A magnetic tracking device is used to track the distal part of the ablation catheter in real time and a master-slave robot-assisted system is developed for actuation of a steerable catheter. A 4D ultrasound probe is used to acquire and update a 3D image volume. In this paper, we describe the system we have developed for real-time three-dimensional stereo visualization for cardiac ablation. However, it is not possible to update the three-dimensional (3D) volume intraoperatively to provide the interventional cardiologist with more up-to-date feedback at each instant of time. There are commercial products which provide 3D rendered volumes, reconstructed from electro-anatomical mapping and/or pre-operative CT/MR images of a patient's heart with tools for highlighting target locations for cardiac ablation applications. Intraoperative 3D stereo visualization for image-guided cardiac ablation Intraoperative 3D stereo visualization for image-guided cardiac ablation
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