Spatial correction improves accuracy of catheter positioning during ablation of premature ventricular contractions: differences between ventricular outflow tracts and other localizations

BACKGROUND

Hybrid activation mapping is a novel tool to correct for spatial displacement of the mapping catheter due to asymmetrical contraction of myocardium during premature ventricular contractions (PVC). The aim of this study is to describe and improve our understanding of spatial displacement during PVC mapping as well as options for correction using hybrid activation mapping.

METHODS AND RESULTS

We analyzed 5798 hybrid mapping points in 40 acquired hybrid maps of 22 consecutive patients (age 63 ± 16 years, 45% female) treated for premature ventricular contractions (PVCs). Median PVC-coupling interval was 552 ms (IQR 83 ms). Spatial displacement was determined by measuring the dislocation of the catheter tip during PVC compared to the preceding sinus beat. Mean spatial displacement was 3.8 ± 1.5 mm for all maps. The displacement was 1.3 ± 0.4 mm larger for PVCs with non-outflow-tract origin compared to PVCs originating from the ventricular outflow tracts (RVOT/LVOT; p = 0.045). Demographic parameters, PVC-coupling-interval and chamber of origin had no significant influence on the extent of spatial displacement.

CONCLUSION

Ectopic activation of the ventricular myocardium during PVCs results in spatial displacement of mapping points that is significantly larger for PVCs with non-outflow-tract origin. The correction for spatial displacement may improve accuracy of radiofrequency current (RFC)-application in catheter ablation of PVCs.

Global localization of 3D point clouds in building outline maps of urban outdoor environments

This paper presents a method to localize a robot in a global coordinate frame based on a sparse 2D map containing outlines of building and road network information and no location prior information. Its input is a single 3D laser scan of the surroundings of the robot. The approach extends the generic chamfer matching template matching technique from image processing by including visibility analysis in the cost function. Thus, the observed building planes are matched to the expected view of the corresponding map section instead of to the entire map, which makes a more accurate matching possible. Since this formulation operates on generic edge maps from visual sensors, the matching formulation can be expected to generalize to other input data, e.g., from monocular or stereo cameras. The method is evaluated on two large datasets collected in different real-world urban settings and compared to a baseline method from literature and to the standard chamfer matching approach, where it shows considerable performance benefits, as well as the feasibility of global localization based on sparse building outline data.