Person: Brattain, Laura
Loading...
Email Address
AA Acceptance Date
Birth Date
Research Projects
Organizational Units
Job Title
Last Name
Brattain
First Name
Laura
Name
Brattain, Laura
6 results
Search Results
Now showing 1 - 6 of 6
Publication Real-Time 4D Ultrasound Mosaicing and Visualization(Springer Science + Business Media, 2011) Brattain, Laura; Howe, RobertIntra-cardiac 3D ultrasound imaging has enabled new minimally invasive procedures. Its narrow field of view, however, limits its efficacy in guiding beating heart procedures where geometrically complex and spatially extended moving anatomic structures are often involved. In this paper, we present a system that performs electrocardiograph gated 4D mosaicing and visualization of 3DUS volumes. Real-time operation is enabled by GPU implementation. The method is validated on phantom and porcine heart data.Publication Algorithms for Automated Pointing of Cardiac Imaging Catheters(Springer Science + Business Media, 2014) Loschak, Paul; Brattain, Laura; Howe, RobertThis paper presents a modified controller and expanded algorithms for automatically positioning cardiac ultrasound imaging catheters within the heart to improve treatment of cardiac arrhythmias such as atrial fibrillation. Presented here are a new method for controlling the position and orientation of a catheter, smoother and more accurate automated catheter motion, and initial results of image processing into clinically useful displays. Ultrasound imaging (intracardiac echo, or ICE) catheters are steered by four actuated degrees of freedom (DOF) to produce bi-directional bending in combination with handle rotation and translation. Closed form solutions for forward and inverse kinematics enable position control of the catheter tip. Additional kinematic calculations enable 1-DOF angular control of the imaging plane. The combination of positioning with imager rotation enables a wide range of visualization capabilities, such as recording a sequence of ultrasound images and reconstructing them into 3D or 4D volumes for diagnosis and treatment. The algorithms were validated with a robotic test bed and the resulting images were reconstructed into 3D volumes. This capability may improve the efficiency and effectiveness of intracardiac catheter interventions by allowing visualization of soft tissues or working instruments. The methods described here are applicable to any long thin tendon-driven tool (with single or bi-directional bending) requiring accurate tip position and orientation control.Publication Automated pointing of cardiac imaging catheters(2013) Loschak, Paul; Brattain, Laura; Howe, RobertIntracardiac echocardiography (ICE) catheters enable high-quality ultrasound imaging within the heart, but their use in guiding procedures is limited due to the difficulty of manually pointing them at structures of interest. This paper presents the design and testing of a catheter steering model for robotic control of commercial ICE catheters. The four actuated degrees of freedom (4-DOF) are two catheter handle knobs to produce bi-directional bending in combination with rotation and translation of the handle. An extra degree of freedom in the system allows the imaging plane (dependent on orientation) to be directed at an object of interest. A closed form solution for forward and inverse kinematics enables control of the catheter tip position and the imaging plane orientation. The proposed algorithms were validated with a robotic test bed using electromagnetic sensor tracking of the catheter tip. The ability to automatically acquire imaging targets in the heart may improve the efficiency and effectiveness of intracardiac catheter interventions by allowing visualization of soft tissue structures that are not visible using standard fluoroscopic guidance. Although the system has been developed and tested for manipulating ICE catheters, the methods described here are applicable to any long thin tendon-driven tool (with single or bi-directional bending) requiring accurate tip position and orientation control.Publication Instrument Tracking and Visualization for Ultrasound Catheter Guided Procedures(Springer Science + Business Media, 2014) Brattain, Laura; Loschak, Paul; Tschabrunn, Cory; Anter, Elad; Howe, RobertWe present an instrument tracking and visualization system for intra-cardiac ultrasound catheter guided procedures, enabled through the robotic control of ultrasound catheters. Our system allows for rapid acquisition of 2D ultrasound images and accurate reconstruction and visualization of a 3D volume. The reconstructed volume addresses the limited field of view, an inherent problem of ultrasound imaging, and serves as a navigation map for procedure guidance. Our robotic system can track a moving instrument by continuously adjusting the imaging plane and visualizing the instrument tip. The overall instrument tracking accuracy is 2.2mm RMS in position and 0.8◦ in anglePublication Enhanced Ultrasound Visualization for Procedure Guidance(2014-06-06) Brattain, Laura; Howe, Robert D.; Pfister, Hanspeter; Zickler, ToddIntra-cardiac procedures often involve fast-moving anatomic structures with large spatial extent and high geometrical complexity. Real-time visualization of the moving structures and instrument-tissue contact is crucial to the success of these procedures. Real-time 3D ultrasound is a promising modality for procedure guidance as it offers improved spatial orientation information relative to 2D ultrasound. Imaging rates at 30 fps enable good visualization of instrument-tissue interactions, far faster than the volumetric imaging alternatives (MR/CT). Unlike fluoroscopy, 3D ultrasound also allows better contrast of soft tissues, and avoids the use of ionizing radiation.Publication Algorithms for Automatically Pointing Ultrasound Imaging Catheters(Institute of Electrical and Electronics Engineers (IEEE), 2017-02) Loschak, Paul; Brattain, Laura; Howe, RobertA system for automatically pointing ultrasound (US) imaging catheters will enable clinicians to monitor anatomical structures and track instruments during interventional procedures. Off-the-shelf US catheters provide high quality US images from within the patient. While this method of imaging has been proven to be effective for guiding many interventional treatments, significant training is required to overcome the difficulty in manually steering the imager to point at desired structures. Our system uses closed-form four degree of freedom (DOF) kinematic solutions to automatically position the US catheter and point the imager. Algorithms for steering and imager pointing were developed for a range of useful diagnostic and interventional motions. The system was validated on a robotic test bed by steering the catheter within a water environment containing phantom objects. While the system described here was designed for pointing ultrasound catheters, these algorithms are applicable to accurate 4-DOF steering and orientation control of any long thin tendon-driven tool with single or bi-directional bending.