Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study
Identifieur interne : 003982 ( Main/Merge ); précédent : 003981; suivant : 003983Hybrid 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
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<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>
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<author><name sortKey="Bos, Dennis" sort="Bos, Dennis" uniqKey="Bos D" first="Dennis" last="Bos">Dennis Bos</name>
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<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>
</analytic>
<series><title level="j">Physics in medicine and biology</title>
<idno type="eISSN">1361-6560</idno>
<imprint><date when="2010" type="published">2010</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</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>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">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>
</PubMed>
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