title: Instrument Tracking and Visualization for Ultrasound Catheter Guided Procedures.
abstract: We present an instrument tracking and visualization system for intra-cardiac ultrasound catheter guided procedures, enabled through the robotic control of ultrasound catheters. Our system allows for rapid acquisition of 2D ultrasound images and accurate reconstruction and visualization of a 3D volume. The reconstructed volume addresses the limited field of view, an inherent problem of ultrasound imaging, and serves as a navigation map for procedure guidance. Our robotic system can track a moving instrument by continuously adjusting the imaging plane and visualizing the instrument tip. The overall instrument tracking accuracy is 2.2mmRMS in position and 0.8° in angle.
authors.affiliation: Harvard School of Engineering and Applied Sciences, Cambridge, MA USA; MIT Lincoln Laboratory, Lexington, MA USA.
authors.forename: Laura J
authors.initials: LJ
authors.lastname: Brattain
authors.affiliation: Harvard School of Engineering and Applied Sciences, Cambridge, MA USA.
authors.forename: Paul M
authors.initials: PM
authors.lastname: Loschak
authors.affiliation: Harvard-Thorndike Electrophysiology Institute, Beth Israel Deaconess Medical Center, Harvard Medical School, Boston, MA USA.
authors.forename: Cory M
authors.initials: CM
authors.lastname: Tschabrunn
authors.affiliation: Harvard-Thorndike Electrophysiology Institute, Beth Israel Deaconess Medical Center, Harvard Medical School, Boston, MA USA.
authors.forename: Elad
authors.initials: E
authors.lastname: Anter
authors.affiliation: Harvard School of Engineering and Applied Sciences, Cambridge, MA USA.
authors.forename: Robert D
authors.initials: RD
authors.lastname: Howe
keywords: instrument tracking; intra-cardiac imaging; procedure guidance; volume rendering