Ma Yingliang, Penney Graeme P, Bos Dennis, Frissen Peter, de Fockert George, King Andy, Gao Gang, Yao Cheng, Totman John, Ginks Matthew, Rinaldi C, Razavi Reza, Rhode Kawal S
Division of Imaging Sciences, King's College London, SE1 7EH, UK.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:5829-32. doi: 10.1109/IEMBS.2009.5334392.
We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo images. Both these features can be used for roadmapping to guide cardiac catheterization procedures. We have carried out a validation experiment of our registration method using a cross-wire phantom. Results show our method to be accurate to 3.5 mm. We have successfully demonstrated the creation of the extended field of view data on 2 healthy volunteers and the registration of echo and X-ray data on 1 patient undergoing a pacing study.
我们展示了一种用于在心脏导管插入术过程中定位三维超声探头的机械臂的初步评估。通过跟踪机械臂、X射线检查床和X射线C形臂，我们能够将三维超声图像与实时二维X射线图像进行配准。此外，我们还可以使用来自机械臂的跟踪数据并结合系统校准来创建扩展视野三维超声图像。这两个功能都可用于路线图绘制，以指导心脏导管插入术。我们使用交叉导线模型对我们的配准方法进行了验证实验。结果表明我们的方法精确到3.5毫米。我们已成功在2名健康志愿者身上演示了扩展视野数据的创建，并在1名接受起搏研究的患者身上演示了超声和X射线数据的配准。
