Paul M. Loschak

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Intracardiac echocardiography (ICE) catheters enable high-quality ultrasound imaging within the heart, but their use in guiding procedures is limited due to the difficulty of manually pointing them at structures of interest. This paper presents the design and testing of a catheter steering model for robotic control of commercial ICE catheters. The four(More)
We present an instrument tracking and visualization system for intra-cardiac ultrasound catheter guided procedures, enabled through the robotic control of ultrasound catheters. Our system allows for rapid acquisition of 2D ultrasound images and accurate reconstruction and visualization of a 3D volume. The reconstructed volume addresses the limited field of(More)
This paper presents a modified controller and expanded algorithms for automatically positioning cardiac ultrasound imaging catheters within the heart to improve treatment of cardiac arrhythmias such as atrial fibrillation. Presented here are a new method for controlling the position and orientation of a catheter, smoother and more accurate automated(More)
In this paper we present the design, fabrication, and testing of a robot for automatically positioning ultrasound imaging catheters. Our system will point ultrasound (US) catheters to provide real-time imaging of anatomical structures and working instruments during minimally invasive surgeries. Manually navigating US catheters is difficult and requires(More)
Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires extensive training. Existing work has demonstrated robotic catheter steering in constrained bench top environments. Closed-loop control in an(More)
1 Background Penetrating the skull to measure intracranial pressure important intervention for diagnosing potential problems following head trauma. Studies show that 1.7 million people suffer from head injury annually in the U.S., totaling $60 billion in costs [1]. 275,000 of those injured annually are hospitalized and 52,000 will eventually die as a injury(More)
A system for automatically pointing ultrasound (US) imaging catheters will enable clinicians to monitor anatomical structures and track instruments during interventional procedures. Off-the-shelf US catheters provide high quality US images from within the patient. While this method of imaging has been proven to be effective for guiding many interventional(More)
INTRODUCTION Imaging catheters can provide real time imaging from within the heart, but manual navigation is difficult and requires extensive training. This study focuses on the first examples of automatically pointing ultrasound (US) catheters (frequently referred to as intracardiac echocardiography, or ICE) in in vivo animal studies. US catheters feature(More)
—A robotic system for automatically steering cardiac imaging catheters enables enhanced visualization of anatomical structures and working instruments during catheter-based procedures. This system is comprised of several components for manipulating imaging catheters, sensing and control, user interface, and image collection and processing. Developments in(More)
A system for actively changing the stiffness of a long, thin, flexible robotic manipulator has been designed for cardiologists to use in a range of diagnosis and treatment procedures. Low-stiffness manipulators, such as catheters, are ideal for steering through vasculature with low risk of tissue injury. However, such instruments are not well-suited for(More)