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Path planning for robot-enhanced cardiac radiofrequency catheter ablation

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Title: Path planning for robot-enhanced cardiac radiofrequency catheter ablation
Authors: Zhou, X
Ernst, S
Lee, S
Item 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.
Issue Date: 9-Jun-2016
Date of Acceptance: 14-Jan-2016
URI: http://hdl.handle.net/10044/1/33387
DOI: 10.1109/ICRA.2016.7487610
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.
Conference Name: IEEE International Conference on Robotics and Automation
Keywords: Science & Technology
Automation & Control Systems
Publication Status: Published
Start Date: 2016-05-16
Finish Date: 2016-05-21
Conference Place: Stockholm, Sweden
Online Publication Date: 2016-06-09
Appears in Collections:Computing
National Heart and Lung Institute
Faculty of Engineering