A FAST SLAM APPROACH TO FREEHAND 3-D ULTRASOUND RECONSTRUCTION FOR CATHETER ABLATION GUIDANCE IN THE LEFT ATRIUM

作者：Koolwal Aditya B^*; Barbagli Federico; Carlson Christopher R; Liang David H

来源：Ultrasound in Medicine and Biology, 2011, 37(12): 2037-2054.

DOI：10.1016/j.ultrasmedbio.2011.08.007

• Freehand ultrasound
• 3D reconstruction
• Catheter ablation
• Localization
• Mapping

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. (E-mail: koolwal@stanford.

• 出版日期2011-12