An Ultrasound-based Localization Algorithm for Catheter Ablation Guidance in the Left Atrium

作者：Koolwal Aditya Brij^*; Barbagli Federico; Carlson Christopher; Liang David

来源：The International Journal of Robotics Research, 2010, 29(6): 643-665.

DOI：10.1177/0278364909105332

• medical robots and systems
• human-centered and lifelike robotics
• localization
• mobile and distributed robotics SLAM
• sensor fusion
• sensing and perception computer vision

We present a method for catheter localization in the left atrium based on the unscented particle filter (UPF), a Monte Carlo method employed in stochastic state estimation. Using an intracardiac echo (ICE) ultrasound catheter, we acquire ultrasound images of the atrium from multiple configurations and iteratively determine the catheter's pose with respect to anatomy. At each time step, the catheter's change in pose is determined using either a six-degree-of-freedom electromagnetic pose sensor or a robotic guide catheter whose kinematics serve as a pseudo-pose measurement. Sensor and kinematic model uncertainties are explicitly considered when computing the localization estimate. Acquired ultrasound images are compared with simulated ultrasound images based on segmented computed tomography (CT) or magnetic resonance (MR) data of the left atrium. The results of these comparisons are used to refine the localization estimate. After considering less than 30 seconds' worth of ICE data, our algorithm converges to an accurate pose estimate. Furthermore, our algorithm is robust to sensor drift and kinematic model errors, as well as gradual, unmodeled movements in the anatomy. Such problems typically complicate traditional image-based localization.

• 出版日期2010-5