Evaluation of a robotic arm for echocardiography to X-ray image registration during cardiac catheterization procedures

摘要: We present an initial evaluation of a robotic arm for positioning 3D echo probe during cardiac catheterization procedures. By tracking the arm, X-ray table and C-arm, we are able to register images with live 2D images. In addition, can also use data from combined system calibrations create extended field view Both these features be used roadmapping guide have carried out validation experiment our registration method using cross-wire phantom. Results show accurate 3.5 mm. successfully demonstrated creation on 2 healthy volunteers 1 patient undergoing pacing study.