Respiratory motion compensation for 3-D freehand echocardiography

Motion of the diaphragm during respiration causes a displacement of the heart relative to the position of a transthoracic ultrasound (US) probe. These respiration-induced shifts of cardiac position can lead to spatial misalignments of data when reconstructed in 3-D. We show how to compensate for this motion using a technique that extends the tracking of the probe to additionally monitor a marker placed on the patient umbilicus. The motion of the umbilicus is calibrated to that of the diaphragm using one additional scan. This calibration is used to correct the 3-D spatial positions of cardiac images acquired from multiple acoustic views. At both systole and diastole, segmentations of the endocardial border visually appear more consistent after our correction than with no correction. Long and short axis segmentations should intersect on the endocardium. After correction, their separation at the closest point is shown to be reduced.