Intra-cardiac Echocardiography (ICE) has been evolving as a real-time imaging modality of choice for guiding electrophiosology and structural heart interventions. ICE provides real-time imaging of anatomy, catheters, and complications such as pericardial effusion or thrombus formation . However, there now exists a high cognitive demand on physicians with the increased reliance on intraprocedural imaging. In response, we present a robotic manipulator for AcuNav ICE catheters to alleviate the physician's burden and support applied methods for more automated . Herein, we introduce two methods towards these goals: (1) a data-driven method to compensate kinematic model errors due to non-linear elasticity in catheter bending, providing more precise robotic control and (2) an automated image recovery process that allows physicians to bookmark images during intervention and automatically return with the push of a button . To validate our error compensation method, we demonstrate a complex rotation of the ultrasound imaging plane evaluated on benchtop. Automated view recovery is validated by repeated imaging of landmarks on benchtop and in vivo experiments with position- and image-based analysis.  Results support that a robotic-assist system for more autonomous ICE can provide a safe and efficient tool, potentially reducing the execution time and allowing more complex procedures to become common place .
Intra-cardiac Echocardiography (ICE) is a powerful imaging modality for guiding electrophysiology and structural heart interventions. ICE provides real-time observation of anatomy, catheters, and emergent complications . However, this increased reliance on intraprocedural imaging creates a high cognitive demand on physicians who can often serve as interventionalist and imager. We present a robotic manipulator for ICE catheters to assist physicians with imaging and serve as a platform for developing processes for procedural automation . Herein, we introduce two application modules towards these goals: (1) a view recovery process that allows physicians to save views during intervention and automatically return with the push of a button and (2) a data-driven approach to compensate kinematic model errors that result from non-linear behaviors in catheter bending, providing more precise control of the catheter tip. View recovery is validated by repeated catheter positioning in cardiac phantom and animal experiments with position- and image-based analysis. We present a simplified calibration approach for error compensation and verify with complex rotation of the catheter in benchtop and phantom experiments under varying realistic curvature conditions. Results support that a robotic manipulator for ICE can provide an efficient and reproducible tool, potentially reducing execution time and promoting greater utilization of ICE imaging .
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has been evolving as a real-time imaging modality of choice for guiding electrophiosology
is a powerful imaging modality for guiding electrophysiology
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imaging
observation
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complications such as pericardial effusion or thrombus formation
emergent complications
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there now exists
this increased reliance on intraprocedural imaging creates
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with the increased reliance on intraprocedural imaging. In response, we
who can often serve as interventionalist and imager. We
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AcuNav
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alleviate the physician's burden and support applied methods for more automated
assist physicians with imaging and serve as a platform for developing processes for procedural automation
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methods
application modules
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data-driven method to compensate kinematic model errors due to non-linear elasticity in catheter bending, providing more precise robotic control and (2) an automated image
view
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bookmark images
save views
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. To validate our error compensation method, we demonstrate a complex rotation of the ultrasound imaging plane evaluated on benchtop. Automated view
and (2) a data-driven approach to compensate kinematic model errors that result from non-linear behaviors in catheter bending, providing more precise control of the catheter tip. View
R
imaging of landmarks on benchtop and in vivo
catheter positioning in cardiac phantom and animal
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We present a simplified calibration approach for error compensation and verify with complex rotation of the catheter in benchtop and phantom experiments under varying realistic curvature conditions.
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robotic-assist system for more autonomous
robotic manipulator for
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a safe and efficient
an efficient and reproducible
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the
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allowing more complex procedures to become common place
promoting greater utilization of ICE imaging