Name
Abstract | ||
|---|---|---|
We present a sensorless method for localizing a, robotic catheter inside the left atrium using intracardiac echo (ICE) ultrasound. As the robotic catheter navigates inside the anatomy, its kinematics provide a rough estimate of change in pose. At the same time, an ICE catheter inserted through the robotic catheter's lumen acquires images to refine this estimate. Our algorithm is based on the Unscented Particle Filter (UPF) for stochastic state estimation. We iteratively determine the catheter's pose by comparing newly acquired ICE images to segmented Computed Tomography (CT) images of the left atrium. After considering less than fifteen second's worth of ICE data, the algorithm converges to an accurate pose estimate despite significant deviations from the kinematic model, and unmodeled movements in the anatomy. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1007/978-3-642-00196-3_30 | Springer Tracts in Advanced Robotics |
Keywords | Field | DocType |
ultrasound,pose estimation,computed tomography | Intracardiac injection,Computer vision,Catheter,Kinematics,Image based,Left atrium,Lumen (unit),Artificial intelligence,Engineering,Ultrasound | Conference |
Volume | ISSN | Citations |
54 | 1610-7438 | 0 |
PageRank | References | Authors |
0.34 | 10 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Aditya B. Koolwal | 1 | 2 | 1.10 |
| Federico Barbagli | 2 | 561 | 48.21 |
| Christopher R. Carlson | 3 | 64 | 5.43 |
| David Liang | 4 | 22 | 3.16 |
| Fritz B. Prinz | 5 | 25 | 5.19 |