A Crosscutting Three-Modes-Of-Operation Unique LiDAR-Based 3D Mapping System Generic Framework Architecture, Uncertainty Predictive Model And SfM Augmentation

An electrical superior vena cava (SVC) isolation from the right atrium (RA) sometimes can be challenging. For a safe and efficient SVC isolation, we aimed to visualize the accurate position of the SVC-RA junction on a three-dimensional (3D) mapping system using the decremental conduction properties of the SVC-RA junction in patients with atrial fibrillation (AF). This study consisted of 15 consecutive AF patients (11 males, age 59 ± 10 years). A 3D mapping catheter was positioned in the SVC-RA junction region while delivering a single extra-stimulus from the right atrial appendage (RAA), to discriminate the RA and SVC potentials. The electrophysiological SVC-RA junction was defined as the most proximal points where the SVC potentials were recorded, which were tagged on the 3D mapping system around the SVC-RA junction, where radiofrequency energy applications were applied. Around the SVC-RA junction, 9 ± 2 points were tagged on the 3D mapping system. The highest and lowest SVC-RA junction points were located on the anterior wall and posterior wall, respectively. The difference in the level between the highest and lowest SVC-RA junction points was 16.2 ± 6.3 mm. A successful SVC isolation was obtained in all patients without any complications. The plane of the electrophysiologically defined SVC-RA junction was not perpendicular to the body axis, but slanted due to the anterior side being higher. Recognizing the precise location of the SVC-RA junction would contribute to a safe and efficacious SVC isolation.

BackgroundThe atrial sites suitable for lead placement are limited after complex surgical atrial procedures, and lead placement can be challenging in patients with congenitally corrected transposition of the great arteries (ccTGA) after intracardiac repair.Case summaryA 34-year-old man with ccTGA, who had undergone a double-switch operation with combined Senning and Jatene operations at the age of 14 was transferred to us. He experienced faintness and suffered cardiopulmonary arrest, and electrocardiography revealed ventricular fibrillation. After conversion to sinus rhythm by urgent external defibrillation, sinus bradycardia was revealed. Electrophysiological study was done using a three-dimensional (3D) mapping system (Ensite®) to evaluate the electrical condition of atria and to decide whether atrial lead can be transvenously placed. The electrical potential of the functional right atrium was good in the lateral or posterior wall, but the threshold was high. By contrast, the roof of the functional right atrium beyond cavoatrial junction was characterized by low voltage, but in a limited region of the roof of right atrium, the threshold was satisfactory and the electrical potential was normal. Thus, 3 weeks later, we implanted a transvenous implantable cardioverter-defibrillator (ICD). We used a 3D mapping system to place the atrial lead in the limited region of the roof of the right atrium mentioned above, the threshold was 0.7 V.DiscussionElectrophysiological examination using a 3D mapping system before implantation of a dual-chamber ICD is useful because atrial sites suitable for lead placement are limited in patients.

The technique of catheter ablation has been improved within the past few decades, especially by three-dimensional (3D) mapping system. 3D mapping system has reduced radiation exposure but ablation procedures still require fluoroscopy. Our previous study showed the safety and efficacy of catheter ablation based on intracardiac echogram combined with CARTOSOUND/CARTO3 system, however fluoroscopy use for an average of 16 min is required for this procedure. The present study was aimed to reduce radiation exposure to zero and establish a radiation free catheter ablation method with the goal of utilizing it in routine clinical practice. We conducted single center, retrospective study during 2019 April to 2020 February. Consecutive 76 patients were enrolled. In the first 18 cases, the previously reported procedure (CARTOSOUND/CARTO3 method) was used. The remaining 58 cases were transitioned to fluoroless catheter ablation. The procedure time, success rates and complication rates were analyzed. Not only AF patients but atrial flutter (AFL), paroxysmal supraventricular tachycardia (PSVT) and ventricular arrhythmia patients were included. Catheter positioning, catheter visualization and collecting the geometry of each camber of the heart were conducted by using contact force and ICE based geometry on CARTO system without either prior computed tomography (CT) or magnetic resonance image (MRI). In fluoroless group, all catheter ablations were successfully performed without lead aprons. No complications occurred in either group. There were no significant differences in procedure time in any type of procedure (Total procedure time Fluoro-group; 149 ± 51 min vs. Fluoroless-group; 162 ± 43 min, N.S.), (PSVT 170 ± 53 min vs. 162 ± 29 min, N.S.), (AFL 110 ± 70 min vs. 123 ± 43 min, N.S.), (AF 162 ± 43 min vs. 163 ± 32 min, N.S.). The total radiation time was reduced to zero in fluoroless group. Catheter ablation with ICE and 3D mapping system guide without fluoroscopy could be safely performed with a high success rate, without any prior CT/MRI 3D images. Radiation was reduced completely for patients and staff, negating the need for protective wear for operators.

Catheter ablation procedures involve fluoroscopy and can result in significant radiation exposure to the patient and staff. From the early 1980s to 2006, there was a 600% increase in the average medical radiation dose per person per year in the USA. Toward the end of this time frame, three-dimensional (3D) mapping systems, which use magnetic or electrical fields to track catheter location and movement, became clinically available. This has allowed reduction in fluoroscopy use. The goal of this manuscript is to review the current state of zero fluoroscopy ablations. In the early 2000s, the first report of a 3D mapping system, used to replace fluoroscopy, emerged. By 2015, centers were routinely performing fluoroless ablations. Today, most centers use these systems to decrease radiation exposure. Multi-center registries now exist to quantify the changes in patient care. Increased radiation exposure is associated with increased long-term risk of cancer. Today’s 3D mapping systems allow most ablation procedures to be performed without the use of fluoroscopy. With further refinements in the available tools, coupled with increasing operator experience, radiation exposure will be eliminated for all routine ablation procedures.

Background Active esophageal cooling is increasingly being utilized during radiofrequency (RF) ablation to achieve pulmonary vein isolation (PVI) for the treatment of atrial fibrillation (AF). In addition to data showing decreases in severe esophageal injury with active esophageal cooling, placement of a commercially available cooling device can be identified on intracardiac echocardiography (ICE), allowing implementation in zero-fluoroscopy settings. In the case of procedures that do not have ICE available, an alternative method to determine proper placement of an esophageal cooling device is needed in zero-fluoroscopy settings.. Purpose To describe a large single-center approach to visualizing an active esophageal cooling device into a 3D mapping system. Methods We reviewed data on patients treated with RF ablation for PVI procedures over the time frame 1/1/2020 to 12/31/21. Active esophageal cooling was phased in towards the end of 2020. For all cases, transseptal puncture was performed with the use of transesophageal echocardiography (TEE). After successful transseptal puncture, the TEE probe was removed, and either a single-sensor LET probe or an active esophageal cooling device was placed. For the active cooling device, the distal tip was cut, and an SL-1 (0.032 inch, 150 cm length) guidewire was placed through the central lumen of the cooling device (used for gastric suctioning and enteral feeding). The guidewire was pinned via a pin block to the 3D mapping system (EnSite, Abbott). Unipolar configuration was used to generate a 3D map, which was then visualized during device placement. Placement was confirmed after visualizing the guidewire tip on the 3D map passing below the coronary sinus (Figure 1). Results A total of 417 cases were performed over the study timeframe. The mean age of patients was 65±10 years, and 40% were female. A total of 5 complications were recorded (3 pericardial effusions, 1 pseudoaneurysm, and 1 air embolism). A total of 156 patients received LET monitoring, and 261 received active esophageal cooling. The mean procedure length was 109±24 minutes for cases utilizing LET monitoring, and 93±11 minutes for cases utilizing active esophageal cooling. Visualization of the active esophageal cooling device on the cardiac mapping system was possible in all cases. Conclusions We describe here the largest series to date utilizing active esophageal cooling in a zero-fluoroscopy, zero-ICE setting. With increasing efforts to reduce fluoroscopy, this approach allows pursuit of zero-fluoroscopy even in systems without the availability of ICE, while maintaining procedural speed and safety. Funding Acknowledgement Type of funding sources: Private company. Main funding source(s): Attune Medical

A communications profile is a system that acquires information from communication links to an ambulance or other vehicle moving on a road and compiles a database based on this information. The equipment (six sets of HDTVs, fish-eye camera, satellite antenna with tracking system, and receiving power from the satellite beacon of the N-star) mounted on the roof of the vehicle, image data were obtained at Yokohama Japan. From these data, the polygon of the building was actually produced and has arranged on the map of the Geographical Survey Institute of a 50 m-mesh. The optical study (relationship between visibility rate and elevation angle) were performed on actual data taken by fish-eye lens, and simulated data by 3D-Map with polygons. There was no big difference. This 3D map system then predicts the communication links that will be available at a given location. For line-of-sight communication, optical analysis allows approximation if the frequency is sufficiently high. For non-line-of-sight communication, previously obtained electric power data can be used as reference information for approximation in certain cases when combined with predicted values calculated based on a 3D map. 3D maps are more effective than 2D maps for landing emergency medical helicopters on public roadways in the event of a disaster. Using advanced imaging technologies, we have produced a semi-automatic creation of a high-precision 3D map at Yokohama Yamashita Park and vicinity and assessed its effectiveness on telecommunications and ambulatory merits.

Clinical trials have established that atrial fibrillation (AF) catheter ablation improves symptoms in appropriately selected patients. Confirmation of these results by long-term prospective observational studies is needed. This registry was created to describe the experience of 16 Italian centers with a large cohort of AF patients treated with catheter ablation guided by the NavX 3D mapping system. From November 2006 to May 2008, 545 consecutive patients (age 60.4 ± 9.8, 67% male) with paroxysmal (44%), persistent (43%), and long-standing persistent (13%) AF referred for catheter ablation guided by the NavX system, were included in this registry. For this paper, follow-up was censored at 24months; however, patients are being followed in the ongoing registry. Before the ablation, 80% of patients failed to respond to at least one antiarrhythmic drug aimed at rhythm control. Pulmonary vein (PV) isolation guided by a circular mapping catheter was performed in 70% of patients whereas non potential-guided PV encircling was performed in 30% of patients. In 67% of patients, additional left atrial (LA) substrate modification was performed. Image integration was performed in 9.2% of patients. Considering a 3-month blanking period, after a single-ablation procedure, the patients had 1- and 2-year freedom from AF recurrence of 67.4 and 57.0% (36.1% off antiarrhythmic drugs), respectively. Cox regression analysis showed that AF recurrences during blanking (HR 2.1), and previous AF ablation (HR 3.3) were independent predictors of AF recurrences. Major procedure-related complications occurred in 53 patients (9.7%). In 35 patients (6.7%), a repeat procedure was performed at a median of 5months after the initial procedure. This prospective, multicenter clinical experience provides significant insights into current ablation care of patients with AF. Despite favorable outcomes, real-world complication rates appear higher than previously recognized.

Abstract. This paper presents a novel low cost 3D mapping system designed for fulfilling the gap between existing solutions and constantly growing end-users’ expectations. Firstly, the cost was reduced to minimum by providing an open-source, open-hardware projects. Secondly, the ergonomic, light weight, reconfigurable approach enables a wearable approach to maximize the mobility of the end user. It allows among other things the freedom to walk, crawl and climb. Those are necessities in extreme mobile mapping applications such as cave mapping, construction site survey, search and rescue missions and other unexplored yet applications such as mobile mapping with K9s (trained dogs equipped with 3D mobile mapping systems). The significance of this research is to provide cost effective mobile mapping solution for as large audience as it is possible. Thus, our software is constantly improved for covering more applications e.g. air + ground + underground mapping.

Beyond the lens: Unveiling the invisible atrioventricular node in the era of high-density mapping

Accurate positional estimation is an essential prerequisite for the regular operation of an autonomous rotary-wing unmanned aerial vehicle (UAV). However, the field of view (FOV) limitation problem of lidar makes it more challenging to locate the rotary-wing UAV in an unknown environment. To address rotor drones with an insufficient FOV and the observation blindness of lidar in complex environments, this paper designs a rotorcraft UAV system based on rotating 3D lidar and proposes a simultaneous localization and mapping algorithm for rotating 3D lidar. The algorithm distinguishes between planar and edge features based on the curvature value of the point cloud firstly. Then to reduce the impact caused by the UAV motion and lidar rotation, messages about inertial measurement unit (IMU) and real-time rotation angle are used to compensate for these motions twice while the IMU measurements are used for state prediction, and the error-sate iterative extended Kalman filter is used to update the residuals after matching line and surface features with sub-map. Finally, Smoother high-rate odometer data was obtained through IMU pre-integration and first-order low pass filter. The experimental results show that the proposed rotating lidar unit in indoor and outdoor conditions makes the rotorcraft UAV have a larger FOV, which not only improves the environmental perception capability and positional estimation accuracy of the rotorcraft, but enhances the positioning reliability and flight stability of the rotorcraft UAV in complex environments.

3D mapping is a difficult problem due to real-world places whose appearance and scale can be various. Owing to the rapid development of computer and robot system, remarkable improvements of performance are achieved in 3D map technology, which in turn contribute to the significant advances in SLAM. This paper presents the state-of-the-art 3D map technology and system, which is classified into topological maps, metric maps and semantic maps. Additionally, the advantages and disadvantages of various 3D map technologies are analyzed in different aspects, including navigation performance, localization performance, visual perception, scalability, computation cost and mapping difficulty. In order to better understand them, the key performance parameters of the 3D map technologies are compared in a table. Finally, the paper ends with a discussion on the open problems and future of 3D map technology.

To accurately assess landslide susceptibility and model debris flow paths, acquisition of high-resolution elevation data is essential. These data enable precise topographical analysis, considering factors like slope and curvature. But most of the time such high-resolution data will have inaccuracies due to vegetation, especially in tropical region. This study proposes a comprehensive approach that integrates field data and Structure from Motion (SfM) technology to rectify such DEM inaccuracies caused by dense vegetation. The goal is to enhance the accuracy of landslide simulations and volumetric analysis for effective post-disaster management. The Western Ghats, running parallel to India's western coast, has experienced a surge in rainfall-induced landslides, resulting in significant casualties in recent years. Notably, the Pettimudi village landslide in 2020 caused 70 deaths. The unique geomorphological features of the Western Ghats, such as concave curvature, colluvium deposits, and evidence of paleo landslides, contribute to the area's susceptibility. The study emphasizes the need for detailed assessment and mitigation strategies. The proposed method aims to improve the post-event high-resolution DEM accuracy by integrating field-collected elevation values and utilizing Agisoft Metashape software with the SfM algorithm. The rectification process involves combining elevation differences measured during a field study with photogrammetric elevation data. The field-collected elevation differences are crucial for rectifying these points, and enhancing the Digital Elevation Model (DEM) accuracy. The inaccessible source region is improved using a SfM-created DEM from drone footage, resulting in a more accurate post-event DEM. Correcting the 1 m DEM using an SfM-generated DEM proves challenging but significantly improves detail and accuracy, especially over the landslide source area. The impact of the rectification on accuracy is assessed by comparing volumes calculated from the initial DEM and the newly corrected DEM. The difference in volumes of debris depletion and accumulation, computed using initial and corrected DEMs, highlights variations, with depleted volumes being significantly larger due to the extensive depth increase over the landslide source region. These volumes are then utilized in Rapid Mass Movement Simulation (RAMMS) to validate the rectification process and enhance landslide impact predictions. Debris flow simulations in RAMMS, utilizing the rectified 1 m DEM, show specific outcomes at the landslide source region and toe of the landslide. The study emphasizes the importance of integrating SfM technology with field data to improve DEM accuracy, acknowledging the significance of additional field data for further refinement. The potential adoption of highly precise aerial imagery from Unmanned Aerial Vehicle (UAV) surveys is suggested to further enhance the SfM DEM. Debris flow modeling with RAMMS serves as a vital step in validating the accuracy and reliability of the rectified elevation model. Keywords: Landslides, Western Ghats, Pettimudi, Digital elevation model (DEM), Structure-from-Motion (SfM) technology, Rapid Mass Movement Simulation (RAMMS)

Modelling farmland topography for suitable site selection of dam construction using unmanned aerial vehicle (UAV) photogrammetry

PO-04-045 HOW TO VISUALIZE BIPOLAR ABLATION CATHETERS ON 3D MAPPING FOR BIPOLAR RADIOFREQUENCY CATHETER ABLATION AND MINIMIZE FLUOROSCOPY

AimsTransseptal puncture (TP) for left-sided catheter ablation procedures is routinely performed under fluoroscopic or echocardiographic guidance [transoesophageal echocardiography (TEE) or intracardiac echocardiography (ICE)], although three-dimensional (3D) mapping systems are readily available in most electrophysiology laboratories. Here, we sought to assess the feasibility and safety of a right atrial (RA) 3D map–guided TP.Methods and resultsIn 104 patients, 3D RA mapping was performed to identify the fossa ovalis (FO) using the protrusion technique. The radiofrequency transseptal needle was visualized and navigated to the desired potential FO-TP site. Thereafter, the interventionalist was unblinded to TEE and the potential FO-TP site was reassessed regarding its convenience and safety. After TP, the exact TP site was documented using a 17-segment-FO model. Reliable identification of the FO was feasible in 102 patients (98%). In these, 114 3D map–guided TP attempts were performed, of which 96 (84%) patients demonstrated a good position and 18 (16%) an adequate position after TEE unblinding. An out-of-FO or dangerous position did not occur. A successful 3D map–guided TP was performed in 110 attempts (97%). Four attempts (3%) with adequate positions were aborted in order to seek a more convenient TP site. The median time from RA mapping until the end of the TP process was 13 (12–17) min. No TP-related complications occurred. Ninety-eight TP sites (85.1%) were in the central portion or in the inner loop of the FO.ConclusionA 3D map–guided TP is feasible and safe. It may assist to decrease radiation exposure and the need for TEE/ICE during left-sided catheter ablation procedures.