A Catheter Tracking Algorithm for Intracardiac B-ultrasound Point Cloud
QIN Weijie
Abstract：In recent years,3D point cloud modeling technology has been gradually applied in the medical field.The cardiac cavity point cloud generated by the ultrasound image has a large amount of data.Serious artifact interference make ultrasound point cloud difficult to process.Aiming at dealing with the problem of tracking and positioning the head of the ECG mapping catheter in the intracardiac cavity of the three-dimensional mapping system,a new tracking algorithm is proposed for the complex cardiac cavi-ty environment.This algorithm is implemented based on the extended Kalman particle filter.A ROI extraction mechanism is de-signed.The region of interest is calculated according to the centroid coordinates of the previous frame's tracking result.After extrac-tion ROI,the search range is narrowed,and the calculation cost is greatly reduced.Combined the Euclidean distance and the light-ness difference between the points,a new particle weight calculation formula is designed to improve the tracking accuracy.The phantom experiment results show that the algorithm,which has good practical value,can accurately track the target catheter in the B-ultrasound point cloud,and the average centroid error can be controlled between 3 mm and 5 mm.
Keywords：point cloudECGmapping catheterROIbrightness difference
Publication Date：2025-10-20
Online Publishing Date：2026-01-16(First online date of this platform, not the publication date of the document)
Pages：6( 2713-2717,2759 )