Towards catheter tracking and data-based catheter steering
Bingbin Yu, Abraham Temesgen Tibebu, Jan Hendrik Metzen, Emmanuel Vander Poorten
In 5th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), (CRAS), 10.9.-12.9.2015, Brüssel, KU Leuven, pages 155-157, Sep/2015.
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 CT image data.