Abstract
Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheters shape and pose. Currently, a significant perception burden is placed on interventionalists to mentally reconstruct and predict catheter motions from biplane fluoroscopy images. Efforts to track these catheters are limited to planar segmentation or bulky sensing instrumentation, which are incompatible with microcatheters used in neurointervention. In this work, a catheter is equipped with custom radiopaque markers arranged to enable simultaneous shape and pose estimation under biplane fluoroscopy. A design measure is proposed to guide the arrangement of these markers to minimize sensitivity to marker tracking uncertainty. This approach was deployed for microcatheters smaller than 2mm OD navigating phantom vasculature with shape tracking errors less than 1mm and catheter roll errors below 40 degrees. This work can enable steerable catheters to autonomously navigate under biplane imaging.
Abstract (translated)
在脑血管中安全导航可转向和机器人导管需要了解导管的形状和姿态。目前,介入医师必须从双平面荧光透视图像中精神上重构并预测导管运动,这给操作者带来了较大的感知负担。现有的跟踪这些导管的方法主要限于平面分割或笨重的传感仪器,这些方法与神经介入手术中使用的微导管不兼容。 在本项工作中,研究人员为导管配备了定制的放射不透明标记物,并将其排列以使双平面荧光透视下可以同时估算形状和姿态。提出了一种设计措施来指导这些标记的布置,从而最小化对标记跟踪不确定性的敏感性。该方法被应用于直径小于2毫米的微导管,在模拟血管中进行导航时,形状跟踪误差小于1毫米,并且导管滚转角误差低于40度。 这项工作可以使可转向导管在双平面成像下自主导航成为可能。
URL
https://arxiv.org/abs/2506.09934