Brattain, LauraLoschak, PaulTschabrunn, CoryAnter, EladHowe, Robert2015-09-022014Brattain, Laura J., Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, and Robert D. Howe. 2014. “Instrument Tracking and Visualization for Ultrasound Catheter Guided Procedures.” Lecture Notes in Computer Science: 41–50. doi:10.1007/978-3-319-10437-9_5.0302-9743http://nrs.harvard.edu/urn-3:HUL.InstRepos:22128564We 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 angleen-USinstrument trackingintra-cardiac imagingvolume renderingprocedure guidanceJournal Article2015-01-28Laura J. Brattain, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, Robert D. Howe2015-09-0210.1007/978-3-319-10437-9_5