Optimal transseptal puncture location for robot‐assisted left atrial catheter ablation
Identifieur interne : 002C27 ( Istex/Curation ); précédent : 002C26; suivant : 002C28Optimal transseptal puncture location for robot‐assisted left atrial catheter ablation
Auteurs : J. Jayender [États-Unis] ; R. V. Patel [Canada] ; G. F. Michaud [États-Unis] ; N. Hata [États-Unis]Source :
- The International Journal of Medical Robotics and Computer Assisted Surgery [ 1478-5951 ] ; 2011-06.
English descriptors
Abstract
Background: The preferred method of treatment for atrial fibrillation (AF) is by catheter ablation, in which a catheter is guided into the left atrium through a transseptal puncture. However, the transseptal puncture constrains the catheter, thereby limiting its manoeuvrability and increasing the difficulty in reaching various locations in the left atrium. In this paper, we address the problem of choosing the optimal transseptal puncture location for performing cardiac ablation to obtain maximum manoeuvrability of the catheter. Methods: We have employed an optimization algorithm to maximize the global isotropy index (GII) to evaluate the optimal transseptal puncture location. As part of this algorithm, a novel kinematic model for the catheter has been developed, based on a continuum robot model. Pre‐operative MR/CT images of the heart are segmented using the open source image‐guided therapy software, 3D Slicer, to obtain models of the left atrium and septal wall. These models are input to the optimization algorithm to evaluate the optimal transseptal puncture location. Results: The continuum robot model accurately describes the kinematics of the catheter. Simulation and experimental results for the optimal transseptal puncture location are presented in this paper. The optimization algorithm generates discrete points on the septal wall for which the dexterity of the catheter in the left atrium is maximum, corresponding to a GII of 0.4362. Conclusion: We have developed an optimization algorithm based on the GII to evaluate the optimal position of the transseptal puncture for left atrial cardiac ablation. Copyright © 2011 John Wiley & Sons, Ltd.
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DOI: 10.1002/rcs.388
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Patel</name><affiliation wicri:level="1"><mods:affiliation>Department of Electrical and Computer Engineering and Department of Surgery, University of Western Ontario, Canadian Surgical Technologies and Advanced Robotics (CSTAR), London, ON, Canada</mods:affiliation><country xml:lang="fr">Canada</country><wicri:regionArea>Department of Electrical and Computer Engineering and Department of Surgery, University of Western Ontario, Canadian Surgical Technologies and Advanced Robotics (CSTAR), London, ON</wicri:regionArea></affiliation></author><author><name sortKey="Michaud, G F" sort="Michaud, G F" uniqKey="Michaud G" first="G. F." last="Michaud">G. F. 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Surg.</title><idno type="ISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><imprint><publisher>John Wiley & Sons, Ltd.</publisher><pubPlace>Chichester, UK</pubPlace><date type="published" when="2011-06">2011-06</date><biblScope unit="volume">7</biblScope><biblScope unit="issue">2</biblScope><biblScope unit="page" from="193">193</biblScope><biblScope unit="page" to="201">201</biblScope></imprint><idno type="ISSN">1478-5951</idno></series><idno type="istex">525C9128B4731223B7A3C9654CC3EE69C9473D11</idno><idno type="DOI">10.1002/rcs.388</idno><idno type="ArticleID">RCS388</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">1478-5951</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>cardiac ablation</term><term>continuum robot</term><term>global isotropy index</term><term>optimal port</term><term>robot‐assisted</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Background: The preferred method of treatment for atrial fibrillation (AF) is by catheter ablation, in which a catheter is guided into the left atrium through a transseptal puncture. However, the transseptal puncture constrains the catheter, thereby limiting its manoeuvrability and increasing the difficulty in reaching various locations in the left atrium. In this paper, we address the problem of choosing the optimal transseptal puncture location for performing cardiac ablation to obtain maximum manoeuvrability of the catheter. Methods: We have employed an optimization algorithm to maximize the global isotropy index (GII) to evaluate the optimal transseptal puncture location. As part of this algorithm, a novel kinematic model for the catheter has been developed, based on a continuum robot model. Pre‐operative MR/CT images of the heart are segmented using the open source image‐guided therapy software, 3D Slicer, to obtain models of the left atrium and septal wall. These models are input to the optimization algorithm to evaluate the optimal transseptal puncture location. Results: The continuum robot model accurately describes the kinematics of the catheter. Simulation and experimental results for the optimal transseptal puncture location are presented in this paper. The optimization algorithm generates discrete points on the septal wall for which the dexterity of the catheter in the left atrium is maximum, corresponding to a GII of 0.4362. Conclusion: We have developed an optimization algorithm based on the GII to evaluate the optimal position of the transseptal puncture for left atrial cardiac ablation. Copyright © 2011 John Wiley & Sons, Ltd.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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