Advanced XR-Based 6-DOF Catheter Tracking System for Immersive Cardiac Intervention Training

Abstract: Extended Reality (XR) technologies are gaining traction as effective tools for medical training and procedural guidance, particularly in complex cardiac interventions. This paper presents a novel system for real-time 3D tracking and visualization of intracardiac echocardiography (ICE) catheters, with precise measurement of the roll angle. The system's data is integrated into an interactive Unity-based environment, rendered through the Meta Quest 3 XR headset, combining a dynamically tracked catheter with a patient-specific 3D heart model. This immersive environment allows the testing of the importance of 3D depth perception, in comparison to 2D projections, as a form of visualization in XR. Our experimental study, conducted using the ICE catheter with six participants, suggests that 3D visualization is not necessarily beneficial over 2D views offered by the XR system; although all cardiologists saw its utility for pre-operative training, planning, and intra-operative guidance. The proposed system qualitatively shows great promise in transforming catheter-based interventions, particularly ICE procedures, by improving visualization, interactivity, and skill development. Keywords: Percutaneous Cardiac Intervention, Extended Reality, Computer Vision, 3D visualization, ICE catheter, Roll Angle 1. INTRODUCTION Minimally invasive interventions (MII) have revolutionized the field of cardiac care, offering patients reduced recovery times, lower risks of complications, and shorter hospital stays compared to traditional open-heart surgeries. These procedures, such as percutaneous cardiac interventions, rely on the precise navigation of catheters through complex vascular structures and heart chambers[1-6].