TY - JOUR
T1 - In vivo demonstration of photoacoustic image guidance and robotic visual servoing for cardiac catheter-based interventions
AU - Graham, Michelle
AU - Assis, Fabrizio
AU - Allman, Derek
AU - Wiacek, Alycen
AU - Gonzalez, Eduardo
AU - Gubbi, Mardava
AU - Dong, Jinxin
AU - Hou, Huayu
AU - Beck, Sarah
AU - Chrispin, Jonathan
AU - Bell, Muyinatu A.Lediju
N1 - Funding Information:
This work was funded by the National Science Foundation (NSF) CAREER Award under Grant ECCS 1751522
Publisher Copyright:
© 1982-2012 IEEE.
PY - 2020/4
Y1 - 2020/4
N2 - Cardiac interventional procedures are often performed under fluoroscopic guidance, exposing both the patient and operators to ionizing radiation. To reduce this risk of radiation exposure, we are exploring the use of photoacoustic imaging paired with robotic visual servoing for cardiac catheter visualization and surgical guidance. A cardiac catheterization procedure was performed on two in vivo swine after inserting an optical fiber into the cardiac catheter to produce photoacoustic signals from the tip of the fiber-catheter pair. A combination of photoacoustic imaging and robotic visual servoing was employed to visualize and maintain constant sight of the catheter tip in order to guide the catheter through the femoral or jugular vein, toward the heart. Fluoroscopy provided initial ground truth estimates for 1D validation of the catheter tip positions, and these estimates were refined using a 3D electromagnetic-based cardiac mapping system as the ground truth. The 1D and 3D root mean square errors ranged 0.25-2.28 mm and 1.24-1.54 mm, respectively. The catheter tip was additionally visualized at three locations within the heart: (1) inside the right atrium, (2) in contact with the right ventricular outflow tract, and (3) inside the right ventricle. Lasered regions of cardiac tissue were resected for histopathological analysis, which revealed no laser-related tissue damage, despite the use of 2.98 mJ per pulse at the fiber tip (379.2 mJ/cm2 fluence). In addition, there was a 19 dB difference in photoacoustic signal contrast when visualizing the catheter tip pre- and post-endocardial tissue contact, which is promising for contact confirmation during cardiac interventional procedures (e.g., cardiac radiofrequency ablation). These results are additionally promising for the use of photoacoustic imaging to guide cardiac interventions by providing depth information and enhanced visualization of catheter tip locations within blood vessels and within the beating heart.
AB - Cardiac interventional procedures are often performed under fluoroscopic guidance, exposing both the patient and operators to ionizing radiation. To reduce this risk of radiation exposure, we are exploring the use of photoacoustic imaging paired with robotic visual servoing for cardiac catheter visualization and surgical guidance. A cardiac catheterization procedure was performed on two in vivo swine after inserting an optical fiber into the cardiac catheter to produce photoacoustic signals from the tip of the fiber-catheter pair. A combination of photoacoustic imaging and robotic visual servoing was employed to visualize and maintain constant sight of the catheter tip in order to guide the catheter through the femoral or jugular vein, toward the heart. Fluoroscopy provided initial ground truth estimates for 1D validation of the catheter tip positions, and these estimates were refined using a 3D electromagnetic-based cardiac mapping system as the ground truth. The 1D and 3D root mean square errors ranged 0.25-2.28 mm and 1.24-1.54 mm, respectively. The catheter tip was additionally visualized at three locations within the heart: (1) inside the right atrium, (2) in contact with the right ventricular outflow tract, and (3) inside the right ventricle. Lasered regions of cardiac tissue were resected for histopathological analysis, which revealed no laser-related tissue damage, despite the use of 2.98 mJ per pulse at the fiber tip (379.2 mJ/cm2 fluence). In addition, there was a 19 dB difference in photoacoustic signal contrast when visualizing the catheter tip pre- and post-endocardial tissue contact, which is promising for contact confirmation during cardiac interventional procedures (e.g., cardiac radiofrequency ablation). These results are additionally promising for the use of photoacoustic imaging to guide cardiac interventions by providing depth information and enhanced visualization of catheter tip locations within blood vessels and within the beating heart.
KW - Autonomous systems
KW - Biomedical optical imaging
KW - Cardiology
KW - Catheterization
KW - Medical robotics
KW - Photoacoustic imaging
UR - http://www.scopus.com/inward/record.url?scp=85082984976&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85082984976&partnerID=8YFLogxK
U2 - 10.1109/TMI.2019.2939568
DO - 10.1109/TMI.2019.2939568
M3 - Article
C2 - 31502964
AN - SCOPUS:85082984976
SN - 0278-0062
VL - 39
SP - 1015
EP - 1029
JO - IEEE transactions on medical imaging
JF - IEEE transactions on medical imaging
IS - 4
M1 - 8825818
ER -