# Towards Automatic Manipulation of Intra-cardiac Echocardiography Catheter

arXiv: https://arxiv.org/abs/2009.05859 · HTML: https://mlsanity.com/paper/2009.05859/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Sep 2020.

## Built on by (most cited first, 2 of 2)

- [AI-driven View Guidance System in Intra-cardiac Echocardiography Imaging](https://mlsanity.com/paper/2409.16898/) (2024)
- [Guidance for Intra-cardiac Echocardiography Manipulation to Maintain Continuous Therapy Device Tip Visibility](https://mlsanity.com/paper/2505.05518/) (2025)

## Abstract (arXiv)

Intra-cardiac Echocardiography (ICE) is a powerful imaging modality for guiding electrophysiology and structural heart interventions. ICE provides real-time observation of anatomy, catheters, and emergent complications. However, this increased reliance on intraprocedural imaging creates a high cognitive demand on physicians who can often serve as interventionalist and imager. We present a robotic manipulator for ICE catheters to assist physicians with imaging and serve as a platform for developing processes for procedural automation. Herein, we introduce two application modules towards these goals: (1) a view recovery process that allows physicians to save views during intervention and automatically return with the push of a button and (2) a data-driven approach to compensate kinematic model errors that result from non-linear behaviors in catheter bending, providing more precise control of the catheter tip. View recovery is validated by repeated catheter positioning in cardiac phantom and animal experiments with position- and image-based analysis. We present a simplified calibration approach for error compensation and verify with complex rotation of the catheter in benchtop and phantom experiments under varying realistic curvature conditions. Results support that a robotic manipulator for ICE can provide an efficient and reproducible tool, potentially reducing execution time and promoting greater utilization of ICE imaging.