Cardiac image integration implications for atrial fibrillation ablation

Abstract

Cardiac image registration using computed tomography (CT), magnetic resonance imaging (MRI), ultrasound, and fluoroscopy is currently being investigated and clinically used for atrial fibrillation (AF) ablation. Cardiac image registration, in the context of left atrium, is intermodal, with the acquired image and the real-time reference image residing in different image spaces, and involves optimization, where one image space is transformed into the other. Geometry-based methods, which include using fiducial points and/or surface-based techniques, are usually used for cardiac image registration. During fiducial point registration, fiducial points are either external skin markers or manually determined by marking anatomical landmarks, using mapping catheters. Usually, a minimum of three non collinear points are needed for optimal registration. Recently, a catheter placed inside the coronary sinus has also been used as a fiducial marker for the purpose of registration. During surface registration, the process involves characterizing surfaces in each of the images and deriving the best transformation between them. Unlike rigid body registration, such as has been extensively used in imaging the brain, cardiac image registration is unique and challenging. In addition to the errors inherent in intermodal registration, such as errors in pixel and voxel dimension and errors due to fiducial point selection, there are errors specific to cardiac image registration, i.e., errors due to cardiac motion during the cardiac cycle and due to respiration. This review addresses the basic principles of registration and the inherent registration errors as they relate to cardiac imaging and registration.