G-ICP SLAM: An odometry-free 3D mapping system with robust 6DoF pose estimation

Author(s):  
Ryo Kuramachi ◽  
Akihito Ohsato ◽  
Yoko Sasaki ◽  
Hiroshi Mizoguchi
2021 ◽  
Vol 30 (4) ◽  
pp. 626-628
Author(s):  
Katherine Romanowicz ◽  
Muhammad Athar ◽  
Alexandru Costea

Circulation ◽  
2015 ◽  
Vol 132 (suppl_3) ◽  
Author(s):  
Yalçin Gökoglan ◽  
Mahmut F Günes ◽  
Luigi Di Biase ◽  
Carola Gianni ◽  
Sanghamitra Mohanty ◽  
...  

Introduction: Bipolar voltage mapping detects areas of scar and guides ablation of VT. The role of endocardial unipolar voltage mapping is not well defined. We examined the endo-epicardial substrate in a mixed cohort of patients with structural heard disease (SHD) to determine whether an endocardial unipolar low voltage area predicts the presence and location of an epicardial scar. Results: Data from 24 consecutive patients with SHD (11 ICM, 6 NICM, 3 HCM, 2 ARVC, 1 myocarditis, 1 Brugada) with a detailed (mean points per map 200) combined endocardial-epicardial substrate mapping were retrospectively reviewed. Maps were obtained using a 3D mapping system (CARTO 3) and normal thresholds used were ≤1.5 mV for bipolar voltage, and ≤5.5 (RV) or ≤8.3 mV (LV) for unipolar voltage. Mapping was performed in the LV in 17 patients, in the RV in 6 patients, in both in 1 patient. An endocardial unipolar low voltage area was found in 21/25 maps. In 12/21 maps there was no corresponding epicardial scar, while in 3/4 cases an epicardial scar was detected despite a negative unipolar map (PPV=43%, NPV=25%, P=NS; Fig. 1). In the 9 cases with both positive endocardial unipolar and epicardial bipolar maps, the epicardial scar was found in the corresponding ventricular region of the endocardial low-voltage area, although unipolar area had a tendency to overestimate the area of the scar (115 vs 95 cm 2 ). Conclusion: In this series of patients with SHD, analysis of unipolar voltage maps could not reliably predict the epicardial arrhythmogenic substrate. There is a modest correlation between areas of endocardial unipolar low voltage and epicardial scars (57% of patients with an abnormal unipolar map had a normal epicardial substrate). Moreover, an epicardial substrate cannot be safely excluded based on a normal unipolar endocardial map. Fig. 1 Abnormal bipolar epicardial map (left) with corresponding normal unipolar endocardial map (right) in a patient with ARVC. Pink dots represent area of defragmentation.


Author(s):  
Navan Tanjeem Hossain ◽  
Rahat Mahmood Khan ◽  
Saifur Rahman ◽  
Md. Ziaur Rahman Khan

Author(s):  
Christian Blockhaus ◽  
Jan Schmidt ◽  
Muhammed Kurt ◽  
Lukas Clasen ◽  
Patrick Müller ◽  
...  

EP Europace ◽  
2017 ◽  
Vol 19 (7) ◽  
pp. 1198-1203 ◽  
Author(s):  
Fabrizio Drago ◽  
Gino Grifoni ◽  
Romolo Remoli ◽  
Mario Salvatore Russo ◽  
Daniela Righi ◽  
...  

EP Europace ◽  
2020 ◽  
Vol 22 (4) ◽  
pp. 607-612 ◽  
Author(s):  
Tom De Potter ◽  
Konstantinos Iliodromitis ◽  
Tal Bar-On ◽  
Etel Silva Garcia ◽  
Joris Ector

Abstract Aims Using a modified CARTO 3D mapping system, we studied if premature ventricular contractions (PVCs) cause position shifts within the 3D co-ordinate system. We quantified magnitude of the phenomenon and corrected for it, by creating both an activation map that represents the conventional local activation time (LAT) and one corrected for this position shift (hybrid LAT map). Methods and results We prospectively enrolled patients planned for PVC ablation. Distances between the earliest LAT, the earliest hybrid-LAT, and the best pacemap positions were calculated in a 3D model. Ablation was performed at the best hybrid-LAT location. Efficacy was evaluated by acute response to ablation as well as clinical outcome on 24-h Holter at 1 year. One hundred and twenty-seven LAT-hybrid pairs were studied in 18 patients (age 48.3 ± 18.0 years, 12 female). Baseline PVC burden was 16 ± 12%. The mean position shift between LAT-hybrid and its associated LAT position was 8.9 ± 5.5 mm. The mean position shift between best LAT-hybrid and best pacemap was 6.2 ± 5.0 mm and the mean shift between best conventional LAT and best pacemap was 13.5 ± 7.0 mm (P < 0.0001 for all pairwise comparisons). Exclusive targeting of best LAT-hybrid position resulted in acute abolition of PVC activity in all patients. After 1-year follow-up, mean PVC burden reduction was 16% (baseline) to <1%. Conclusion Premature ventricular contractions cause a position shift in 3D mapping systems compared with the same endocardial position in sinus rhythm. An approach to account for this phenomenon, correct it and target exclusively the adjusted 3D position is feasible and highly efficient in terms of acute and 1-year clinical outcome after radiofrequency ablation.


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