3D TEE Registration with X-Ray Fluoroscopy for Interventional Cardiac Applications

Jain, Ameet; Gutiérrez, Luis; Stanton, Douglas

doi:10.1007/978-3-642-01932-6_35

Cited by 20 publications

(10 citation statements)

References 11 publications

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“…Registration between XRF and TEE was first demonstrated using magnetic tracking sensors in Jain et al (2009). The main problems were that extra hardware and modifications to the TEE probe were required, and that the system was prone to inaccuracies due to electromagnetic fields generated by the XRF system.…”

Section: Previous Workmentioning

confidence: 99%

Real-time pose estimation of devices from x-ray images: Application to x-ray/echo registration for cardiac interventions

Hatt

Speidel

Raval

2016

Medical Image Analysis

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In recent years, registration between x-ray fluoroscopy (XRF) and transesophageal echocardiography (TEE) has been rapidly developed, validated, and translated to the clinic as a tool for advanced image guidance of structural heart interventions. This technology relies on accurate pose-estimation of the TEE probe via standard 2D/3D registration methods. It has been shown that latencies caused by slow registrations can result in errors during untracked frames, and a real-time (> 15 hz) tracking algorithm is needed to minimize these errors. This paper presents two novel similarity metrics designed for accurate, robust, and extremely fast pose-estimation of devices from XRF images: Direct Splat Correlation (DSC) and Patch Gradient Correlation (PGC). Both metrics were implemented in CUDA C, and validated on simulated and clinical datasets against prior methods presented in the literature. It was shown that by combining DSC and PGC in a hybrid method (HYB), target registration errors comparable to previously reported methods were achieved, but at much higher speeds and lower failure rates. In simulated datasets, the proposed HYB method achieved a median projected target registration error (pTRE) of 0.33 mm and a mean registration frame-rate of 12.1 hz, while previously published methods produced median pTREs greater than 1.5 mm and mean registration frame-rates less than 4 hz. In clinical datasets, the HYB method achieved a median pTRE of 1.1 mm and a mean registration frame-rate of 20.5 hz, while previously published methods produced median pTREs greater than 1.3 mm and mean registration frame-rates less than 12 hz. The proposed hybrid method also had much lower failure rates than previously published methods.

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Section: Previous Workmentioning

confidence: 99%

Real-time pose estimation of devices from x-ray images: Application to x-ray/echo registration for cardiac interventions

Hatt

Speidel

Raval

2016

Medical Image Analysis

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“…Novotny et al 5 have developed a technique for image-based tracking of surgical tools and mitral valve annulus within 3D cardiac US system to facilitate image guided intracardiac surgery. In an application closer to ours, Jain et al 6 evaluated the use of a magnetic tracking system (MTS) to track a 3D TEE with the goal of integrating 3D TEE with intraoperative fluoroscopy for off-pump aortic valve implantation.…”

Section: Introductionmentioning

confidence: 97%

Integration of trans-esophageal echocardiography with magnetic tracking technology for cardiac interventions

et al. 2010

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Trans-esophageal echocardiography (TEE) is a standard component of patient monitoring during most cardiac surgeries. In recent years magnetic tracking systems (MTS) have become sufficiently robust to function effectively in appropriately structured operating room environments. The ability to track a conventional multiplanar 2D TEE transducer in 3D space offers incredible potential by greatly expanding the cumulative field of view of cardiac anatomy beyond the limited field of view provided by 2D and 3D TEE technology. However, there is currently no TEE probe manufactured with MTS technology embedded in the transducer, which means sensors must be attached to the outer surface of the TEE. This leads to potential safety issues for patients, as well as potential damage to the sensor during procedures. This paper presents a standard 2D TEE probe fully integrated with MTS technology. The system is evaluated in an environment free of magnetic and electromagnetic disturbances, as well as a clinical operating room in the presence of a da Vinci robotic system. Our first integrated TEE device is currently being used in animal studies for virtual reality-enhanced ultrasound guidance of intracardiac surgeries, while the "second generation" TEE is in use in a clinical operating room as part of a project to measure perioperative heart shift and optimal port placement for robotic cardiac surgery. We demonstrate excellent system accuracy for both applications.

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“…A tracking device attached to the probe can be used to locate each volume. Use of an optical tracking device, as in [3], is not feasible for TEE because it requires a clear line of sight between the probe and the tracking system, whereas a magnetic tracking device [4,5] could potentially be integrated with the probe. Alternatively, relative volume locations can be determined using image-based registration in the overlapping regions of the volumes [6,7,8].…”

Section: Introductionmentioning

confidence: 99%

Spatial compounding of trans-esophageal echo volumes using X-ray probe tracking

Housden

Arujuna

et al. 2012

2012 9th IEEE International Symposium on Biomedical Imaging (ISBI)

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International audienceThe use of ultrasound imaging for image guidance of cardiac procedures is limited by the small field of view of the ultrasound volume. A larger view can be created by image-based registration of partially overlapping volumes, but automatic registration often fails unless the volume alignment is initialised close to the volumes' correct alignment. In this paper, we use X-ray images to track a trans-esophageal probe, which provides the required position estimates for the ultrasound volumes. The tracking is possible using multiple X-rays or just one X-ray at each probe position. We test the method in a phantom experiment and find that with at least 50% volume overlap, 98% of ultrasound volume pairs are correctly registered when tracked using three X-rays per volume, and 95% using single X-rays

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3D TEE Registration with X-Ray Fluoroscopy for Interventional Cardiac Applications

Cited by 20 publications

References 11 publications

Real-time pose estimation of devices from x-ray images: Application to x-ray/echo registration for cardiac interventions

Real-time pose estimation of devices from x-ray images: Application to x-ray/echo registration for cardiac interventions

Integration of trans-esophageal echocardiography with magnetic tracking technology for cardiac interventions

Spatial compounding of trans-esophageal echo volumes using X-ray probe tracking

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