Pose Estimation of an Ablation Catheter
series DFKI Documents, volume 14-07, pages 2, Nov/2014. DFKI GmbH.
Surgical catheter robots are used for the cardiovascular diagnostics or treatments. For modelling a catheteraorta
interaction, joint probability densities are used, which are represented by mixture of Gaussians. During
training of the joint probability densities, different features of the catheter, e.g., the catheter tip position,
catheter shape, catheter bending angle are captured as the input data to the model. In order to extract
those features of the catheter in a 3D aorta mock up, the pose estimation is implemented. From the two HD
cameras, the pixels of the catheter distal section are detected. Then based on the position of the catheter
tip, an interactive graph cut method is used for extracting the catheter center points, which are fitted by
the B-Spline curves. According to the fitted B-splines, the 3D shape of the catheter is estimated and then
presented in a simulated aorta mesh.