Towards catheter pose estimation and data-based catheter steering
In Navigation and Actuation of Flexible Instruments in Medical Application, IROS workshop, 2015, (NAFIMA, IROS workshop), 02.10.2015, Hamburg, IEEE, Oct/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 image data.