Live anatomical mapping of the left atrium with robot-assisted intra-cardiac echocardiograph
AssigneeSiemens Medical Solutions USA, Inc.
InventorsPaul Klein, Yue Zhang, Athira Jane Jacob, Young-Ho Kim, Gareth Funka-Lea
Life of this patent
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Abstract
Systems and methods for generating an automated overview of the left atrial anatomy for use in live anatomical mapping during a procedure. A robotic drive is used to steer a catheter under ICE image guidance without additional positioning mechanisms. The robotic drive is controlled by an AI based agent, for example that has been trained using deep reinforcement learning (DRL).
Claims20
A method for live anatomical mapping of a left atrium with robot assisted intra-cardiac echocardiography (ICE), the method comprising:
- inserting an ICE catheter into a patient, wherein catheter steering controls of the ICE catheter are controlled at least in part by a machine trained agent;
- automatically maneuvering the ICE catheter, using instructions from the machine trained agent, from a first position in a patient's anatomy to a second position in the patient's anatomy while acquiring image data of the patient's anatomy;
- and
- generating a model of the patient's anatomy from the acquired image data.
A method for training an agent to operate catheter steering controls of a ICE catheter, the method comprising:
- acquiring a plurality of pre-operative cardiac CT volumes;
- generating a simulated cardiac environment from the plurality of pre-operative cardiac CT volume;
- and
- training an agent to maneuver the ICE catheter from a first position in the simulated cardiac environment to a second position in the simulated cardiac environment using deep reinforcement learning.
A system for live anatomical mapping of a left atrium of a patient with robot assisted intra-cardiac echocardiography (ICE), the system comprising:
- a machine trained agent, the machine trained agent trained using deep reinforcement learning using a simulated volumetric environment;
- and
- an ICE catheter comprising steering controls that are controlled at least in part by the machine trained agent;
- wherein the machine trained agent controls movement of the ICE catheter from a first position to a second position while acquiring imaging data of at least the left atrium.
Dependencies are inferred from the claim text.