Danelle C. Shah

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BACKGROUND The end point for catheter ablation of pulmonary vein (PV) foci initiating atrial fibrillation (AF) has not been determined. METHODS AND RESULTS Ninety patients underwent mapping during spontaneous or induced ectopy and/or AF initiation. Ostial PV ablation was performed by use of angiograms to precisely define targeted sites. Success defined by(More)
BACKGROUND The extent of ostial ablation necessary to electrically disconnect the pulmonary vein (PV) myocardial extensions that initiate atrial fibrillation from the left atrium has not been determined. METHODS AND RESULTS Seventy patients underwent PV mapping with a circumferential 10-electrode catheter during sinus rhythm or left atrial pacing. After(More)
BACKGROUND Typical right atrial isthmus-dependent flutters have been described in detail, but very little is known about left atrial (LA) flutters. METHODS AND RESULTS We performed conventional and 3D mapping of the LA for 22 patients with atypical flutters. Complete maps in 17 patients demonstrated macroreentrant circuits (n=15) with 1 to 3 loops(More)
BACKGROUND Radiofrequency (RF) ablation of common flutter requires the creation of a complete ablation line to produce bidirectional conduction block in the cavotricuspid isthmus. An irrigated-tip ablation catheter has been shown to be effective in patients in whom conventional ablation has failed. This randomized study compares the efficacy and safety of(More)
This paper introduces a novel planning and estimation framework for maximizing information collection in missions involving cooperative teams of multiple autonomous vehicles and human agents, such as those used for multi-target search and tracking. The main contribution of this work is the scalable unification of effective algorithms for distributed(More)
In this paper, scalable collaborative human-robot systems for information gathering applications are approached as a decentralized Bayesian sensor network problem. Human-computer augmented nodes and autonomous mobile sensor platforms are collaborating on a peer-to-peer basis by sharing information via wireless communication network. For each node, a(More)
A fully probabilistic command interface for controlling robots using multi-stroke sketch commands is presented. Drawing from prior work in handwriting recognition, sketches are modeled as a variable duration hidden Markov model, where the distributions on the states and transitions are learned from training data. A forward search algorithm on the gesture,(More)
BACKGROUND Radiofrequency catheter ablation of accessory pathways (APs) is very effective in all but a minority of patients. We examined the usefulness and safety of irrigated-tip catheters in treating patients with APs resistant to conventional catheter ablation. METHODS AND RESULTS Among 314 APs in 301 consecutive patients, conventional ablation failed(More)
A novel method for controlling a mobile robot using qualitative inputs in the context of an approximate map, such as one sketched by a human, is presented. By defining a desired trajectory with respect to observable landmarks, human operators can send semi-autonomous robots into areas for which a truth map is not available. Waypoint planning is formulated(More)