TY - GEN
T1 - Robotic Ultrasound for Catheter Navigation in Endovascular Procedures
AU - Langsch, Fernanda
AU - Virga, Salvatore
AU - Esteban, Javier
AU - Gobl, Rudiger
AU - Navab, Nassir
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - Endovascular procedures require real time visual feedback on the location of inserted catheters. This is currently achieved using X-ray fluoroscopy, which causes exposure to radiation. This study describes an alternative method using a robotic ultrasound system for catheter tracking and navigation in endovascular interventions, focusing on endovascular aneurysm repair. This approach relies on the registration of pre-operative images to provide both a tracking trajectory and visual feedback of the real-time catheter position. The procedure was validated on healthy volunteers and on a phantom that included a realistic vessel structure, showing an average tracking error of the moving catheter tip of 1.78±1.02 mm.
AB - Endovascular procedures require real time visual feedback on the location of inserted catheters. This is currently achieved using X-ray fluoroscopy, which causes exposure to radiation. This study describes an alternative method using a robotic ultrasound system for catheter tracking and navigation in endovascular interventions, focusing on endovascular aneurysm repair. This approach relies on the registration of pre-operative images to provide both a tracking trajectory and visual feedback of the real-time catheter position. The procedure was validated on healthy volunteers and on a phantom that included a realistic vessel structure, showing an average tracking error of the moving catheter tip of 1.78±1.02 mm.
UR - https://www.scopus.com/pages/publications/85081153721
U2 - 10.1109/IROS40897.2019.8967652
DO - 10.1109/IROS40897.2019.8967652
M3 - Conference contribution
AN - SCOPUS:85081153721
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5404
EP - 5410
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -