Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures

YingLiang Ma; Graeme P. Penney; Dennis Bos; Peter Frissen; George de Fockert; Andy King; Gang Gao; Cheng Yao; John Totman; Matthew Ginks; C. Aldo Rinaldi; Reza Razavi; Kawal S. Rhode

Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures

YingLiang Ma, Graeme P. Penney, Dennis Bos, Peter Frissen, George de Fockert, Andy King, Gang Gao, Cheng Yao, John Totman, Matthew Ginks, C. Aldo Rinaldi, Reza Razavi, Kawal S. Rhode

King's College London

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

6 Citations (Scopus)

Abstract

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 Xray 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 l patient undergoing a pacing study.

Original language	English
Title of host publication	Unknown
Place of Publication	NEW YORK
Publisher	IEEE
Pages	5829 - 5832
Number of pages	4
ISBN (Print)	978-1-4244-3295-0
Publication status	Published - 2009
Event	Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society - Minneapolis, MN Duration: 3 Sept 2009 → 6 Sept 2009

Publication series

Name	EMBC: 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20

Conference

Conference	Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society
City	Minneapolis, MN
Period	3/09/2009 → 6/09/2009

Cite this

Ma, Y., Penney, G. P., Bos, D., Frissen, P., de Fockert, G., King, A., Gao, G., Yao, C., Totman, J., Ginks, M., Rinaldi, C. A., Razavi, R., & Rhode, K. S. (2009). Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures. In Unknown (pp. 5829 - 5832). (EMBC: 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20). IEEE.

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title = "Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures",

abstract = "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 Xray 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 l patient undergoing a pacing study.",

author = "YingLiang Ma and Penney, {Graeme P.} and Dennis Bos and Peter Frissen and {de Fockert}, George and Andy King and Gang Gao and Cheng Yao and John Totman and Matthew Ginks and Rinaldi, {C. Aldo} and Reza Razavi and Rhode, {Kawal S.}",

year = "2009",

language = "English",

isbn = "978-1-4244-3295-0",

series = "EMBC: 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20",

publisher = "IEEE",

pages = "5829 -- 5832",

booktitle = "Unknown",

note = "Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society ; Conference date: 03-09-2009 Through 06-09-2009",

}

Ma, Y , Penney, GP, Bos, D, Frissen, P, de Fockert, G, King, A , Gao, G, Yao, C, Totman, J, Ginks, M, Rinaldi, CA, Razavi, R & Rhode, KS 2009, Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures. in Unknown. EMBC: 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, IEEE, NEW YORK, pp. 5829 - 5832, Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Minneapolis, MN, 3/09/2009.

Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures. / Ma, YingLiang ; Penney, Graeme P.; Bos, Dennis et al.
Unknown. NEW YORK: IEEE, 2009. p. 5829 - 5832 (EMBC: 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20).

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

TY - CHAP

T1 - Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures

AU - Ma, YingLiang

AU - Penney, Graeme P.

AU - Bos, Dennis

AU - Frissen, Peter

AU - de Fockert, George

AU - King, Andy

AU - Gao, Gang

AU - Yao, Cheng

AU - Totman, John

AU - Ginks, Matthew

AU - Rinaldi, C. Aldo

AU - Razavi, Reza

AU - Rhode, Kawal S.

PY - 2009

Y1 - 2009

N2 - 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 Xray 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 l patient undergoing a pacing study.

AB - 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 Xray 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 l patient undergoing a pacing study.

M3 - Conference paper

SN - 978-1-4244-3295-0

T3 - EMBC: 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20

SP - 5829

EP - 5832

BT - Unknown

PB - IEEE

CY - NEW YORK

T2 - Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society

Y2 - 3 September 2009 through 6 September 2009

ER -

Evaluation of a Robotic Arm for Echocardiography to X-ray Image Registration during Cardiac Catheterization Procedures

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