SCEM+: Real-Time Robust Simultaneous Catheter and Environment Modeling for Endovascular Navigation

Zhao, L; Giannarou, S; Lee, SL; Yang, GZ

SCEM+: Real-Time Robust Simultaneous Catheter and Environment Modeling for Endovascular Navigation

Zhao, L

Giannarou, S

Lee, SL Yang, GZ

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Publication Type:: Journal Article
Citation:: IEEE Robotics and Automation Letters, 2016, 1 (2), pp. 961 - 968
Issue Date:: 2016-07-01

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Field	Value	Language
dc.contributor.author	Zhao, L https://orcid.org/0000-0003-4063-8183	en_US
dc.contributor.author	Giannarou, S https://orcid.org/0000-0002-8745-1343	en_US
dc.contributor.author	Lee, SL	en_US
dc.contributor.author	Yang, GZ	en_US
dc.date.issued	2016-07-01	en_US
dc.identifier.citation	IEEE Robotics and Automation Letters, 2016, 1 (2), pp. 961 - 968	en_US
dc.identifier.uri	http://hdl.handle.net/10453/49753
dc.description.abstract	© 2016 IEEE. Endovascular procedures are characterised by significant challenges mainly due to the complexity in catheter control and navigation. Real-time recovery of the 3-D structure of the vasculature is necessary to visualise the interaction between the catheter and its surrounding environment to facilitate catheter manipulations. State-of-the-art intraoperative vessel reconstruction approaches are increasingly relying on nonionising imaging techniques such as optical coherence tomography (OCT) and intravascular ultrasound (IVUS). To enable accurate recovery of vessel structures and to deal with sensing errors and abrupt catheter motions, this letter presents a robust and real-time vessel reconstruction scheme for endovascular navigation based on IVUS and electromagnetic (EM) tracking. It is formulated as a nonlinear optimisation problem, which considers the uncertainty in both the IVUS contour and the EM pose, as well as vessel morphology provided by preoperative data. Detailed phantom validation is performed and the results demonstrate the potential clinical value of the technique.	en_US
dc.relation.ispartof	IEEE Robotics and Automation Letters	en_US
dc.relation.isbasedon	10.1109/LRA.2016.2524984	en_US
dc.title	SCEM+: Real-Time Robust Simultaneous Catheter and Environment Modeling for Endovascular Navigation	en_US
dc.type	Journal Article
utslib.citation.volume	2	en_US
utslib.citation.volume	1	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.issue	2	en_US
pubs.publication-status	Published	en_US
pubs.volume	1	en_US

Abstract:

© 2016 IEEE. Endovascular procedures are characterised by significant challenges mainly due to the complexity in catheter control and navigation. Real-time recovery of the 3-D structure of the vasculature is necessary to visualise the interaction between the catheter and its surrounding environment to facilitate catheter manipulations. State-of-the-art intraoperative vessel reconstruction approaches are increasingly relying on nonionising imaging techniques such as optical coherence tomography (OCT) and intravascular ultrasound (IVUS). To enable accurate recovery of vessel structures and to deal with sensing errors and abrupt catheter motions, this letter presents a robust and real-time vessel reconstruction scheme for endovascular navigation based on IVUS and electromagnetic (EM) tracking. It is formulated as a nonlinear optimisation problem, which considers the uncertainty in both the IVUS contour and the EM pose, as well as vessel morphology provided by preoperative data. Detailed phantom validation is performed and the results demonstrate the potential clinical value of the technique.

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http://hdl.handle.net/10453/49753