An Image-Based Localization Algorithm for Catheter Navigation in the Left Atrium

We present a sensorless method for localizing a robotic catheter inside the left atrium using intracardiac echo (ICE) ultrasound. As the robotic catheter navigates inside the anatomy, its kinematics provide a rough estimate of change in pose. At the same time, an ICE catheter inserted through the robotic catheter’s lumen acquires images to refine this estimate.