Summary
We present a sensorless method for localizing a robotic catheter inside the left atrium using intracardiac echo (ICE) ultrasound. As the robotic catheter navigates inside the anatomy, its kinematics provide a rough estimate of change in pose. At the same time, an ICE catheter inserted through the robotic catheter’s lumen acquires images to refine this estimate.
Our algorithm is based on the Unscented Particle Filter (UPF) for stochastic state estimation. We iteratively determine the catheter’s pose by comparing newly acquired ICE images to segmented Computed Tomography (CT) images of the left atrium. After considering less than fifteen second’s worth of ICE data, the algorithm converges to an accurate pose estimate despite significant deviations from the kinematic model, and unmodeled movements in the anatomy.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Baker, J.E.: Reducing bias and inefficiency in the selection algorithm. In: Proceedings of the Second International Conference on Genetic Algorithms and their Application, pp. 14–21 (1987)
Camarillo, D., Milne, C., Carlson, C., Zinn, M., Salisbury, J.: Mechanics modeling of tendon driven continuum manipulators. IEEE Transactions on Robotics (accepted for publication, 2008)
Dong, J., Calkins, H.C., Solomon, S.B., Lai, S., Dalal, D., Lardo, A., Brem, E., Preiss, A., Berger, R.D., Halperin, H., Dickfeld, T.: Integrated electroanatomic mapping with three-dimensional computed tomographic images for real-time guided ablations. Circulation 113, 186–194 (2006)
Pluim, J., Maintz, J., Viergever, M.: Mutual-information-based registration of medical images: a survey. IEEE Transactions on Medical Imaging 22(8), 986–1004 (2003)
Reddy, V.Y., Malchano, Z.J., Holmvang, G., Schmidt, E.J., d’Avila, A., Houghtaling, C., Chan, R.C., Ruskin, J.N.: Integration of cardiac magnetic resonance imaging with three-dimensional electroanatomic mapping to guide left ventricular catheter manipulation: Feasibility in a porcine model of healed myocardial infarction. J. Am. Coll. Cardiol. 44(11), 2202–2213 (2004)
Rui, Y., Rui, Y., Chen, Y.: Better proposal distributions: object tracking using unscented particle filter. In: Computer Vision and Pattern Recognition CVPR 2001, vol. 2, pp. 786–793 (2001)
Thrun, S.: Probabilistic algorithms in robotics. AI Magazine 21(4), 93–109 (2000)
van de Merwe, R., Doucet, A., Freitas, N., Wan, E.: The unscented particle filter. Cued/f-infeng/tr 380, Cambridge University (August 2000)
Wein, W., Khamene, A., Clevert, D.-A., Kutter, O., Navab, N.: Simulation and fully automatic multimodal registration of medical ultrasound. In: Ayache, N., Ourselin, S., Maeder, A. (eds.) MICCAI 2007, Part I. LNCS, vol. 4791, pp. 136–143. Springer, Heidelberg (2007)
Zhong, H., Kanade, T., Schwartzman, D.: Sensor guided ablation procedure of left atrial endocardium. In: Duncan, J.S., Gerig, G. (eds.) MICCAI 2005. LNCS, vol. 3750, pp. 1–8. Springer, Heidelberg (2005)
Zhong, H., Kanade, T., Schwartzman, D.: “Virtual touch”: An efficient registration method for catheter navigation in left atrium. In: Larsen, R., Nielsen, M., Sporring, J. (eds.) MICCAI 2006. LNCS, vol. 4190, pp. 437–444. Springer, Heidelberg (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Koolwal, A.B., Barbagli, F., Carlson, C.R., Liang, D.H., Prinz, F.B. (2009). An Image-Based Localization Algorithm for Catheter Navigation in the Left Atrium. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_30
Download citation
DOI: https://doi.org/10.1007/978-3-642-00196-3_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00195-6
Online ISBN: 978-3-642-00196-3
eBook Packages: EngineeringEngineering (R0)