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

Goals:

- 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.

Approach:

- 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.

Results

- 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.