Motion Estimation Model for Cardiac Respiratory Compensation
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Solution Overview
Problem
Current technologies for tracking catheters during atrial fibrillation ablation procedures face challenges in accurately compensating for cardiac and respiratory motion, which reduces the accuracy of overlay images and hampers precise catheter navigation due to reliance on static positional references and lack of effective motion compensation.
Innovation Solution
A system and method that utilize a motion prediction model to estimate cardiac and respiratory motion by training on tracking results from a coronary sinus catheter and a circumferential mapping catheter, allowing for accurate tracking of moving catheters within the left atrium and facilitating more precise motion compensation during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If static positional references are used for catheter tracking, then device complexity is reduced, but measurement precision deteriorates due to inability to compensate for cardiac and respiratory motion
Solution Approach 1:
The patent transitions from static positional references to dynamic motion compensation by tracking the distal tip of a reference catheter throughout the cardiac cycle. The system continuously updates the relationship between the reference catheter and anatomical landmarks, allowing the overlay images to adapt to real-time cardiac and respiratory motion rather than relying on fixed reference points.
Solution Approach 2:
The reference catheter serves as an intermediary object that indirectly measures cardiac and respiratory motion. By tracking the motion of the catheter tip and using it as a proxy for anatomical movement, the system can compensate for organ motion without requiring direct tracking of moving anatomical structures, thus maintaining measurement precision while managing system complexity.
2Measurement precision
If motion compensation techniques are implemented, then measurement precision improves, but device complexity increases due to need for multiple catheters and complex algorithms
Solution Approach 1:
The reference catheter performs multiple functions: it serves as both a navigation tool for reaching the target site and as a motion sensor for tracking cardiac and respiratory cycles. By making the catheter multi-functional, the system avoids adding separate dedicated motion tracking devices, thus improving measurement precision without proportionally increasing device complexity.
Solution Approach 2:
The system uses the catheter itself to provide motion compensation data rather than requiring external sensors or additional tracking devices. The catheter's own position and orientation changes are utilized as the source of motion information, allowing the system to compensate for organ motion using resources already present in the procedure.
3Measurement precision
If ECG gating is used to freeze cardiac motion, then measurement precision improves for static images, but productivity deteriorates due to limited temporal resolution and inability to compensate respiratory motion
Solution Approach 1:
The system replaces intermittent ECG-gated freezing with continuous motion tracking and compensation. Instead of capturing static snapshots at specific cardiac phases, the system continuously monitors catheter tip position throughout the entire cardiac and respiratory cycles, enabling real-time update of overlay images without interrupting the procedure or limiting temporal resolution.
Solution Approach 2:
The patent transitions from static ECG-gated imaging to dynamic continuous tracking. The system captures and processes catheter position data at every frame of the fluoroscopic sequence, enabling real-time motion compensation that adapts to changing cardiac and respiratory conditions rather than being constrained to predetermined gating windows.
4Measurement precision
If multiple catheters are tracked simultaneously, then measurement precision improves for motion estimation, but device complexity increases due to computational requirements
Solution Approach 1:
The system extracts motion information from a single reference catheter rather than requiring simultaneous tracking of multiple catheters. By isolating and utilizing the motion data from one well-positioned catheter tip as a proxy for overall anatomical motion, the system achieves accurate motion estimation while significantly reducing computational complexity compared to multi-catheter tracking approaches.
Data Source
AI summary
A method and system for motion estimation modeling for cardiac and respiratory motion compensation is disclosed. Specifically, a coronary sinus catheter is tracked in a plurality of frames of a fluoroscopic image sequence; and cardiac and respiratory motion of a left atrium is estimated in each of the plurality of frames based on tracking results of the coronary sinus catheter using a trained motion estimation model.