A fast slam approach to freehand 3-d ultrasound reconstruction for catheter ablation guidance in the left atrium.

TitleA fast slam approach to freehand 3-d ultrasound reconstruction for catheter ablation guidance in the left atrium.
Publication TypeJournal Article
Year of Publication2011
JournalUltrasound in medicine & biology
Volume37
Issue12
Pagination2037-54
ISSN0301-5629
Abstract

We present a method for real-time, freehand 3D ultrasound (3D-US) reconstruction of moving anatomy, with specific application towards guiding the catheter ablation procedure in the left atrium. Using an intracardiac echo (ICE) catheter with a pose (position/orientation) sensor mounted to its tip, we continually mosaic 2D-ICE images of a left atrium phantom model to form a 3D-US volume. Our mosaicing strategy employs a probabilistic framework based on simultaneous localization and mapping (SLAM), a technique commonly used in mobile robotics for creating maps of unexplored environments. The measured ICE catheter tip pose provides an initial estimate for compounding 2D-ICE image data into the 3D-US volume. However, we simultaneously consider the overlap-consistency shared between 2D-ICE images and the 3D-US volume, computing a "corrected" tip pose if need be to ensure spatially-consistent reconstruction. This allows us to compensate for anatomic movement and sensor drift that would otherwise cause motion artifacts in the 3D-US volume. Our approach incorporates 2D-ICE data immediately after acquisition, allowing us to continuously update the registration parameters linking sensor coordinates to 3D-US coordinates. This, in turn, enables real-time localization and display of sensorized therapeutic catheters within the 3D-US volume for facilitating procedural guidance.

URLhttps://linkinghub.elsevier.com/retrieve/pii/S0301-5629(11)01303-2
DOI10.1016/j.ultrasmedbio.2011.08.007
Short TitleUltrasound Med Biol
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