2008 IGT Project Week Optimal Transseptal Puncture Location for RF ablation
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Team: Jayender Jagadeesan, Raul San Jose, Noby Hata, Greg Michaud
- Develop an algorithm to determine the optimal transseptal puncture location for maximum maneuverability of the catheter inside the left atrium.
- Register the optimal location of the transseptal puncture computed on the preoperative CT/MR image to the intracardiac echo image for helping clinicians guide the needle in real time.
- Develop a dynamic model for the catheter using differential geometry of curves and continuum mechanics.
- Define the Jacobian operator for the catheter which relates the end-effector velocity to the "joint" velocities.
- Based on the isotropic index defined for robots, we determine the optimal location of the transseptal puncture.
- Develop algorithms to register the septal wall in the preoperative MR/CT image to intraoperative ultrasound image.
- Developed a model for the catheter based on differential geometry of curves.
- Position vector, Rotation matrix as well as the Jacobian at every point on the curve has been developed and implemented in MATLAB.
- The Global Isotropy Index (GII) based optimization has been designed and implemented. However, there are a few computational issues that need to be resolved with the algorithm.
- A workflow has been designed to enable the clinician to guide the needle to the optimal location of transseptal puncture.
- Various algorithms for registering the preoperative CT/MR image to the intracardiac echo have been discussed. It has been decided, as a first step, to use the Iterative Closest Points (ICP) algorithm to register the septal wall in the two imaging modalities.