Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study.
Identifieur interne : 001085 ( PubMed/Corpus ); précédent : 001084; suivant : 001086Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study.
Auteurs : Yingliang Ma ; Graeme P. Penney ; Dennis Bos ; Peter Frissen ; C Aldo Rinaldi ; Reza Razavi ; Kawal S. RhodeSource :
- Physics in medicine and biology [ 1361-6560 ] ; 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.
DOI: 10.1088/0031-9155/55/13/N01
PubMed: 20530849
Links to Exploration step
pubmed:20530849Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">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><nlm:affiliation>Division of Imaging Sciences, King's College, London SE1 7EH, UK. y.ma@kcl.ac.uk</nlm:affiliation></affiliation></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">PubMed</idno><date when="2010">2010</date><idno type="doi">10.1088/0031-9155/55/13/N01</idno><idno type="RBID">pubmed:20530849</idno><idno type="pmid">20530849</idno><idno type="wicri:Area/PubMed/Corpus">001085</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">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><nlm:affiliation>Division of Imaging Sciences, King's College, London SE1 7EH, UK. y.ma@kcl.ac.uk</nlm:affiliation></affiliation></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></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><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">20530849</PMID><DateCreated><Year>2010</Year><Month>06</Month><Day>23</Day></DateCreated><DateCompleted><Year>2010</Year><Month>10</Month><Day>18</Day></DateCompleted><DateRevised><Year>2012</Year><Month>11</Month><Day>15</Day></DateRevised><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1361-6560</ISSN><JournalIssue CitedMedium="Internet"><Volume>55</Volume><Issue>13</Issue><PubDate><Year>2010</Year><Month>Jul</Month><Day>7</Day></PubDate></JournalIssue><Title>Physics in medicine and biology</Title><ISOAbbreviation>Phys Med Biol</ISOAbbreviation></Journal><ArticleTitle>Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study.</ArticleTitle><Pagination><MedlinePgn>N371-82</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1088/0031-9155/55/13/N01</ELocationID><Abstract><AbstractText>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.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Ma</LastName><ForeName>YingLiang</ForeName><Initials>Y</Initials><AffiliationInfo><Affiliation>Division of Imaging Sciences, King's College, London SE1 7EH, UK. y.ma@kcl.ac.uk</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Penney</LastName><ForeName>Graeme P</ForeName><Initials>GP</Initials></Author><Author ValidYN="Y"><LastName>Bos</LastName><ForeName>Dennis</ForeName><Initials>D</Initials></Author><Author ValidYN="Y"><LastName>Frissen</LastName><ForeName>Peter</ForeName><Initials>P</Initials></Author><Author ValidYN="Y"><LastName>Rinaldi</LastName><ForeName>C Aldo</ForeName><Initials>CA</Initials></Author><Author ValidYN="Y"><LastName>Razavi</LastName><ForeName>Reza</ForeName><Initials>R</Initials></Author><Author ValidYN="Y"><LastName>Rhode</LastName><ForeName>Kawal S</ForeName><Initials>KS</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D023362">Evaluation Studies</PublicationType><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType><PublicationType UI="D023361">Validation Studies</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2010</Year><Month>06</Month><Day>09</Day></ArticleDate></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Phys Med Biol</MedlineTA><NlmUniqueID>0401220</NlmUniqueID><ISSNLinking>0031-9155</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D002138">Calibration</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006328">Cardiac Catheterization</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006348">Cardiac Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004452">Echocardiography</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005240">Feasibility Studies</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005246">Feedback</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005471">Fluoroscopy</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006333">Heart Failure</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000473">pathology</QualifierName><QualifierName MajorTopicYN="N" UI="Q000601">surgery</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D021621">Imaging, Three-Dimensional</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019047">Phantoms, Imaging</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014965">X-Rays</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="aheadofprint"><Year>2010</Year><Month>6</Month><Day>09</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2010</Year><Month>6</Month><Day>10</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2010</Year><Month>6</Month><Day>10</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2010</Year><Month>10</Month><Day>19</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pii">S0031-9155(10)37844-4</ArticleId><ArticleId IdType="doi">10.1088/0031-9155/55/13/N01</ArticleId><ArticleId IdType="pubmed">20530849</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001085 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd -nk 001085 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PubMed
|étape= Corpus
|type= RBID
|clé= pubmed:20530849
|texte= Hybrid echo and x-ray image guidance for cardiac catheterization procedures by using a robotic arm: a feasibility study.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/RBID.i -Sk "pubmed:20530849" \
| HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |