Proceedings of the 2012 SCATh Joint Workshop on New Technologies for Computer/Robot Assisted Surgery pages:1-5
SCATh Joint Workshop on New Technologies for Computer/Robot Assisted Surgery edition:2 location:Madrid date:9-10 July 2012
This paper introduces a new practical approach of robotic catheter vessel navigation. The proposed catheter control algorithm uses the information of a reconstructed model of the vasculature based on pre-operatively acquired geometric patient data and extracts the vasculature centerline out of it. Next, the centerline representation as it is expressed into the world reference coordinate frame is transformed into a series of local patient-specific vasculature reference frames. A control approach is introduced to steer the catheter’s position along this new patient-specific coordinate frames. Some experimental results of the catheter steering approach are included in this paper. Extension of the approach towards online reconstructed vasculature representations seems straightforward although verification remains for future work.