TY - JOUR
T1 - MR-based navigation for robot-assisted endovascular procedures
AU - Bijlsma, Jelle
AU - Kundrat, Dennis
AU - Dagnino, Giulio
PY - 2024/4/27
Y1 - 2024/4/27
N2 - There is increasing interests in robotic and computer technologies to accurately perform endovascular intervention. One major limitation of current endovascular intervention—either manual or robot-assisted is the surgical navigation which still relies on 2D fluoroscopy. Recent research efforts are towards MRI-guided interventions to reduce ionizing radiation exposure, and to improve diagnosis, planning, navigation, and execution of endovascular interventions. We propose an MR-based navigation framework for robot-assisted endovascular procedures. The framework allows the acquisition of real-time MR images; segmentation of the vasculature and tracking of vascular instruments; and generation of MR-based guidance, both visual and haptic. The instrument tracking accuracy—a key aspect of the navigation framework—was assessed via 4 dedicated experiments with different acquisition settings, framerate, and time. The experiments showed clinically acceptable tracking accuracy in the range of 1.30–3.80 mm RMSE. We believe that this work represents a valuable first step towards MR-guided robot-assisted intervention.
AB - There is increasing interests in robotic and computer technologies to accurately perform endovascular intervention. One major limitation of current endovascular intervention—either manual or robot-assisted is the surgical navigation which still relies on 2D fluoroscopy. Recent research efforts are towards MRI-guided interventions to reduce ionizing radiation exposure, and to improve diagnosis, planning, navigation, and execution of endovascular interventions. We propose an MR-based navigation framework for robot-assisted endovascular procedures. The framework allows the acquisition of real-time MR images; segmentation of the vasculature and tracking of vascular instruments; and generation of MR-based guidance, both visual and haptic. The instrument tracking accuracy—a key aspect of the navigation framework—was assessed via 4 dedicated experiments with different acquisition settings, framerate, and time. The experiments showed clinically acceptable tracking accuracy in the range of 1.30–3.80 mm RMSE. We believe that this work represents a valuable first step towards MR-guided robot-assisted intervention.
KW - UT-Hybrid-D
KW - Instrument tracking
KW - MR-guided intervention
KW - Endovascular robotics
UR - https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=utwente-ris&SrcAuth=WosAPI&KeyUT=WOS:001208818400001&DestLinkType=FullRecord&DestApp=WOS_CPL
U2 - 10.1007/s41315-024-00340-3
DO - 10.1007/s41315-024-00340-3
M3 - Article
SN - 2366-5971
JO - International Journal of Intelligent Robotics and Applications
JF - International Journal of Intelligent Robotics and Applications
ER -