IVUS-based local estimation of vessel geometry for improved control of robotic catheters

Endovascular surgery is challenging for surgeons as the visual feedback provided by X-ray imaging and the maneuverability of conventional catheters are limited. Robotic catheters with embedded actuation and sensing units have been developed to overcome theses issues. Non-damaging sensing technologies have the potential to more safely guide the surgeon during the surgery, but also to better support control of the robotic catheters by providing additional information about the environment in which they are evolving. This work investigates the use of particle filters to locally estimate the vessel geometry by a cylinder model, using electromagnetic (EM) and intravascular ultrasound (IVUS) sensors located at the tip of a robotic catheter. Experiments in simulation showed that, while the position and radius of the cylinder are accurately estimated, the orientation of the cylinder is more challenging to infer from the sensor measurements.

Jaar van publicatie:2017

Toegankelijkheid:Closed