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 Dive into the research topics of 'An Observer-Based Fusion Method using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters'. Together they form a unique fingerprint.

  • 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.