Catheter Localization in the Left Atrium using an Outdated Anatomic Reference for Guidance
Department of Mechanical Engineering, Stanford University, Stanford, CA, USA.Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 01/2009; 2009:5567-70. DOI: 10.1109/IEMBS.2009.5333739
We present a method for registering real-time ultrasound of the left atrium to an outdated, anatomic surface mesh model, whose shape differs from that of the anatomy.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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