We developed an intra-cardiac MRI (ICMRI) catheter to monitor heating during MRI-guided electro-physiological ablative procedures. ICMRI includes an imaging coil that expands within the cardiac chambers and a tetrahedral-shaped array of MR-tracking coils, intended to compensate for cardiac motion during the imaging process. In this study, we used real swine cardiac MR-tracking data, which may contain varying levels of positional uncertainty (noise), to develop algorithms that filter this noise, and thus do not distort the motional (translational/rotational) estimates, required for delivering non-blurred high-resolution intra-cardiac images. Our results show that submillimiter-error motion reconstruction is feasible under realistic levels of noise.
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