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dc.contributor.authorLoschak, Paul
dc.contributor.authorBrattain, Laura
dc.contributor.authorHowe, Robert D.
dc.date.accessioned2015-09-02T20:52:14Z
dc.date.issued2014
dc.identifierQuick submit: 2015-01-28T14:33:42-05:00
dc.identifier.citationLoschak, Paul M., Laura J. Brattain, and Robert D. Howe. 2014. “Algorithms for Automated Pointing of Cardiac Imaging Catheters.” Lecture Notes in Computer Science: 99–109. doi:10.1007/978-3-319-13410-9_10.en_US
dc.identifier.issn0302-9743en_US
dc.identifier.urihttp://nrs.harvard.edu/urn-3:HUL.InstRepos:22132308
dc.description.abstractThis 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.en_US
dc.description.sponsorshipEngineering and Applied Sciencesen_US
dc.language.isoen_USen_US
dc.publisherSpringer Science + Business Mediaen_US
dc.relation.isversionofdoi:10.1007/978-3-319-13410-9_10en_US
dc.relation.hasversionhttp://biorobotics.harvard.edu/pubs/2014/ref_conf/PLoschak_MICCAI2014_CARE.pdfen_US
dash.licenseOAP
dc.subjectRobot-assited proceduresen_US
dc.subjectInterventional therapyen_US
dc.subjectImage-guided proceduresen_US
dc.titleAlgorithms for Automated Pointing of Cardiac Imaging Cathetersen_US
dc.typeJournal Articleen_US
dc.date.updated2015-01-28T19:33:42Z
dc.description.versionAccepted Manuscripten_US
dc.rights.holderPaul M. Loschak, Laura J. Brattain, Robert D. Howe
dc.relation.journalComputer-Assisted and Robotic Endoscopyen_US
dash.depositing.authorLoschak, Paul
dc.date.available2015-09-02T20:52:14Z
dc.identifier.doi10.1007/978-3-319-13410-9_10*
dash.contributor.affiliatedBrattain, Laura
dash.contributor.affiliatedLoschak, Paul
dash.contributor.affiliatedHowe, Robert


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