Title: Semi-autonomous position control of a catheter inside the vasculature
Authors: Smoljkic, Gabrijel
Vander Poorten, Emmanuel
Sette, Mauro
Vander Sloten, Jos #
Issue Date: 9-Jul-2012
Host Document: Proceedings of the 2012 SCATh Joint Workshop on New Technologies for Computer/Robot Assisted Surgery pages:1-5
Conference: SCATh Joint Workshop on New Technologies for Computer/Robot Assisted Surgery edition:2 location:Madrid date:9-10 July 2012
Abstract: 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.
Publication status: published
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
Biomechanics Section
# (joint) last author

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