Respiratory motion correction for image-guided cardiac interventions using 3-D echocardiography

In this paper, we investigate the use of 3-D echocardiography (echo) data for respiratory motion correction of roadmaps in image-guided cardiac interventions. This is made possible by tracking and calibrating the echo probe and registering it to the roadmap coordinate system. We compare two techniques. The first uses only echo-echo registration to predict a motion-correction transformation in roadmap coordinates. The second combines echo-echo registration with a model of the respiratory motion of the heart. Using experiments with cardiac MRI and 3-D echo data acquired from eight volunteers, we demonstrate that the second technique is more robust than the first, resulting in motion-correction transformations that were accurate to within 5mm in 60% of cases, compared to 42% for the echo-only technique, based on subjective visual assessments. Objective validation showed that the model-based technique had an accuracy of 3.3 + or - 1.1mm, compared to 4.1 + or - 2.2mm for the echo only technique. The greater errors of the echo-only technique were mostly found away from the area of echo coverage. The model-based technique was more robust away from this area, and also has significant benefits in terms of computational cost.