Real-time robust simultaneous catheter and environment modeling for endovascular navigation

Liang Zhao, Stamatia Giannarou, Su Lin Lee, Guang Zhong Yang

Research output: Chapter in Book/Report/Conference proceedingChapter (peer-reviewed)peer-review

Abstract

Due to the complexity in catheter control and navigation, endovascular procedures are characterized by significant challenges. Real-time recovery of the 3D structure of the vasculature intraoperatively is necessary to visualize the interaction between the catheter and its surrounding environment to facilitate catheter manipulations. Nonionizing imaging techniques such as intravascular ultrasound (IVUS) are increasingly used in vessel reconstruction approaches. To enable accurate recovery of vessel structures, this chapter presents a robust and real-time simultaneous catheter and environment modeling method for endovascular navigation based on IVUS imaging, electromagnetic (EM) sensing as well as the vessel structure information obtained from the preoperative CT/MR imaging. By considering the uncertainty in both the IVUS contour and the EM pose in the proposed nonlinear optimization problem, the proposed algorithm can provide accurate vessel reconstruction, at the same time deal with sensing errors and abrupt catheter motions. Experimental results using two different phantoms, with different catheter motions demonstrated the accuracy of the vessel reconstruction and the potential clinical value of the proposed vessel reconstruction method.
Original languageEnglish
Title of host publicationIntravascular Ultrasound
Subtitle of host publicationFrom Acquisition to Advanced Quantitative Analysis
PublisherElsevier
Chapter11
Pages185-197
Number of pages13
ISBN (Electronic)9780128188330
DOIs
Publication statusPublished - 19 Jun 2020

Keywords / Materials (for Non-textual outputs)

  • 3D vessel reconstruction
  • electromagnetic tracking
  • endovascular navigation
  • intravascular ultrasound
  • optimization

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