Using a robotic arm for echocardiography to x-Ray image registration during cardiac catheterization procedures

YingLiang Ma, Graeme P. Penney, Dennis Bos, Peter Frissen, George de Fockert, Cheng Yao, Andy King, Gang Gao, Christopher Aldo Rinaldi, Reza Razavi, Kawal Rhode

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


We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo images. Both these features can be used for roadmapping to guide cardiac catheterization procedures. We have carried out a validation experiment of our registration method using a cross-wire phantom. Results show our method to be accurate to 3.5 mm. We have successfully demonstrated the creation of the extended field of view data on 2 healthy volunteers and the registration of echo and X-ray data on 2 patients undergoing a pacing study.
Original languageEnglish
Title of host publicationCI2BM09-MICCAI Workshop on Cardiovascular Interventional Imaging and Biophysical Modelling
Publication statusPublished - 2009

Cite this