Using a robotic arm for echocardiography to x-Ray image registration during cardiac catheterization procedures

YingLiang Ma; Graeme P. Penney; Dennis  Bos; Peter Frissen; George  de Fockert; Cheng  Yao; Andy King; Gang Gao; Christopher Aldo Rinaldi; Reza Razavi; Kawal Rhode

Using a robotic arm for echocardiography to x-Ray image registration during cardiac catheterization procedures

YingLiang Ma, Graeme P. Penney, Dennis Bos, Peter Frissen, George de Fockert, Cheng Yao, Andy King, Gang Gao, Christopher Aldo Rinaldi, Reza Razavi, Kawal Rhode

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Abstract

We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo images. Both these features can be used for roadmapping to guide cardiac catheterization procedures. We have carried out a validation experiment of our registration method using a cross-wire phantom. Results show our method to be accurate to 3.5 mm. We have successfully demonstrated the creation of the extended field of view data on 2 healthy volunteers and the registration of echo and X-ray data on 2 patients undergoing a pacing study.

Original language	English
Title of host publication	CI2BM09-MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling
Number of pages	8
Publication status	Published - 2009
Externally published	Yes
Event	MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling - London, United Kingdom Duration: 20 Sept 2009 → 20 Sept 2009

Conference

Conference	MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling
Abbreviated title	CI2BM09
Country/Territory	United Kingdom
City	London
Period	20/09/09 → 20/09/09

Keywords

3D echocardiography
electrophysiology
robotic arm

Cite this

Ma, Y, Penney, GP, Bos, D, Frissen, P, de Fockert, G, Yao, C, King, A, Gao, G, Rinaldi, CA, Razavi, R & Rhode, K 2009, Using a robotic arm for echocardiography to x-Ray image registration during cardiac catheterization procedures. in CI2BM09-MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling. MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling, London, United Kingdom, 20/09/09.

@inproceedings{51846291170e4fedb1c0b15152686efa,

title = "Using a robotic arm for echocardiography to x-Ray image registration during cardiac catheterization procedures",

abstract = "We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo images. Both these features can be used for roadmapping to guide cardiac catheterization procedures. We have carried out a validation experiment of our registration method using a cross-wire phantom. Results show our method to be accurate to 3.5 mm. We have successfully demonstrated the creation of the extended field of view data on 2 healthy volunteers and the registration of echo and X-ray data on 2 patients undergoing a pacing study.",

keywords = "3D echocardiography, electrophysiology, robotic arm",

author = "YingLiang Ma and Penney, {Graeme P.} and Dennis Bos and Peter Frissen and {de Fockert}, George and Cheng Yao and Andy King and Gang Gao and Rinaldi, {Christopher Aldo} and Reza Razavi and Kawal Rhode",

year = "2009",

language = "English",

booktitle = "CI2BM09-MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling",

note = "MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling, CI2BM09 ; Conference date: 20-09-2009 Through 20-09-2009",

}

TY - GEN

T1 - Using a robotic arm for echocardiography to x-Ray image registration during cardiac catheterization procedures

AU - Ma, YingLiang

AU - Penney, Graeme P.

AU - Bos, Dennis

AU - Frissen, Peter

AU - de Fockert, George

AU - Yao, Cheng

AU - King, Andy

AU - Gao, Gang

AU - Rinaldi, Christopher Aldo

AU - Razavi, Reza

AU - Rhode, Kawal

PY - 2009

Y1 - 2009

N2 - We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo images. Both these features can be used for roadmapping to guide cardiac catheterization procedures. We have carried out a validation experiment of our registration method using a cross-wire phantom. Results show our method to be accurate to 3.5 mm. We have successfully demonstrated the creation of the extended field of view data on 2 healthy volunteers and the registration of echo and X-ray data on 2 patients undergoing a pacing study.

AB - We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo images. Both these features can be used for roadmapping to guide cardiac catheterization procedures. We have carried out a validation experiment of our registration method using a cross-wire phantom. Results show our method to be accurate to 3.5 mm. We have successfully demonstrated the creation of the extended field of view data on 2 healthy volunteers and the registration of echo and X-ray data on 2 patients undergoing a pacing study.

KW - 3D echocardiography

KW - electrophysiology

KW - robotic arm

M3 - Conference proceeding

BT - CI2BM09-MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling

T2 - MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling

Y2 - 20 September 2009 through 20 September 2009

ER -

Using a robotic arm for echocardiography to x-Ray image registration during cardiac catheterization procedures

Abstract

Conference

Keywords

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