Publication

Towards catheter pose estimation and data-based catheter steering

Bingbin Yu, Abraham Temesgen Tibebu, Jan Hendrik Metzen

In: Navigation and Actuation of Flexible Instruments in Medical Application, IROS workshop, 2015. Navigation and Actuation of Flexible Instruments in Medical Application (NAFIMA, IROS workshop) October 2 Hamburg Germany IEEE 10/2015.

Abstract

Minimally invasive surgery (MIS) is an important approach for reducing injuries of the body, allowing faster recovery and healing, and is considered to be safer than open surgeries. Especially for the cardiovascular operations, catheter based diagnosis and therapy are becoming more popular these days. This paper presents an approach of tendon-driven catheter steering by using a joint probability density based catheter model. For tracking the catheter in a 3D rigid mockup, a Qualisys motion tracking system is used. The catheter steering is evaluated in simulation on a mesh generated from the real image data.

Yu_NAFIMA_WS_IROS2015.pdf (pdf, 10 MB)

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz