{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T07:56:49Z","timestamp":1768636609180,"version":"3.49.0"},"reference-count":34,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2020,2,19]],"date-time":"2020-02-19T00:00:00Z","timestamp":1582070400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100000968","name":"American Heart Association","doi-asserted-by":"publisher","award":["15PRE22710043"],"award-info":[{"award-number":["15PRE22710043"]}],"id":[{"id":"10.13039\/100000968","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000050","name":"National Heart, Lung, and Blood Institute","doi-asserted-by":"publisher","award":["1R21EB018938"],"award-info":[{"award-number":["1R21EB018938"]}],"id":[{"id":"10.13039\/100000050","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2020,4]]},"abstract":"<jats:p> A robotic system for automatically navigating ultrasound (US) imaging catheters can provide real-time intra-cardiac imaging for diagnosis and treatment while reducing the need for clinicians to perform manual catheter steering. Clinical deployment of such a system requires accurate navigation despite the presence of disturbances including cyclical physiological motions (e.g., respiration). In this work, we report results from in vivo trials of automatic target tracking using our system, which is the first to navigate cardiac catheters with respiratory motion compensation. The effects of respiratory disturbances on the US catheter are modeled and then applied to four-degree-of-freedom steering kinematics with predictive filtering. This enables the system to accurately steer the US catheter and aim the US imager at a target despite respiratory motion disturbance. In vivo animal respiratory motion compensation results demonstrate automatic US catheter steering to image a target ablation catheter with 1.05 mm and 1.33\u00b0 mean absolute error. Robotic US catheter steering with motion compensation can improve cardiac catheterization techniques while reducing clinician effort and X-ray exposure. <\/jats:p>","DOI":"10.1177\/0278364920903785","type":"journal-article","created":{"date-parts":[[2020,2,19]],"date-time":"2020-02-19T10:19:01Z","timestamp":1582107541000},"page":"586-597","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":24,"title":["Automatically steering cardiac catheters in vivo with respiratory motion compensation"],"prefix":"10.1177","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2202-417X","authenticated-orcid":false,"given":"Paul M","family":"Loschak","sequence":"first","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"}]},{"given":"Alperen","family":"Degirmenci","sequence":"additional","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"}]},{"given":"Cory M","family":"Tschabrunn","sequence":"additional","affiliation":[{"name":"Harvard-Thorndike Electrophysiology Institute, Beth Israel Deaconess Medical Center, Boston, MA, USA"}]},{"given":"Elad","family":"Anter","sequence":"additional","affiliation":[{"name":"Harvard-Thorndike Electrophysiology Institute, Beth Israel Deaconess Medical Center, Boston, MA, USA"}]},{"given":"Robert D","family":"Howe","sequence":"additional","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"},{"name":"Harvard\u2013MIT Division of Health Sciences & Technology, Cambridge, MA, USA"}]}],"member":"179","published-online":{"date-parts":[[2020,2,19]]},"reference":[{"key":"bibr1-0278364920903785","unstructured":"Biosense Webster, Inc. (2018) CARTO System. 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