Registration of angiographic image on real-time fluoroscopic image for image-guided percutaneous coronary intervention

Purpose

In percutaneous coronary intervention (PCI), cardiologists must study two different X-ray image sources: a fluoroscopic image and an angiogram. Manipulating a guidewire while alternately monitoring the two separate images on separate screens requires a deep understanding of the anatomy of coronary vessels and substantial training. We propose 2D/2D spatiotemporal image registration of the two images in a single image in order to provide cardiologists with enhanced visual guidance in PCI.

Methods

The proposed 2D/2D spatiotemporal registration method uses a cross-correlation of two ECG series in each image to temporally synchronize two separate images and register an angiographic image onto the fluoroscopic image. A guidewire centerline is then extracted from the fluoroscopic image in real time, and the alignment of the centerline with vessel outlines of the chosen angiographic image is optimized using the iterative closest point algorithm for spatial registration.

Results

A proof-of-concept evaluation with a phantom coronary vessel model with engineering students showed an error reduction rate greater than 74% on wrong insertion to nontarget branches compared to the non-registration method and more than 47% reduction in the task completion time in performing guidewire manipulation for very difficult tasks. Evaluation with a small number of experienced doctors shows a potentially significant reduction in both task completion time and error rate for difficult tasks. The total registration time with real procedure X-ray (angiographic and fluoroscopic) images takes \(\sim \) 60 ms, which is within the fluoroscopic image acquisition rate of 15 Hz.

Conclusions

By providing cardiologists with better visual guidance in PCI, the proposed spatiotemporal image registration method is shown to be useful in advancing the guidewire to the coronary vessel branches, especially those difficult to insert into.

     

Respiratory motion compensation by model-based catheter tracking during EP procedures

In many cases, radio-frequency catheter ablation of the pulmonary veins attached to the left atrium still involves fluoroscopic image guidance. Two-dimensional X-ray navigation may also take advantage of overlay images derived from static pre-operative 3D volumetric data to add anatomical details otherwise not visible under X-ray. Unfortunately, respiratory motion may impair the utility of static overlay images for catheter navigation. We developed a novel approach for image-based 3D motion estimation and compensation as a solution to this problem. It is based on 3D catheter tracking which, in turn, relies on 2D/3D registration. To this end, a bi-plane C-arm system is used to take X-ray images of a special circumferential mapping catheter from two directions. In the first step of the method, a 3D model of the device is reconstructed. Three-dimensional respiratory motion at the site of ablation is then estimated by tracking the reconstructed catheter model in 3D based on bi-plane fluoroscopy. Phantom data and clinical data were used to assess model-based catheter tracking. Our phantom experiments yielded an average 2D tracking error of 1.4 mm and an average 3D tracking error of 1.1 mm. Our evaluation of clinical data sets comprised 469 bi-plane fluoroscopy frames (938 monoplane fluoroscopy frames). We observed an average 2D tracking error of 1.0 ± 0.4 mm and an average 3D tracking error of 0.8 ± 0.5 mm. These results demonstrate that model-based motion-compensation based on 2D/3D registration is both feasible and accurate.     

Respiratory liver motion tracking during transcatheter procedures using guidewire detection

Transcatheter chemoembolization of liver tumors is performed under X-ray fluoroscopic image guidance. This is a difficult procedure because the vessels of the liver are constantly moving due to respiration and they are not visible in the X-ray image unless a contrast medium is injected. In order to help the interventional radiologist during the treatment, we propose to superimpose on to the fluoroscopic image a pre-acquired contrast-enhanced 2D or 3D image while accounting for liver motion. Our approach proposes to track the guidewire from frame to frame. Our proposed method can be split into two steps. First the guidewire is automatically detected; then the motion between two frames is estimated using a robust ICP (iterative closest point) algorithm. We have tested our method on simulated X-ray fluoroscopic images of a moving guidewire and applied it on 4 clinical sequences. Simulation demonstrated that the mean precision of our method is inferior to 1 mm. On clinical data, preliminary results demonstrated that this method allows for respiratory motion compensation of liver vessels with a mean accuracy inferior to 3 mm.     

Automatic online layer separation for vessel enhancement in X-ray angiograms for percutaneous coronary interventions

Percutaneous coronary intervention is a minimally invasive procedure that is usually performed under image guidance using X-ray angiograms in which coronary arteries are opacified with contrast agent. In X-ray images, 3D objects are projected on a 2D plane, generating semi-transparent layers that overlap each other. The overlapping of structures makes robust automatic information processing of the X-ray images, such as vessel extraction which is highly relevant to support smart image guidance, challenging. In this paper, we propose an automatic online layer separation approach that robustly separates interventional X-ray angiograms into three layers: a breathing layer, a quasi-static layer and a vessel layer that contains information of coronary arteries and medical instruments. The method uses morphological closing and an online robust PCA algorithm to separate the three layers. The proposed layer separation method ran fast and was demonstrated to significantly improve the vessel visibility in clinical X-ray images and showed better performance than other related online or prospective approaches. The potential of the proposed approach was demonstrated by enhancing contrast of vessels in X-ray images with low vessel contrast, which would facilitate the use of reduced amount of contrast agent to prevent contrast-induced side effects.     

Development of 3D IVOCT Imaging and Co-Registration of IVOCT and Angiography in the Catheterization Laboratory

Intravascular optical coherence tomography (IVOCT) has become the imaging modality of choice for the evaluation of coronary artery disease and percutaneous coronary intervention (PCI). Both for clinical practice and research, there is a growing interest in 3-dimensional (3D) visualization, as this gives a more comprehensive and intuitively easier to understand representation, compared with 2-dimensional, cross-sectional images. Integrating 3D-IVOCT with classic X-ray angiographic images offers additional advantages and the prospect of integrating IVOCT in fluoroscopic guidance during PCI. Different vendors of IVOCT technology already provide integrated 3D rendering software in their consoles, making 3D images available at the ‘push-of-a-button’. In this review, we will discuss (1) the basic principles and elaboration of 3D-IVOCT in recent years, (2) the feasibility and potential advantages of co-registration with X-ray angiography, (3) the currently available solutions for 3D imaging and their potential clinical applications, and (4) the ongoing development of applications for advanced 3D visualization.     

2D-3D shape reconstruction of the distal femur from stereo X-ray imaging using statistical shape models

Three-dimensional patient specific bone models are required in a range of medical applications, such as pre-operative surgery planning and improved guidance during surgery, modeling and simulation, and in vivo bone motion tracking. Shape reconstruction from a small number of X-ray images is desired as it lowers both the acquisition costs and the radiation dose compared to CT. We propose a method for pose estimation and shape reconstruction of 3D bone surfaces from two (or more) calibrated X-ray images using a statistical shape model (SSM). User interaction is limited to manual initialization of the mean shape. The proposed method combines a 3D distance based objective function with automatic edge selection on a Canny edge map. Landmark-edge correspondences are weighted based on the orientation difference of the projected silhouette and the corresponding image edge. The method was evaluated by rigid pose estimation of ground truth shapes as well as 3D shape estimation using a SSM of the whole femur, from stereo cadaver X-rays, in vivo biplane fluoroscopy image-pairs, and an in vivo biplane fluoroscopic sequence. Ground truth shapes for all experiments were available in the form of CT segmentations. Rigid registration of the ground truth shape to the biplane fluoroscopy achieved sub-millimeter accuracy (0.68 mm) measured as root mean squared (RMS) point-to-surface (P2S) distance. The non-rigid reconstruction from the biplane fluoroscopy using the SSM also showed promising results (1.68 mm RMS P2S). A feasibility study on one fluoroscopic time series illustrates the potential of the method for motion and shape estimation from fluoroscopic sequences with minimal user interaction.     

Projection-based motion compensation and reconstruction of coronary segments and cardiac implantable devices using rotational X-ray angiography

Cardiologists use two-dimensional projection images in conventional X-ray coronary angiography for the assessment of three-dimensional structures. During minimally invasive interventions there is a need to clearly visualize and analyze contrast filled coronary arteries, surrounding tissue, and implanted devices. Three-dimensional reconstruction of these structures is challenging due to the cardiac and respiratory motion. In this paper we describe a method to automatically generate motion compensated reconstructions of various structures using rotational X-ray angiography.The method uses markers on a device or guide wire to identify and estimate the motion of an object or region of interest in order to register and motion compensate the projection images to generate a motion compensated reconstruction. The method is evaluated on 20 rotational acquisitions and the average marker couple detection rate is 84% for cardiac stents, 90% for closure devices and 20% for contrast filled coronaries. The projection images are motion compensated based on the semi-automatically detected markers and subsequently used for reconstruction. We conclude that it is feasible to reconstruct cardiac stents, closure devices, contrast filled coronaries, and calcified plaques using rotational X-ray angiography.     

Automatic 3D reconstruction of electrophysiology catheters from two-view monoplane C-arm image sequences

Purpose

Catheter guidance is a vital task for the success of electrophysiology interventions. It is usually provided through fluoroscopic images that are taken intra-operatively. The cardiologists, who are typically equipped with C-arm systems, scan the patient from multiple views rotating the fluoroscope around one of its axes. The resulting sequences allow the cardiologists to build a mental model of the 3D position of the catheters and interest points from the multiple views.

Method

We describe and compare different 3D catheter reconstruction strategies and ultimately propose a novel and robust method for the automatic reconstruction of 3D catheters in non-synchronized fluoroscopic sequences. This approach does not purely rely on triangulation but incorporates prior knowledge about the catheters. In conjunction with an automatic detection method, we demonstrate the performance of our method compared to ground truth annotations.

Results

In our experiments that include 20 biplane datasets, we achieve an average reprojection error of 0.43 mm and an average reconstruction error of 0.67 mm compared to gold standard annotation.

Conclusions

In clinical practice, catheters suffer from complex motion due to the combined effect of heartbeat and respiratory motion. As a result, any 3D reconstruction algorithm via triangulation is imprecise. We have proposed a new method that is fully automatic and highly accurate to reconstruct catheters in three dimensions.

     

The technique of inserting a Swan-Ganz catheter. Selecting the equipment; positioning the catheter properly

Before hemodynamic monitoring, carefully select and test the appropriate equipment and calibrate all monitors. To insert the catheter, use strict aseptic technique and, whenever possible, fluoroscopic guidance. The internal jugular vein is generally preferred for cannulation, but cutdown of an antecubital vein may be better for patients receiving anticoagulants or thrombolytics. The balloon remains deflated until the catheter tip is in the right atrium. Characteristic pressure wave forms signal the catheter's passage through each heart chamber. In most patients, advancement from the right atrium to wedge position is completed within 20 to 30 seconds.     

Registration of 3D trans-esophageal echocardiography to X-ray fluoroscopy using image-based probe tracking

Two-dimensional (2D) X-ray imaging is the dominant imaging modality for cardiac interventions. However, the use of X-ray fluoroscopy alone is inadequate for the guidance of procedures that require soft-tissue information, for example, the treatment of structural heart disease. The recent availability of three-dimensional (3D) trans-esophageal echocardiography (TEE) provides cardiologists with real-time 3D imaging of cardiac anatomy. Increasingly X-ray imaging is now supported by using intra-procedure 3D TEE imaging. We hypothesize that the real-time co-registration and visualization of 3D TEE and X-ray fluoroscopy data will provide a powerful guidance tool for cardiologists. In this paper, we propose a novel, robust and efficient method for performing this registration. The major advantage of our method is that it does not rely on any additional tracking hardware and therefore can be deployed straightforwardly into any interventional laboratory. Our method consists of an image-based TEE probe localization algorithm and a calibration procedure. While the calibration needs to be done only once, the GPU-accelerated registration takes approximately from 2 to 15 s to complete depending on the number of X-ray images used in the registration and the image resolution. The accuracy of our method was assessed using a realistic heart phantom. The target registration error (TRE) for the heart phantom was less than 2 mm. In addition, we assess the accuracy and the clinical feasibility of our method using five patient datasets, two of which were acquired from cardiac electrophysiology procedures and three from trans-catheter aortic valve implantation procedures. The registration results showed our technique had mean registration errors of 1.5-4.2 mm and 95% capture range of 8.7-11.4 mm in terms of TRE.     

Use of three-dimensional catheter guidance and trans-esophageal echocardiography to eliminate fluoroscopy in catheter ablation of left-sided accessory pathways

Background: Newer technologies such as three-dimensional mapping and echocardiography can decrease x-ray exposure during catheter ablation. Many right-sided tachycardias can now be ablated without fluoroscopy. Left-sided tachycardias, however, have not yet been ablated using a zero fluoroscopy approach.
Objective: This study sought to examine the utility of trans-esophageal echocardiography (TEE) in providing adequate imaging as an alternative to fluoroscopy for transseptal puncture. When combined with NavX guidance (St. Jude Medical, St. Paul, MN, USA), fluoroscopy may not be necessary.
Methods: Ten pediatric patients with supraventricular tachycardia (SVT) had accessory pathways mapped to the left side. Right atrial and coronary sinus geometries were created using NavX. Once a left-sided pathway was confirmed, a transseptal puncture was performed. A guide wire was placed in the SVC and confirmed by TEE. A transseptal sheath and dilator were advanced over the wire and positioned with TEE guidance so that the tip of the dilator was tenting the fossa ovalis. A transseptal needle was advanced across the fossa. Left atrial location of the needle tip was confirmed on TEE by saline contrast injection. The sheath and dilator were advanced over the needle with continuous pressure monitoring and TEE. Once the sheath was appropriately positioned, the ablation was completed using NavX guidance.
Results: All patients had acutely successful ablations and none required the use of fluoroscopy. Number of cryo lesions ranged from five to 19, with a mean of 9. Mean procedure time was 4.4 hours, with a range of 3.2 hours to 7.2 hours. There were no complications. One patient had recurrence.
Conclusions: Three-dimensional mapping combined with TEE shows potential for eliminating fluoroscopy use during catheter ablation.     

A fast slam approach to freehand 3-d ultrasound reconstruction for catheter ablation guidance in the left atrium

We present a method for real-time, freehand 3D ultrasound (3D-US) reconstruction of moving anatomy, with specific application towards guiding the catheter ablation procedure in the left atrium. Using an intracardiac echo (ICE) catheter with a pose (position/orientation) sensor mounted to its tip, we continually mosaic 2D-ICE images of a left atrium phantom model to form a 3D-US volume. Our mosaicing strategy employs a probabilistic framework based on simultaneous localization and mapping (SLAM), a technique commonly used in mobile robotics for creating maps of unexplored environments. The measured ICE catheter tip pose provides an initial estimate for compounding 2D-ICE image data into the 3D-US volume. However, we simultaneously consider the overlap-consistency shared between 2D-ICE images and the 3D-US volume, computing a “corrected” tip pose if need be to ensure spatially-consistent reconstruction. This allows us to compensate for anatomic movement and sensor drift that would otherwise cause motion artifacts in the 3D-US volume. Our approach incorporates 2D-ICE data immediately after acquisition, allowing us to continuously update the registration parameters linking sensor coordinates to 3D-US coordinates. This, in turn, enables real-time localization and display of sensorized therapeutic catheters within the 3D-US volume for facilitating procedural guidance.     

The effects of facilitated primary PCI by guide wire on procedural and clinical outcomes in acute ST-segment elevation myocardial infarction

BACKGROUND: Reperfusion of the infarct related artery (IRA) prior to PCI is prognostically important in patients with acute ST segment elevation myocardial infarction (STEMI). Reperfusion is either achieved spontaneously, facilitated by GP IIb/ IIIa inhibitors, or mechanically by crossing the guide wire beyond the lesion. In order to test the hypothesis that a visible coronary anatomy is independently associated with procedural and clinical outcomes, we evaluated the frequency and prognostic impact of guide wire facilitated reperfusion of the IRA before primary PCI. METHODS AND RESULTS: We enrolled 311 consecutive patients with successful primary PCI for STEMI (TIMI grade > or =2 flow) within 12 h after onset of symptoms. Among these, 90 patients (28.9%) had a spontaneously reperfused IRA on initial angiogram, 56 patients (18.0%) achieved reperfusion after crossing of the guide wire, and 165 patients (53.1%) successful reperfusion only after PCI. Variables associated with successful guide wire facilitated reperfusion were younger age, no history of arterial hypertension, active smoking status, negative cardiac troponin T on admission, and an infarct in the territory of the right coronary artery. Patients with spontaneous reperfusion or reperfusion after crossing of the guide wire required less fluoroscopic time and less contrast material during angiography and had higher procedural success rates (TIMI grade 3 flow 91.1 vs 79.4%, p=0.048) than patients without initial reperfusion. In addition, patients with reperfusion after crossing the lesion with the guide wire had lower mortality rates at 30 days (3.6 vs 9.1%) and after a median of 16 months (3.6 vs 13.9%, p=0.03) than those with reperfusion after PCI. CONCLUSIONS: Reperfusion of an occluded IRA by crossing the guide wire is associated with higher procedural success rates and better outcomes. Better roadmapping and device selection represent potential reasons but the exact mechanism for these benefits is still illusive.     

Epicardial ultrasound guidance of coronary catheter placement in an experimental animal model.

We evaluated epicardial ultrasonography with a 10-MHz transducer for coronary catheter guidance in 18 normal pigs. A modified long-axis view of the aortic root was used to direct a coronary catheter into the root, and then with a short-axis view of the aortic root, the catheter tip was placed selectively into either the right or the left main coronary artery. Subsequently, with modified coronary views, an angioplasty infusion catheter was guided with precision to the exact location desired in the coronary artery. Position was confirmed by direct visualization and palpation of the epicardial vessels, and the procedure was completed within 5 to 15 minutes without complication. Epicardial ultrasonography is a suitable alternative to fluoroscopy for guidance of coronary catheter placement in an open-chest experimental model.     

心肌超声造影对冠状动脉介入治疗术后心肌血流再灌注的临床研究

目的 探讨心肌超声造影(MEC)对冠状动脉介入治疗(PCI)术后心肌血流再灌注定量分析的价值.方法 对15例冠心病患者分别于PCI术前及PCI术后在对比脉冲序列成像条件下行心肌超声造影检查.采用自动追踪增强定量分析软件进行分析.得出造影剂强度(A)、斜率(β)、A×β、造影剂到达时间(AT)及达峰时间(TTP).结果 所有患者均获得清晰的左心室显影.正常灌注区均获得较满意的心肌显影,而缺血区心肌显影不良.异常灌注区域AT、TTP均较正常灌注区域延长,而A×β则显著减小(P＜0.05);单支冠脉狭窄＞70%息者PCI术后的A、β及A×β较术前明显改善(P＜0.05),而冠脉狭窄＜70%患者的A、β及A×β无明显变化(P＞0.05).结论 PCI可以有效改善病变心肌节段的微循环,心肌超声造影能够准确、快速、有效地评价PCI术后心肌再灌注情况.     

Observation-driven adaptive differential evolution and its application to accurate and smooth bronchoscope three-dimensional motion tracking

This paper proposes an observation-driven adaptive differential evolution algorithm that fuses bronchoscopic video sequences, electromagnetic sensor measurements, and computed tomography images for accurate and smooth bronchoscope three-dimensional motion tracking. Currently an electromagnetic tracker with a position sensor fixed at the bronchoscope tip is commonly used to estimate bronchoscope movements. The large tracking error from directly using sensor measurements, which may be deteriorated heavily by patient respiratory motion and the magnetic field distortion of the tracker, limits clinical applications. How to effectively use sensor measurements for precise and stable bronchoscope electromagnetic tracking remains challenging. We here exploit an observation-driven adaptive differential evolution framework to address such a challenge and boost the tracking accuracy and smoothness. In our framework, two advantageous points are distinguished from other adaptive differential evolution methods: (1) the current observation including sensor measurements and bronchoscopic video images is used in the mutation equation and the fitness computation, respectively and (2) the mutation factor and the crossover rate are determined adaptively on the basis of the current image observation. The experimental results demonstrate that our framework provides much more accurate and smooth bronchoscope tracking than the state-of-the-art methods. Our approach reduces the tracking error from 3.96 to 2.89 mm, improves the tracking smoothness from 4.08 to 1.62 mm, and increases the visual quality from 0.707 to 0.741.     

Cell population tracking and lineage construction with spatiotemporal context

Automated visual-tracking of cell populations in vitro using time-lapse phase contrast microscopy enables quantitative, systematic, and high-throughput measurements of cell behaviors. These measurements include the spatiotemporal quantification of cell migration, mitosis, apoptosis, and the reconstruction of cell lineages. The combination of low signal-to-noise ratio of phase contrast microscopy images, high and varying densities of the cell cultures, topological complexities of cell shapes, and wide range of cell behaviors poses many challenges to existing tracking techniques. This paper presents a fully automated multi-target tracking system that can efficiently cope with these challenges while simultaneously tracking and analyzing thousands of cells observed using time-lapse phase contrast microscopy. The system combines bottom-up and top-down image analysis by integrating multiple collaborative modules, which exploit a fast geometric active contour tracker in conjunction with adaptive interacting multiple models (IMM) motion filtering and spatiotemporal trajectory optimization. The system, which was tested using a variety of cell populations, achieved tracking accuracy in the range of 86.9-92.5%.     

Accuracy evaluation of direct navigation with an isocentric 3D rotational X-ray system

Minimally invasive interventions are often performed under fluoroscopic guidance. Drawbacks of fluoroscopic guidance are the fact that the presented images are 2D projections and that both the patient and the clinician are exposed to radiation. Image-guided navigation using pre-interventionally acquired 3D MR or CT data is an alternative. However, this often requires invasive anatomical landmark-based, marker-based or surface-based image-to-patient registration. In this paper, a coupling between an image-guided navigation system and an intraoperative C-arm X-ray device with 3D imaging capabilities (3D rotational X-ray (3DRX) system) that enables direct navigation without invasive image-to-patient registration on 3DRX volumes, is described and evaluated. The coupling is established in a one-time preoperative calibration procedure. The individual steps in the registration procedure are explained and evaluated. The acquired navigation accuracy using this coupling is approximately one millimeter.     

Image-based cardiac gating for three-dimensional intravascular ultrasound imaging

Three-dimensional (3-D) intravascular ultrasound (US), or IVUS, provides valuable insight into the tissue characteristics of the coronary wall and plaque composition. However, artefacts due to cardiac motion and vessel wall pulsation limit the accuracy and variability of coronary lumen and plaque volume measurement in 3-D IVUS images. ECG-gated image acquisition can reduce these artefacts but it requires recording the ECG signal and may increase image acquisition time. The goal of our study was to reconstruct a 3-D IVUS image with negligible cardiac motion and vessel pulsation artefacts, by developing an image-based gating method to track 2-D IVUS images over the cardiac cycle. Our approach involved selecting 2-D IVUS images belonging to the same cardiac phase from an asynchronously-acquired series, by tracking the changing lumen contour over the cardiac cycle. The algorithm was tested with IVUS images of a custom-built coronary vessel phantom and with patient images. The artefact reduction achieved using the image-gating approach was > 86% in the in vitro images and > 80% in the in vivo images in our study. Our study shows that image-based gating of IVUS images provides a useful method for accurate reconstruction of 3-D IVUS images with reduced cardiac motion artefact.     

Pulmonary endarterectomy normalizes interventricular dyssynchrony and right ventricular systolic wall stress

Background

One of the safety concerns when performing electrophysiological (EP) procedures under magnetic resonance (MR) guidance is the risk of passive tissue heating due to the EP catheter being exposed to the radiofrequency (RF) field of the RF transmitting body coil. Ablation procedures that use catheters with irrigated tips are well established therapeutic options for the treatment of cardiac arrhythmias and when used in a modified mode might offer an additional system for suppressing passive catheter heating.

Methods

A two-step approach was chosen. Firstly, tests on passive catheter heating were performed in a 1.5 T Avanto system (Siemens Healthcare Sector, Erlangen, Germany) using a ASTM Phantom in order to determine a possible maximum temperature rise. Secondly, a phantom was designed for simulation of the interface between blood and the vascular wall. The MR-RF induced temperature rise was simulated by catheter tip heating via a standard ablation generator. Power levels from 1 to 6 W were selected. Ablation duration was 120 s with no tip irrigation during the first 60 s and irrigation at rates from 2 ml/min to 35 ml/min for the remaining 60 s (Biotronik Qiona Pump, Berlin, Germany). The temperature was measured with fluoroscopic sensors (Luxtron, Santa Barbara, CA, USA) at a distance of 0 mm, 2 mm, 4 mm, and 6 mm from the catheter tip.

Results

A maximum temperature rise of 22.4°C at the catheter tip was documented in the MR scanner. This temperature rise is equivalent to the heating effect of an ablator's power output of 6 W at a contact force of the weight of 90 g (0.883 N). The catheter tip irrigation was able to limit the temperature rise to less than 2°C for the majority of examined power levels, and for all examined power levels the residual temperature rise was less than 8°C.

Conclusion

Up to a maximum of 22.4°C, the temperature rise at the tissue surface can be entirely suppressed by using the catheter's own irrigation system. The irrigated tip system can be used to increase MR safety of EP catheters by suppressing the effects of unwanted passive catheter heating due to RF exposure from the MR scanner.