Division of Imaging Sciences, King's College, London SE1 7EH, UK.
Phys Med Biol. 2010 Jul 7;55(13):N371-82. doi: 10.1088/0031-9155/55/13/N01. Epub 2010 Jun 9.
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.
我们提出了一项关于超声心动图（echo）和 X 射线图像融合引导心脏导管插入术的可行性研究。我们开发了一种带有触觉反馈的自跟踪、远程操作的机械臂，可以连接到标准的 X 射线台上。该机械臂用于在 X 射线透视和超声心动图采集的同时安全地操作三维（3D）经胸超声心动图探头。通过对超声心动图和 X 射线系统进行校准和跟踪的组合，可以将 3D 超声心动图图像与 2D X 射线图像进行配准。通过将从分割的超声心动图数据中提取的三角网格表面叠加到 X 射线图像上，或者通过将体积渲染的 3D 超声心动图数据叠加到 X 射线图像上，可以实现组合数据的可视化。此外，为了克服超声探头的有限视野，通过对多个跟踪的超声数据进行配准，生成更大的用于手术引导的路径图，从而可以创建扩展视野（EFOV）3D 超声心动图图像。该配准方法使用十字线幻影进行了验证，显示 2D 目标配准误差为 3.5 毫米。该方法的临床可行性在两名接受心脏起搏研究的患者的两次临床病例中得到了验证。使用两名健康志愿者演示了 EFOV 技术。
