Path planning for robot-enhanced cardiac radiofrequency catheter ablation
File(s)
Accepted version
Author(s)
Zhou, X
Ernst, S
Lee, S
Type
Conference Paper
Abstract
Radiofrequency Catheter Ablation (RFCA) is a
procedure used to treat cardiac arrhythmias by burning at
regions of the endocardial walls to prevent the abnormal
electrical circuits causing the problem. Patients with Adult
Congenital Heart Disease (ACHD) who have undergone surgical
treatments suffer scarring within the heart that can lead to ab-
normal cardiac rhythms. However, poor intraoperative cardiac
geometry recovery and incomplete Electrophysiological (EP)
mapping due to limited available procedure time and complex
anatomy have resulted in difficulty to detect the regions to
ablate and hence relatively high recurrence rates. In this paper,
we present a catheter path planning algorithm to optimise
cardiac EP mapping. Firstly, the optimal mapping positions are
determined by curvature and distance weighted Quadric Error
Metric Simplification (QEMS) to maximally recover the cardiac
chamber geometry and EP mapping. Secondly, an efficient path
is designed that moves along a predetermined axis for a robotic
catheter to pass through and collect EP data at these positions.
Validation is performed on retrospectively collected CARTO
data from ACHD patients.
procedure used to treat cardiac arrhythmias by burning at
regions of the endocardial walls to prevent the abnormal
electrical circuits causing the problem. Patients with Adult
Congenital Heart Disease (ACHD) who have undergone surgical
treatments suffer scarring within the heart that can lead to ab-
normal cardiac rhythms. However, poor intraoperative cardiac
geometry recovery and incomplete Electrophysiological (EP)
mapping due to limited available procedure time and complex
anatomy have resulted in difficulty to detect the regions to
ablate and hence relatively high recurrence rates. In this paper,
we present a catheter path planning algorithm to optimise
cardiac EP mapping. Firstly, the optimal mapping positions are
determined by curvature and distance weighted Quadric Error
Metric Simplification (QEMS) to maximally recover the cardiac
chamber geometry and EP mapping. Secondly, an efficient path
is designed that moves along a predetermined axis for a robotic
catheter to pass through and collect EP data at these positions.
Validation is performed on retrospectively collected CARTO
data from ACHD patients.
Date Issued
2016-06-09
Date Acceptance
2016-01-14
Citation
2016
Publisher
IEEE
Copyright Statement
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
https://ieeexplore.ieee.org/document/7487610
Source
IEEE International Conference on Robotics and Automation
Subjects
Science & Technology
Technology
Automation & Control Systems
Robotics
CONGENITAL HEART-DISEASE
SURFACES
Publication Status
Published
Start Date
2016-05-16
Finish Date
2016-05-21
Coverage Spatial
Stockholm, Sweden
Date Publish Online
2016-06-09