Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study
Identifieur interne : 003924 ( Main/Exploration ); précédent : 003923; suivant : 003925Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study
Auteurs : Yingliang Ma [Royaume-Uni] ; Graeme P. Penney [Royaume-Uni] ; Dennis Bos [Pays-Bas] ; Peter Frissen [Pays-Bas] ; C Aldo Rinaldi [Royaume-Uni] ; Reza Razavi [Royaume-Uni] ; Kawal S. Rhode [Royaume-Uni]Source :
- Physics in Medicine and Biology [ 0031-9155 ] ; 2010.
English descriptors
- KwdEn :
- Calibration, Cardiac Catheterization (instrumentation), Cardiac Catheterization (methods), Cardiac Surgical Procedures (instrumentation), Cardiac Surgical Procedures (methods), Echocardiography (methods), Feasibility Studies, Feedback, Fluoroscopy (instrumentation), Fluoroscopy (methods), Heart Failure (pathology), Heart Failure (surgery), Humans, Imaging, Three-Dimensional, Phantoms, Imaging, Robotics (instrumentation), Robotics (methods), Surgery, Computer-Assisted (instrumentation), Surgery, Computer-Assisted (methods), X-Rays.
- MESH :
- instrumentation : Cardiac Catheterization, Cardiac Surgical Procedures, Fluoroscopy, Robotics, Surgery, Computer-Assisted.
- methods : Cardiac Catheterization, Cardiac Surgical Procedures, Echocardiography, Fluoroscopy, Robotics, Surgery, Computer-Assisted.
- pathology : Heart Failure.
- surgery : Heart Failure.
- Calibration, Feasibility Studies, Feedback, Humans, Imaging, Three-Dimensional, Phantoms, Imaging, X-Rays.
Abstract
We present a feasibility study on hybrid echocardiography (echo) and x-ray image guidance for cardiac catheterization procedures. A self-tracked, remotely operated robotic arm with haptic feedback was developed that attached to a standard x-ray table. This was used to safely manipulate a three-dimensional (3D) trans-thoracic echo probe during simultaneous x-ray fluoroscopy and echo acquisitions. By a combination of calibration and tracking of the echo and x-ray systems, it was possible to register the 3D echo images with the 2D x-ray images. Visualization of the combined data was achieved by either overlaying triangulated surfaces extracted from segmented echo data onto the x-ray images or by overlaying volume rendered 3D echo data. Furthermore, in order to overcome the limited field of view of the echo probe, it was possible to create extended field of view (EFOV) 3D echo images by co-registering multiple tracked echo data to generate larger roadmaps for procedure guidance. The registration method was validated using a cross-wire phantom and showed a 2D target registration error of 3.5 mm. The clinical feasibility of the method was demonstrated during two clinical cases for patients undergoing cardiac pacing studies. The EFOV technique was demonstrated using two healthy volunteers.
Url:
DOI: 10.1088/0031-9155/55/13/N01
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Istex, to step Corpus: 000628
- to stream Istex, to step Curation: 000628
- to stream Istex, to step Checkpoint: 000721
- to stream PubMed, to step Corpus: 001085
- to stream PubMed, to step Curation: 001085
- to stream PubMed, to step Checkpoint: 000F37
- to stream Ncbi, to step Merge: 001569
- to stream Ncbi, to step Curation: 001569
- to stream Ncbi, to step Checkpoint: 001569
- to stream Main, to step Merge: 003982
- to stream Main, to step Curation: 003924
Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title>Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study</title><author><name sortKey="Ma, Yingliang" sort="Ma, Yingliang" uniqKey="Ma Y" first="Yingliang" last="Ma">Yingliang Ma</name></author><author><name sortKey="Penney, Graeme P" sort="Penney, Graeme P" uniqKey="Penney G" first="Graeme P" last="Penney">Graeme P. Penney</name></author><author><name sortKey="Bos, Dennis" sort="Bos, Dennis" uniqKey="Bos D" first="Dennis" last="Bos">Dennis Bos</name></author><author><name sortKey="Frissen, Peter" sort="Frissen, Peter" uniqKey="Frissen P" first="Peter" last="Frissen">Peter Frissen</name></author><author><name sortKey="Rinaldi, C Aldo" sort="Rinaldi, C Aldo" uniqKey="Rinaldi C" first="C Aldo" last="Rinaldi">C Aldo Rinaldi</name></author><author><name sortKey="Razavi, Reza" sort="Razavi, Reza" uniqKey="Razavi R" first="Reza" last="Razavi">Reza Razavi</name></author><author><name sortKey="Rhode, Kawal S" sort="Rhode, Kawal S" uniqKey="Rhode K" first="Kawal S" last="Rhode">Kawal S. Rhode</name></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:6A03F416BBD9815142DC97D50DD3A5916A2F72D2</idno><date when="2010" year="2010">2010</date><idno type="doi">10.1088/0031-9155/55/13/N01</idno><idno type="url">https://api.istex.fr/document/6A03F416BBD9815142DC97D50DD3A5916A2F72D2/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">000628</idno><idno type="wicri:Area/Istex/Curation">000628</idno><idno type="wicri:Area/Istex/Checkpoint">000721</idno><idno type="wicri:doubleKey">0031-9155:2010:Ma Y:hybrid:echo:and</idno><idno type="wicri:source">PubMed</idno><idno type="RBID">pubmed:20530849</idno><idno type="wicri:Area/PubMed/Corpus">001085</idno><idno type="wicri:Area/PubMed/Curation">001085</idno><idno type="wicri:Area/PubMed/Checkpoint">000F37</idno><idno type="wicri:Area/Ncbi/Merge">001569</idno><idno type="wicri:Area/Ncbi/Curation">001569</idno><idno type="wicri:Area/Ncbi/Checkpoint">001569</idno><idno type="wicri:Area/Main/Merge">003982</idno><idno type="wicri:Area/Main/Curation">003924</idno><idno type="wicri:Area/Main/Exploration">003924</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a">Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study</title><author><name sortKey="Ma, Yingliang" sort="Ma, Yingliang" uniqKey="Ma Y" first="Yingliang" last="Ma">Yingliang Ma</name><affiliation wicri:level="1"><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Division of Imaging Sciences, King's College, London SE1 7EH</wicri:regionArea><wicri:noRegion>London SE1 7EH</wicri:noRegion></affiliation><affiliation wicri:level="1"><country wicri:rule="url">Royaume-Uni</country></affiliation></author><author><name sortKey="Penney, Graeme P" sort="Penney, Graeme P" uniqKey="Penney G" first="Graeme P" last="Penney">Graeme P. Penney</name><affiliation wicri:level="1"><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Division of Imaging Sciences, King's College, London SE1 7EH</wicri:regionArea><wicri:noRegion>London SE1 7EH</wicri:noRegion></affiliation></author><author><name sortKey="Bos, Dennis" sort="Bos, Dennis" uniqKey="Bos D" first="Dennis" last="Bos">Dennis Bos</name><affiliation wicri:level="1"><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Philips Applied Technologies, High Tech. Campus 7, 5656 AE Eindhoven</wicri:regionArea><wicri:noRegion>5656 AE Eindhoven</wicri:noRegion></affiliation></author><author><name sortKey="Frissen, Peter" sort="Frissen, Peter" uniqKey="Frissen P" first="Peter" last="Frissen">Peter Frissen</name><affiliation wicri:level="1"><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Philips Applied Technologies, High Tech. Campus 7, 5656 AE Eindhoven</wicri:regionArea><wicri:noRegion>5656 AE Eindhoven</wicri:noRegion></affiliation></author><author><name sortKey="Rinaldi, C Aldo" sort="Rinaldi, C Aldo" uniqKey="Rinaldi C" first="C Aldo" last="Rinaldi">C Aldo Rinaldi</name><affiliation wicri:level="1"><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Department of Cardiology, Guy's and St Thomas' NHS Foundation Trust, London SE1 7EH</wicri:regionArea><wicri:noRegion>London SE1 7EH</wicri:noRegion></affiliation></author><author><name sortKey="Razavi, Reza" sort="Razavi, Reza" uniqKey="Razavi R" first="Reza" last="Razavi">Reza Razavi</name><affiliation wicri:level="1"><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Division of Imaging Sciences, King's College, London SE1 7EH</wicri:regionArea><wicri:noRegion>London SE1 7EH</wicri:noRegion></affiliation></author><author><name sortKey="Rhode, Kawal S" sort="Rhode, Kawal S" uniqKey="Rhode K" first="Kawal S" last="Rhode">Kawal S. Rhode</name><affiliation wicri:level="1"><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Division of Imaging Sciences, King's College, London SE1 7EH</wicri:regionArea><wicri:noRegion>London SE1 7EH</wicri:noRegion></affiliation></author></analytic><monogr></monogr><series><title level="j">Physics in Medicine and Biology</title><title level="j" type="abbrev">Phys. Med. Biol.</title><idno type="ISSN">0031-9155</idno><idno type="eISSN">1361-6560</idno><imprint><publisher>IOP Publishing</publisher><date type="published" when="2010">2010</date><biblScope unit="volume">55</biblScope><biblScope unit="issue">13</biblScope><biblScope unit="page" from="N371">N371</biblScope><biblScope unit="page" to="N382">N382</biblScope><biblScope unit="production">Printed in the UK</biblScope></imprint><idno type="ISSN">0031-9155</idno></series><idno type="istex">6A03F416BBD9815142DC97D50DD3A5916A2F72D2</idno><idno type="DOI">10.1088/0031-9155/55/13/N01</idno><idno type="PII">S0031-9155(10)37844-4</idno><idno type="articleID">337844</idno><idno type="articleNumber">N01</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0031-9155</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Calibration</term><term>Cardiac Catheterization (instrumentation)</term><term>Cardiac Catheterization (methods)</term><term>Cardiac Surgical Procedures (instrumentation)</term><term>Cardiac Surgical Procedures (methods)</term><term>Echocardiography (methods)</term><term>Feasibility Studies</term><term>Feedback</term><term>Fluoroscopy (instrumentation)</term><term>Fluoroscopy (methods)</term><term>Heart Failure (pathology)</term><term>Heart Failure (surgery)</term><term>Humans</term><term>Imaging, Three-Dimensional</term><term>Phantoms, Imaging</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Surgery, Computer-Assisted (instrumentation)</term><term>Surgery, Computer-Assisted (methods)</term><term>X-Rays</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Cardiac Catheterization</term><term>Cardiac Surgical Procedures</term><term>Fluoroscopy</term><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Cardiac Catheterization</term><term>Cardiac Surgical Procedures</term><term>Echocardiography</term><term>Fluoroscopy</term><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="pathology" xml:lang="en"><term>Heart Failure</term></keywords><keywords scheme="MESH" qualifier="surgery" xml:lang="en"><term>Heart Failure</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Calibration</term><term>Feasibility Studies</term><term>Feedback</term><term>Humans</term><term>Imaging, Three-Dimensional</term><term>Phantoms, Imaging</term><term>X-Rays</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract">We present a feasibility study on hybrid echocardiography (echo) and x-ray image guidance for cardiac catheterization procedures. A self-tracked, remotely operated robotic arm with haptic feedback was developed that attached to a standard x-ray table. This was used to safely manipulate a three-dimensional (3D) trans-thoracic echo probe during simultaneous x-ray fluoroscopy and echo acquisitions. By a combination of calibration and tracking of the echo and x-ray systems, it was possible to register the 3D echo images with the 2D x-ray images. Visualization of the combined data was achieved by either overlaying triangulated surfaces extracted from segmented echo data onto the x-ray images or by overlaying volume rendered 3D echo data. Furthermore, in order to overcome the limited field of view of the echo probe, it was possible to create extended field of view (EFOV) 3D echo images by co-registering multiple tracked echo data to generate larger roadmaps for procedure guidance. The registration method was validated using a cross-wire phantom and showed a 2D target registration error of 3.5 mm. The clinical feasibility of the method was demonstrated during two clinical cases for patients undergoing cardiac pacing studies. The EFOV technique was demonstrated using two healthy volunteers.</div></front></TEI><affiliations><list><country><li>Pays-Bas</li><li>Royaume-Uni</li></country></list><tree><country name="Royaume-Uni"><noRegion><name sortKey="Ma, Yingliang" sort="Ma, Yingliang" uniqKey="Ma Y" first="Yingliang" last="Ma">Yingliang Ma</name></noRegion><name sortKey="Ma, Yingliang" sort="Ma, Yingliang" uniqKey="Ma Y" first="Yingliang" last="Ma">Yingliang Ma</name><name sortKey="Penney, Graeme P" sort="Penney, Graeme P" uniqKey="Penney G" first="Graeme P" last="Penney">Graeme P. Penney</name><name sortKey="Razavi, Reza" sort="Razavi, Reza" uniqKey="Razavi R" first="Reza" last="Razavi">Reza Razavi</name><name sortKey="Rhode, Kawal S" sort="Rhode, Kawal S" uniqKey="Rhode K" first="Kawal S" last="Rhode">Kawal S. Rhode</name><name sortKey="Rinaldi, C Aldo" sort="Rinaldi, C Aldo" uniqKey="Rinaldi C" first="C Aldo" last="Rinaldi">C Aldo Rinaldi</name></country><country name="Pays-Bas"><noRegion><name sortKey="Bos, Dennis" sort="Bos, Dennis" uniqKey="Bos D" first="Dennis" last="Bos">Dennis Bos</name></noRegion><name sortKey="Frissen, Peter" sort="Frissen, Peter" uniqKey="Frissen P" first="Peter" last="Frissen">Peter Frissen</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 003924 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 003924 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= ISTEX:6A03F416BBD9815142DC97D50DD3A5916A2F72D2
|texte= Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study
}}
| This area was generated with Dilib version V0.6.23. |  |