Catheter Localization in the Left Atrium using an Outdated Anatomic Reference for Guidance
ABSTRACT We present a method for registering real-time ultrasound of the left atrium to an outdated, anatomic surface mesh model, whose shape differs from that of the anatomy. Using an intracardiac echo (ICE) catheter with mounted 6DOF electromagnetic position/orientation sensor (EPS), we acquire images of the left atrium and determine where the ICE catheter must be positioned relative to the surface mesh to generate similar, "virtual" ICE images. Further, we use an affine warping model to infer how the shape of the surface mesh differs from that of the atrium. Our registration and warping algorithm allows us to display EPS-sensorized catheters inside the surface mesh, facilitating guidance for left atrial procedures. By solving for the atrium-to-mesh warping parameters, we ensure that tissue contact in the anatomy is properly displayed as tissue contact in the mesh. After considering less than thirty seconds worth of ICE data, we are able to accurately localize EPS measurements within the surface mesh, despite surface mesh warpings of up to +/-20% along and about the principal axes of the left atrium. Further, because our estimation framework is iterative and continuous, our accuracy improves as new data is acquired.
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ABSTRACT: An overview is presented of the medical image processing literature on mutual-information-based registration. The aim of the survey is threefold: an introduction for those new to the field, an overview for those working in the field, and a reference for those searching for literature on a specific application. Methods are classified according to the different aspects of mutual-information-based registration. The main division is in aspects of the methodology and of the application. The part on methodology describes choices made on facets such as preprocessing of images, gray value interpolation, optimization, adaptations to the mutual information measure, and different types of geometrical transformations. The part on applications is a reference of the literature available on different modalities, on interpatient registration and on different anatomical objects. Comparison studies including mutual information are also considered. The paper starts with a description of entropy and mutual information and it closes with a discussion on past achievements and some future challenges.IEEE Transactions on Medical Imaging 09/2003; 22(8-22):986 - 1004. DOI:10.1109/TMI.2003.815867 · 3.80 Impact Factor
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ABSTRACT: We present a method for catheter localization in the left atrium based on the unscented particle filter (UPF), a Monte Carlo method employed in stochastic state estimation. Using an intracardiac echo (ICE) ultrasound catheter, we acquire ultrasound images of the atrium from multiple configurations and iteratively determine the catheter’s pose with respect to anatomy. At each time step, the catheter’s change in pose is determined using either a six-degree-of-freedom electromagnetic pose sensor or a robotic guide catheter whose kinematics serve as a pseudo-pose measurement. Sensor and kinematic model uncertainties are explicitly considered when computing the localization estimate. Acquired ultrasound images are compared with simulated ultrasound images based on segmented computed tomography (CT) or magnetic resonance (MR) data of the left atrium. The results of these comparisons are used to refine the localization estimate. After considering less than 30 seconds’ worth of ICE data, our algorithm converges to an accurate pose estimate. Furthermore, our algorithm is robust to sensor drift and kinematic model errors, as well as gradual, unmodeled movements in the anatomy. Such problems typically complicate traditional image-based localization.The International Journal of Robotics Research 01/2010; 29:643-665. DOI:10.1177/0278364909105332 · 2.50 Impact Factor
Article: Probabilistic Algorithms in Robotics[Show abstract] [Hide abstract]
ABSTRACT: This article describes a methodology for programming robots known as probabilistic robotics. The probabilistic paradigm pays tribute to the inherent uncertainty in robot perception, relying on explicit representations of uncertainty when determining what to do. This article surveys some of the progress in the field, using in-depth examples to illustrate some of the nuts and bolts of the basic approach. Our central conjecture is that the probabilistic approach to robotics scales better to complex real-world applications than approaches that ignore a robot's uncertainty. This research is sponsored by the National Science Foundation (and CAREER grant number IIS-9876136 and regular grant number IIS-9877033), and by DARPA-ATO via TACOM (contract number DAAE07-98-C-L032) and DARPA-ISO via Rome Labs (contract number F30602-98-2-0137), which is gratefully acknowledged. The views and conclusions contained in this document are those of the author and should not be interpreted as necessarily rep...