An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters

Alper Denasi, F. Khan, K.J. Boskma, M. Kaya, Christoph Hennersperger, Rüdiger Göbl, Maria Tirindelli, Nassir Navab, S. Misra

    Research output: Contribution to conferencePaper

    1 Downloads (Pure)

    Abstract

    Minimally invasive surgery involves using flexible medical instruments such as endoscopes and catheters. Magnetically actuated catheters can provide improved steering precision over conventional catheters. However, besides the actuation
    method, an accurate tip position is required for precise control of the medical instruments. In this study, the tip position obtained from transverse 2D ultrasound images and multicore optical shape sensors are combined using a robust sensor fusion algorithm. The tip position is tracked in the ultrasound images using a template-based tracker and a convolutional neural network based tracker, respectively. Experimental results for a rhombus path are presented, where data obtained from both tracking sources are fused using Luenberger and Kalman state estimators. The mean and standard deviation of the Euclidean
    error for the Luenberger observer is 0.2+-0.11 [mm] whereas for the Kalman filter it is 0.18+-0.13 [mm], respectively.
    Original languageEnglish
    Number of pages8
    Publication statusPublished - May 2018
    Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
    Duration: 21 May 201825 May 2018
    https://icra2018.org/

    Conference

    Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
    Abbreviated titleICRA
    CountryAustralia
    CityBrisbane
    Period21/05/1825/05/18
    Internet address

    Fingerprint

    Catheters
    Fusion reactions
    Ultrasonics
    Sensors
    Endoscopy
    Kalman filters
    Surgery
    Neural networks

    Cite this

    Denasi, A., Khan, F., Boskma, K. J., Kaya, M., Hennersperger, C., Göbl, R., ... Misra, S. (2018). An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.
    Denasi, Alper ; Khan, F. ; Boskma, K.J. ; Kaya, M. ; Hennersperger, Christoph ; Göbl, Rüdiger ; Tirindelli, Maria ; Navab, Nassir ; Misra, S. / An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.8 p.
    @conference{f04928c0f0d0411cb119305b15beb31d,
    title = "An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters",
    abstract = "Minimally invasive surgery involves using flexible medical instruments such as endoscopes and catheters. Magnetically actuated catheters can provide improved steering precision over conventional catheters. However, besides the actuationmethod, an accurate tip position is required for precise control of the medical instruments. In this study, the tip position obtained from transverse 2D ultrasound images and multicore optical shape sensors are combined using a robust sensor fusion algorithm. The tip position is tracked in the ultrasound images using a template-based tracker and a convolutional neural network based tracker, respectively. Experimental results for a rhombus path are presented, where data obtained from both tracking sources are fused using Luenberger and Kalman state estimators. The mean and standard deviation of the Euclideanerror for the Luenberger observer is 0.2+-0.11 [mm] whereas for the Kalman filter it is 0.18+-0.13 [mm], respectively.",
    author = "Alper Denasi and F. Khan and K.J. Boskma and M. Kaya and Christoph Hennersperger and R{\"u}diger G{\"o}bl and Maria Tirindelli and Nassir Navab and S. Misra",
    year = "2018",
    month = "5",
    language = "English",
    note = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018, ICRA ; Conference date: 21-05-2018 Through 25-05-2018",
    url = "https://icra2018.org/",

    }

    Denasi, A, Khan, F, Boskma, KJ, Kaya, M, Hennersperger, C, Göbl, R, Tirindelli, M, Navab, N & Misra, S 2018, 'An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters' Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18 - 25/05/18, .

    An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters. / Denasi, Alper ; Khan, F.; Boskma, K.J.; Kaya, M.; Hennersperger, Christoph; Göbl, Rüdiger; Tirindelli, Maria; Navab, Nassir; Misra, S.

    2018. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.

    Research output: Contribution to conferencePaper

    TY - CONF

    T1 - An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters

    AU - Denasi, Alper

    AU - Khan, F.

    AU - Boskma, K.J.

    AU - Kaya, M.

    AU - Hennersperger, Christoph

    AU - Göbl, Rüdiger

    AU - Tirindelli, Maria

    AU - Navab, Nassir

    AU - Misra, S.

    PY - 2018/5

    Y1 - 2018/5

    N2 - Minimally invasive surgery involves using flexible medical instruments such as endoscopes and catheters. Magnetically actuated catheters can provide improved steering precision over conventional catheters. However, besides the actuationmethod, an accurate tip position is required for precise control of the medical instruments. In this study, the tip position obtained from transverse 2D ultrasound images and multicore optical shape sensors are combined using a robust sensor fusion algorithm. The tip position is tracked in the ultrasound images using a template-based tracker and a convolutional neural network based tracker, respectively. Experimental results for a rhombus path are presented, where data obtained from both tracking sources are fused using Luenberger and Kalman state estimators. The mean and standard deviation of the Euclideanerror for the Luenberger observer is 0.2+-0.11 [mm] whereas for the Kalman filter it is 0.18+-0.13 [mm], respectively.

    AB - Minimally invasive surgery involves using flexible medical instruments such as endoscopes and catheters. Magnetically actuated catheters can provide improved steering precision over conventional catheters. However, besides the actuationmethod, an accurate tip position is required for precise control of the medical instruments. In this study, the tip position obtained from transverse 2D ultrasound images and multicore optical shape sensors are combined using a robust sensor fusion algorithm. The tip position is tracked in the ultrasound images using a template-based tracker and a convolutional neural network based tracker, respectively. Experimental results for a rhombus path are presented, where data obtained from both tracking sources are fused using Luenberger and Kalman state estimators. The mean and standard deviation of the Euclideanerror for the Luenberger observer is 0.2+-0.11 [mm] whereas for the Kalman filter it is 0.18+-0.13 [mm], respectively.

    M3 - Paper

    ER -

    Denasi A, Khan F, Boskma KJ, Kaya M, Hennersperger C, Göbl R et al. An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters. 2018. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.