Dr. Mahdi Azizian Profile

Dr. Mahdi Azizian

at Intuitive Surgical Inc

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Proceedings Article | 2 March 2011 Paper

Data fusion for catheter tracking using Kalman filtering: applications in robot-assisted catheter insertion

Mahdi Azizian, Rajni Patel

Proceedings Volume 7964, 796413 (2011) https://doi.org/10.1117/12.878148

KEYWORDS: Data fusion, Magnetic tracking, Sensors, X-rays, Filtering (signal processing), Detection and tracking algorithms, X-ray imaging, Magnetic sensors, Algorithm development, Cameras

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X-ray image guided angioplasty is a minimally invasive procedure that involves the insertion of a catheter into a blood vessel to remove blockages to blood flow. There are several issues associated with conventional angioplasty which cause risks for the patient (damage to blood vessels, dislodging plaques, etc.) and difficulties for the clinician (X-ray exposure, fatigue, etc.). Autonomous or semi-autonomous robot-assisted catheter insertion is a solution that can reduce these problems substantially. To perform autonomous catheter insertion, closed-loop position control of the distal tip of the catheter is required during insertion. Therefore accurate real-time position feedback is needed for this purpose. We have developed a real-time image processing algorithm for catheter tip position tracking which has an acceptable performance but is sensitive to X-ray image artifacts caused by bones and dense tissues. A magnetic tracking system (MTS) is another modality that has also been used for catheter tip position tracking, but it is sensitive to external electromagnetic interferences and ferromagnetic material. Combining the measurement data provided by both imaging and magnetic sensors can compensate for the deficiencies of each and can also improve the robustness of catheter tip position tracking. We have developed a Kalman filter based sensor fusion scheme to overcome deficiencies of both of these methods and create a reliable real-time tracking of a catheter tip. Experiments have been performed by inserting a guide catheter into a model of the vasculature. The method has been tested in presence of occlusion in the images and also electromagnetic interference.

Proceedings Article | 2 March 2011 Paper

Intraoperative 3D stereo visualization for image-guided cardiac ablation

Mahdi Azizian, Rajni Patel

Proceedings Volume 7964, 79640F (2011) https://doi.org/10.1117/12.878061

KEYWORDS: Ultrasonography, 3D image processing, Heart, Visualization, 3D visualizations, Human-machine interfaces, 3D acquisition, Haptic technology, Image processing, 3D modeling

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There are commercial products which provide 3D rendered volumes, reconstructed from electro-anatomical mapping and/or pre-operative CT/MR images of a patient's heart with tools for highlighting target locations for cardiac ablation applications. However, it is not possible to update the three-dimensional (3D) volume intraoperatively to provide the interventional cardiologist with more up-to-date feedback at each instant of time. In this paper, we describe the system we have developed for real-time three-dimensional stereo visualization for cardiac ablation. A 4D ultrasound probe is used to acquire and update a 3D image volume. A magnetic tracking device is used to track the distal part of the ablation catheter in real time and a master-slave robot-assisted system is developed for actuation of a steerable catheter. Three-dimensional ultrasound image volumes go through some processing to make the heart tissue and the catheter more visible. The rendered volume is shown in a virtual environment. The catheter can also be added as a virtual tool to this environment to achieve a higher update rate on the catheter's position. The ultrasound probe is also equipped with an EM tracker which is used for online registration of the ultrasound images and the catheter tracking data. The whole augmented reality scene can be shown stereoscopically to enhance depth perception for the user. We have used transthoracic echocardiography (TTE) instead of the conventional transoesophageal (TEE) or intracardiac (ICE) echocardiogram. A beating heart model has been used to perform the experiments. This method can be used both for diagnostic and therapeutic applications as well as training interventional cardiologists.

Proceedings Article | 25 February 2010 Paper

Image processing techniques in computer-assisted patch clamping

Mahdi Azizian, Rajni Patel, Cezar Gavrilovici, Michael Poulter

Proceedings Volume 7568, 75681E (2010) https://doi.org/10.1117/12.840773

KEYWORDS: Detection and tracking algorithms, Atrial fibrillation, Image processing, Objectives, Calibration, Algorithm development, Microscopes, Binary data, Image segmentation, Visualization

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Patch clamping is used in electrophysiology to study single or multiple ion channels in cells. Multiple micropipettes are used as electrodes to collect data from several cells. Placement of these electrodes is a time consuming and complicated task due to the lack of depth perception, limited view through the microscope lens and the possibility of collisions between micro-pipettes. To aid in this process, a computer-assisted approach is developed using image processing techniques applied to images obtained through the microscope. Image processing algorithms are applied to perform autofocusing, relative depth estimation, distance estimation and tracking of the micro-pipettes in the images without making any major changes in the existing patch clamp equipment. An autofocusing algorithm with a micrometer precision is developed and the relative depth estimation is performed based on autofocusing. A micro-pipette tip detection algorithm is developed which can be used to initialize or reset the tracking algorithm and to calibrate the system by registering the relative image and micro-manipulator coordinates. An image-based tracking algorithm is also developed to track a micro-pipette tip in real time. The real-time tracking data is then used for visual servoing the micro-pipette tips and updating the calibration information.

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