TY - GEN
T1 - Photoacoustic image guidance and robotic visual servoing to mitigate fluoroscopy during cardiac catheter interventions
AU - Graham, Michelle T.
AU - Assis, Fabrizio
AU - Allman, Derek
AU - Wiacek, Alycen
AU - Gonzalez, Eduardo
AU - Gubbi, Mardava R.
AU - Dong, Jinxin
AU - Hou, Huayu
AU - Beck, Sarah
AU - Chrispin, Jonathan
AU - Lediju Bell, Muyinatu A.
N1 - Funding Information:
This work was funded by NSF CAREER Award ECCS 1751522 (awarded to M.A.L.B.) and in part by NSF Graduate Research Fellowship DGE174689 (awarded to M.T.G.). The authors thank Sarah Fink, Theron Palmer, Rene Lopez, Brooke Stephanian, Jessica Hsu and Joanna Guo for their assistance during experiments. We also acknowledge support from the Carnegie Center for Surgical Innovation. In addition, we acknowledge the support of NVIDIA Corporation with the donation of the Titan Xp GPU used for this research.
Publisher Copyright:
© 2019 SPIE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2019
Y1 - 2019
N2 - Many cardiac interventional procedures (e.g., radiofrequency ablation) require fluoroscopy to navigate catheters in veins toward the heart. However, this image guidance method lacks depth information and increases the risks of radiation exposure for both patients and operators. To overcome these challenges, we developed a robotic visual servoing system that maintains visualization of segmented photoacoustic signals from a cardiac catheter tip. This system was tested in two in vivo cardiac catheterization procedures with ground truth position information provided by fluoroscopy and electromagnetic tracking. The 1D root mean square localization errors within the vein ranged 1.63 - 2.28 mm for the first experiment and 0.25 - 1.18 mm for the second experiment. The 3D root mean square localization error for the second experiment ranged 1.24 - 1.54 mm. The mean contrast of photoacoustic signals from the catheter tip ranged 29.8 - 48.8 dB when the catheter tip was visualized in the heart. Results indicate that robotic-photoacoustic imaging has promising potential as an alternative to fluoroscopic guidance. This alternative is advantageous because it provides depth information for cardiac interventions and enables enhanced visualization of the catheter tips within the beating heart.
AB - Many cardiac interventional procedures (e.g., radiofrequency ablation) require fluoroscopy to navigate catheters in veins toward the heart. However, this image guidance method lacks depth information and increases the risks of radiation exposure for both patients and operators. To overcome these challenges, we developed a robotic visual servoing system that maintains visualization of segmented photoacoustic signals from a cardiac catheter tip. This system was tested in two in vivo cardiac catheterization procedures with ground truth position information provided by fluoroscopy and electromagnetic tracking. The 1D root mean square localization errors within the vein ranged 1.63 - 2.28 mm for the first experiment and 0.25 - 1.18 mm for the second experiment. The 3D root mean square localization error for the second experiment ranged 1.24 - 1.54 mm. The mean contrast of photoacoustic signals from the catheter tip ranged 29.8 - 48.8 dB when the catheter tip was visualized in the heart. Results indicate that robotic-photoacoustic imaging has promising potential as an alternative to fluoroscopic guidance. This alternative is advantageous because it provides depth information for cardiac interventions and enables enhanced visualization of the catheter tips within the beating heart.
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U2 - 10.1117/12.2546910
DO - 10.1117/12.2546910
M3 - Conference contribution
AN - SCOPUS:85083431078
T3 - Progress in Biomedical Optics and Imaging - Proceedings of SPIE
BT - Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVIII
A2 - Mahadevan-Jansen, Anita
PB - SPIE
T2 - Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVIII 2020
Y2 - 2 February 2020 through 4 February 2020
ER -