Constrained 2-D/3-D Registration for Motion Compensation in AFib Ablation Procedures

Fluoroscopic overlay images rendered from pre-operative volumetric data can provide additional guidance for physicians during catheter ablation procedures for treatment of atrial fibrillation (AFib). As these overlay images are compromised by cardiac and respiratory motion, motion compensation methods have been proposed. The approaches so far either require simultaneous biplane imaging for 3-D motion compensation or, in case of mono-plane X-ray imaging, provide only a limited 2-D functionality. To overcome the downsides of the previously suggested methods, we propose a new approach that facilitates full 3-D motion compensation even if only mono-plane X-ray views are available. To this end, we use constrained model-based 2-D/3-D registration to track a circumferential mapping catheter which is commonly used during AFib catheter ablation procedures. Our approach yields an average 2-D tracking error of 0.6 mm and an average 3-D tracking error of 2.1 mm.