.started.connect(
+            self._interpolation_worker.run, Qt.ConnectionType.QueuedConnection
+        )
+        self._interpolation_worker.finished.connect(
+            self._on_interpolation_finished, Qt.ConnectionType.QueuedConnection
+        )
+        self._interpolation_worker.failed.connect(
+            self._on_interpolation_failed, Qt.ConnectionType.QueuedConnection
+        )
+        self._interpolation_thread.start()
+
+    def _on_interpolation_finished(
+        self, img: np.ndarray, transform: QTransform, generation: int, scan_id: str
+    ):
+        if generation == self._interpolation_generation and scan_id == self.scan_id:
+            self._apply_image_update(img, transform)
+        else:
+            logger.debug("Discarding outdated interpolation result.")
+        self._finish_interpolation_thread()
+        self._maybe_start_pending_interpolation()
+
+    def _on_interpolation_failed(self, error: str, generation: int, scan_id: str):
+        logger.warning(
+            "Interpolation failed for scan %s (generation %s): %s", scan_id, generation, error
+        )
+        self._finish_interpolation_thread()
+        self._maybe_start_pending_interpolation()
+
+    def _finish_interpolation_thread(self):
+        if self._interpolation_worker is not None:
+            self._interpolation_worker.deleteLater()
+            self._interpolation_worker = None
+        if self._interpolation_thread is not None:
+            self._interpolation_thread.quit()
+            self._interpolation_thread.wait()
+            self._interpolation_thread.deleteLater()
+            self._interpolation_thread = None
+
+    def _maybe_start_pending_interpolation(self):
+        if self._pending_interpolation_request is None:
+            return
+        if self._pending_interpolation_request.scan_id != self.scan_id:
+            self._pending_interpolation_request = None
+            return
+
+        pending = self._pending_interpolation_request
+        self._pending_interpolation_request = None
+        self._start_step_scan_interpolation(pending)
+
+    def _cancel_interpolation(self):
+        """Cancel any pending interpolation request without invalidating in-flight work.
+
+        This clears the pending request queue but does not increment the generation
+        counter, allowing any currently running interpolation to complete and update
+        the display if it matches the current scan.
+        """
+        self._pending_interpolation_request = None
+        # Do not bump generation so an in-flight worker can still deliver the latest scan image.
+
+    def _invalidate_interpolation_generation(self):
+        """Invalidate all in-flight and pending interpolation results.
+
+        Increments the generation counter so that any currently running or
+        queued interpolation work will be discarded when it completes.
+        This is typically called when starting a new scan.
+        """
+        # Bump the generation so any in-flight worker results are ignored.
+        self._interpolation_generation += 1
+
     def redraw_config_label(self):
         scan_msg = self.status_message
         if scan_msg is None:
@@ -590,21 +816,35 @@ class Heatmap(ImageBase):
             logger.warning("x, y, or z data is None; skipping update.")
             return None, None
 
-        if msg.scan_name == "grid_scan" and not self._image_config.enforce_interpolation:
-            # We only support the grid scan mode if both scanning motors
-            # are configured in the heatmap config.
-            device_x = self._image_config.x_device.entry
-            device_y = self._image_config.y_device.entry
-            if (
-                device_x in msg.request_inputs["arg_bundle"]
-                and device_y in msg.request_inputs["arg_bundle"]
-            ):
-                return self.get_grid_scan_image(z_data, msg)
+        if self._is_grid_scan_supported(msg):
+            return self.get_grid_scan_image(z_data, msg)
         if len(z_data) < 4:
             # LinearNDInterpolator requires at least 4 points to interpolate
             return None, None
         return self.get_step_scan_image(x_data, y_data, z_data, msg)
 
+    def _is_grid_scan_supported(self, msg: messages.ScanStatusMessage) -> bool:
+        """Check if the scan can use optimized grid_scan rendering.
+
+        Grid scans can avoid interpolation if both X and Y devices match
+        the configured devices and interpolation is not enforced.
+
+        Args:
+            msg(messages.ScanStatusMessage): Scan status message containing scan metadata
+
+        Returns:
+            True if grid_scan optimization is applicable, False otherwise
+        """
+        if msg.scan_name != "grid_scan" or self._image_config.enforce_interpolation:
+            return False
+
+        device_x = self._image_config.x_device.entry
+        device_y = self._image_config.y_device.entry
+        return (
+            device_x in msg.request_inputs["arg_bundle"]
+            and device_y in msg.request_inputs["arg_bundle"]
+        )
+
     def get_grid_scan_image(
         self, z_data: list[float], msg: messages.ScanStatusMessage
     ) -> tuple[np.ndarray, QTransform]:
@@ -704,17 +944,49 @@ class Heatmap(ImageBase):
         Returns:
             tuple[np.ndarray, QTransform]: The image data and the QTransform.
         """
-        xy_data = np.column_stack((x_data, y_data))
-        grid_x, grid_y, transform = self.get_image_grid(xy_data)
+        return self.compute_step_scan_image(
+            x_data=x_data,
+            y_data=y_data,
+            z_data=z_data,
+            oversampling_factor=self._image_config.oversampling_factor,
+            interpolation_method=self._image_config.interpolation,
+        )
 
-        # Interpolate the z data onto the grid
-        if self._image_config.interpolation == "linear":
+    @staticmethod
+    def compute_step_scan_image(
+        x_data: list[float] | np.ndarray,
+        y_data: list[float] | np.ndarray,
+        z_data: list[float] | np.ndarray,
+        oversampling_factor: float,
+        interpolation_method: str,
+    ) -> tuple[np.ndarray, QTransform]:
+        """Compute interpolated heatmap image from step-scan data.
+
+        This static method is suitable for execution in a background thread
+        as it doesn't access any instance state.
+
+        Args:
+            x_data(list[float]): X coordinates of data points
+            y_data(list[float]): Y coordinates of data points
+            z_data(list[float]): Z values at each point
+            oversampling_factor(float): Grid resolution multiplier (>1.0 for higher resolution)
+            interpolation_method(str): One of 'linear', 'nearest', or 'clough'
+
+        Returns:
+            (tuple[np.ndarray, QTransform]):Tuple of (interpolated_grid, transform) where transform maps pixel to world coordinates
+        """
+        xy_data = np.column_stack((x_data, y_data))
+        grid_x, grid_y, transform = Heatmap.build_image_grid(
+            positions=xy_data, oversampling_factor=oversampling_factor
+        )
+
+        if interpolation_method == "linear":
             interp = LinearNDInterpolator(xy_data, z_data)
-        elif self._image_config.interpolation == "nearest":
+        elif interpolation_method == "nearest":
             interp = NearestNDInterpolator(xy_data, z_data)
-        elif self._image_config.interpolation == "clough":
+        elif interpolation_method == "clough":
             interp = CloughTocher2DInterpolator(xy_data, z_data)
-        else:
+        else:  # pragma: no cover - guarded by validation
             raise ValueError(
                 "Interpolation method must be either 'linear', 'nearest', or 'clough'."
             )
@@ -733,22 +1005,33 @@ class Heatmap(ImageBase):
         Returns:
             tuple[np.ndarray, np.ndarray, QTransform]: The grid x and y coordinates and the QTransform.
         """
-        base_width, base_height = self.estimate_image_resolution(positions)
+        return self.build_image_grid(
+            positions=positions, oversampling_factor=self._image_config.oversampling_factor
+        )
 
-        # Apply oversampling factor
-        factor = self._image_config.oversampling_factor
+    @staticmethod
+    def build_image_grid(
+        positions: np.ndarray, oversampling_factor: float
+    ) -> tuple[np.ndarray, np.ndarray, QTransform]:
+        """Build an interpolation grid covering the data positions.
 
-        # Apply oversampling
-        width = int(base_width * factor)
-        height = int(base_height * factor)
+        Args:
+            positions: (N, 2) array of (x, y) coordinates
+            oversampling_factor: Grid resolution multiplier (>1.0 for higher resolution)
+
+        Returns:
+            Tuple of (grid_x, grid_y, transform) where grid_x/grid_y are meshgrids
+            for interpolation and transform maps pixel to world coordinates
+        """
+        base_width, base_height = Heatmap.estimate_image_resolution(positions)
+        width = max(1, int(base_width * oversampling_factor))
+        height = max(1, int(base_height * oversampling_factor))
 
-        # Create grid
         grid_x, grid_y = np.mgrid[
             min(positions[:, 0]) : max(positions[:, 0]) : width * 1j,
             min(positions[:, 1]) : max(positions[:, 1]) : height * 1j,
         ]
 
-        # Calculate transform
         x_min, x_max = min(positions[:, 0]), max(positions[:, 0])
         y_min, y_max = min(positions[:, 1]), max(positions[:, 1])
         x_range = x_max - x_min
@@ -832,6 +1115,7 @@ class Heatmap(ImageBase):
         return scan_devices, "value"
 
     def reset(self):
+        self._cancel_interpolation()
         self._grid_index = None
         self.main_image.clear()
         if self.crosshair is not None:
@@ -966,6 +1250,10 @@ class Heatmap(ImageBase):
         """
         self.main_image.transpose = enable
 
+    def cleanup(self):
+        self._finish_interpolation_thread()
+        super().cleanup()
+
 
 if __name__ == "__main__":  # pragma: no cover
     import sys
diff --git a/tests/unit_tests/test_heatmap_widget.py b/tests/unit_tests/test_heatmap_widget.py
index ff2d4274..7cf83251 100644
--- a/tests/unit_tests/test_heatmap_widget.py
+++ b/tests/unit_tests/test_heatmap_widget.py
@@ -4,9 +4,15 @@ import numpy as np
 import pytest
 from bec_lib import messages
 from bec_lib.scan_history import ScanHistory
+from qtpy.QtGui import QTransform
 from qtpy.QtCore import QPointF
 
-from bec_widgets.widgets.plots.heatmap.heatmap import Heatmap, HeatmapConfig, HeatmapDeviceSignal
+from bec_widgets.widgets.plots.heatmap.heatmap import (
+    Heatmap,
+    HeatmapConfig,
+    HeatmapDeviceSignal,
+    _StepInterpolationWorker,
+)
 
 # pytest: disable=unused-import
 from tests.unit_tests.client_mocks import mocked_client
@@ -448,12 +454,16 @@ def test_heatmap_widget_reset(heatmap_widget):
     """
     Test that the reset method clears the plot.
     """
+    heatmap_widget._pending_interpolation_request = object()
+    heatmap_widget._interpolation_generation = 5
     heatmap_widget.scan_item = create_dummy_scan_item()
     heatmap_widget.plot(x_name="samx", y_name="samy", z_name="bpm4i")
 
     heatmap_widget.reset()
     assert heatmap_widget._grid_index is None
     assert heatmap_widget.main_image.raw_data is None
+    assert heatmap_widget._pending_interpolation_request is None
+    assert heatmap_widget._interpolation_generation == 5
 
 
 def test_heatmap_widget_update_plot_with_scan_history(heatmap_widget, grid_scan_history_msg, qtbot):
@@ -478,3 +488,108 @@ def test_heatmap_widget_update_plot_with_scan_history(heatmap_widget, grid_scan_
     heatmap_widget.enforce_interpolation = True
     heatmap_widget.oversampling_factor = 2.0
     qtbot.waitUntil(lambda: heatmap_widget.main_image.raw_data.shape == (20, 20))
+
+
+def test_step_interpolation_worker_emits_finished(qtbot):
+    worker = _StepInterpolationWorker(
+        x_data=[0.0, 1.0, 0.5, 0.2],
+        y_data=[0.0, 0.0, 1.0, 1.0],
+        z_data=[1.0, 2.0, 3.0, 4.0],
+        interpolation="linear",
+        oversampling_factor=1.0,
+        generation=1,
+        scan_id="scan-1",
+    )
+    with qtbot.waitSignal(worker.finished, timeout=1000) as blocker:
+        worker.run()
+    img, transform, generation, scan_id = blocker.args
+    assert img.shape[0] > 0
+    assert isinstance(transform, QTransform)
+    assert generation == 1
+    assert scan_id == "scan-1"
+
+
+def test_step_interpolation_worker_emits_failed(qtbot, monkeypatch):
+    def _scan_goes_boom(**kwargs):
+        raise RuntimeError("crash")
+
+    monkeypatch.setattr(
+        "bec_widgets.widgets.plots.heatmap.heatmap.Heatmap.compute_step_scan_image", _scan_goes_boom
+    )
+    worker = _StepInterpolationWorker(
+        x_data=[0.0, 1.0, 0.5, 0.2],
+        y_data=[0.0, 0.0, 1.0, 1.0],
+        z_data=[1.0, 2.0, 3.0, 4.0],
+        interpolation="linear",
+        oversampling_factor=1.0,
+        generation=99,
+        scan_id="scan-err",
+    )
+    with qtbot.waitSignal(worker.failed, timeout=1000) as blocker:
+        worker.run()
+    error, generation, scan_id = blocker.args
+    assert "crash" in error
+    assert generation == 99
+    assert scan_id == "scan-err"
+
+
+def test_interpolation_generation_invalidation(heatmap_widget):
+    heatmap_widget.scan_id = "scan-1"
+    heatmap_widget._interpolation_generation = 2
+    with (
+        mock.patch.object(heatmap_widget, "_apply_image_update") as apply_mock,
+        mock.patch.object(heatmap_widget, "_finish_interpolation_thread") as finish_mock,
+        mock.patch.object(heatmap_widget, "_maybe_start_pending_interpolation") as maybe_mock,
+    ):
+        heatmap_widget._on_interpolation_finished(
+            np.zeros((2, 2)), QTransform(), generation=1, scan_id="scan-1"
+        )
+    apply_mock.assert_not_called()
+    finish_mock.assert_called_once()
+    maybe_mock.assert_called_once()
+
+
+def test_pending_request_queueing_and_start(heatmap_widget):
+    heatmap_widget.scan_id = "scan-queue"
+    heatmap_widget.status_message = messages.ScanStatusMessage(
+        scan_id="scan-queue",
+        status="open",
+        scan_name="step_scan",
+        scan_type="step",
+        metadata={},
+        info={"positions": [[0, 0], [1, 1], [2, 2], [3, 3]]},
+    )
+    heatmap_widget._interpolation_thread = object()  # simulate running thread
+
+    with mock.patch.object(heatmap_widget, "_start_step_scan_interpolation") as start_mock:
+        heatmap_widget._request_step_scan_interpolation(
+            x_data=[0, 1, 2, 3],
+            y_data=[0, 1, 2, 3],
+            z_data=[0, 1, 2, 3],
+            msg=heatmap_widget.status_message,
+        )
+        assert heatmap_widget._pending_interpolation_request is not None
+
+        # Now simulate worker finished and thread cleaned up
+        heatmap_widget._interpolation_thread = None
+        pending = heatmap_widget._pending_interpolation_request
+        heatmap_widget._pending_interpolation_request = pending
+        heatmap_widget._maybe_start_pending_interpolation()
+
+        start_mock.assert_called_once()
+
+
+def test_finish_interpolation_thread_cleans_references(heatmap_widget):
+    worker_mock = mock.Mock()
+    thread_mock = mock.Mock()
+    heatmap_widget._interpolation_worker = worker_mock
+    heatmap_widget._interpolation_thread = thread_mock
+
+    heatmap_widget._finish_interpolation_thread()
+
+    worker_mock.deleteLater.assert_called_once()
+    thread_mock.quit.assert_called_once()
+    thread_mock.wait.assert_called_once()
+    thread_mock.deleteLater.assert_called_once()
+    assert heatmap_widget._interpolation_worker is None
+    assert heatmap_widget._interpolation_thread is None