Paul M. Loschak

Learn More
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)
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)
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)
In this paper, we present the design, fabrication, and testing of a robot for automatically positioning ultrasound (US) imaging catheters. Our system will point US catheters to provide real-time imaging of anatomical structures and working instruments during minimally invasive procedures. Manually navigating US catheters is difficult and requires extensive(More)
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 an US(More)
corresponding tip and imaging plane motions Robotic Steering of Cardiac Ultrasound Imaging Catheters L.J. Brattain, P.M. Loschak, C.M. Tschabrunn, E. Anter, R.D. Howe Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA MIT Lincoln Laboratory, Lexington, MA, USA Harvard-Thorndike Electrophysiology Institute, Beth Israel Deaconess Medical(More)
1 Background Minimally invasive surgical (MIS) techniques, including laparoscopy, are widely known to provide many benefits for patients [1]. More recently, teleoperated surgical devices have provided clinicians the ability to perform MIS procedures with the advantages of 3D vision and more dexterous instruments, which may provide additional benefits to the(More)