NDLI: Catheter navigation based on probabilistic fusion of electromagnetic tracking and physically-based simulation

Content Provider	IEEE Xplore Digital Library
Author	Dore, A. Smoljkic, G. Poorten, E.V. Sette, M. Sloten, J.V. Guang-Zhong Yang
Copyright Year	2012
Description	Author affiliation: Hamlyn Centre, Imperial College London, UK (Dore, A.; Guang-Zhong Yang) \|\| Department of Mechanical Engineering, KU Leuven, Belgium (Smoljkic, G.; Poorten, E.V.; Sette, M.; Sloten, J.V.)
Abstract	Minimally invasive endovascular procedures including robotically assisted intervention require effective intraoperative guidance. This is mainly achieved through intraoperative imaging such as fluoroscopy. Concerns over excessive x-ray radiation and nephrotoxicity due to repeated injection of contrast agents have motivated the development of effective catheter navigation schemes based on limited imaging data. This paper presents a catheter navigation technique based on probabilistic fusion of in situ real-time electromagnetic tracking with physically-based simulation of the mechanical characteristics of the catheter. A catheter with multiple electromagnetic sensors placed along its length has been developed. The sensor data and the catheter insertion-length are used as the boundary condition for determining the shape and position of the catheter within the vasculature. A probabilistic framework based on a Kalman Filter is used to combine the information from the catheter motion algorithm and the electromagnetic tracking data. This provides continuous visualization of the catheter within the lumen without the need of continuous fluoroscopy and contrast injection. The proposed approach has been validated with detailed in vitro experiments demonstrating the potential clinical application of the technique.
Starting Page	3806
Ending Page	3811
File Size	684140
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386139
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Catheters Sensors Shape Navigation Phantoms Computational modeling Cameras
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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