Photoacoustic image guidance and robotic visual servoing to mitigate fluoroscopy during cardiac catheter interventions

Michelle T. Graham, Fabrizio Assis, Derek Allman, Alycen Wiacek, Eduardo Gonzalez, Mardava R. Gubbi, Jinxin Dong, Huayu Hou, Sarah Beck, Jonathan Chrispin, Muyinatu A. Lediju Bell

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Many cardiac interventional procedures (e.g., radiofrequency ablation) require fluoroscopy to navigate catheters in veins toward the heart. However, this image guidance method lacks depth information and increases the risks of radiation exposure for both patients and operators. To overcome these challenges, we developed a robotic visual servoing system that maintains visualization of segmented photoacoustic signals from a cardiac catheter tip. This system was tested in two in vivo cardiac catheterization procedures with ground truth position information provided by fluoroscopy and electromagnetic tracking. The 1D root mean square localization errors within the vein ranged 1.63 - 2.28 mm for the first experiment and 0.25 - 1.18 mm for the second experiment. The 3D root mean square localization error for the second experiment ranged 1.24 - 1.54 mm. The mean contrast of photoacoustic signals from the catheter tip ranged 29.8 - 48.8 dB when the catheter tip was visualized in the heart. Results indicate that robotic-photoacoustic imaging has promising potential as an alternative to fluoroscopic guidance. This alternative is advantageous because it provides depth information for cardiac interventions and enables enhanced visualization of the catheter tips within the beating heart.

Original languageEnglish (US)
Title of host publicationAdvanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVIII
EditorsAnita Mahadevan-Jansen
PublisherSPIE
ISBN (Electronic)9781510632219
DOIs
StatePublished - 2019
EventAdvanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVIII 2020 - San Francisco, United States
Duration: Feb 2 2020Feb 4 2020

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
Volume11229
ISSN (Print)1605-7422

Conference

ConferenceAdvanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVIII 2020
CountryUnited States
CitySan Francisco
Period2/2/202/4/20

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Atomic and Molecular Physics, and Optics
  • Radiology Nuclear Medicine and imaging

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