MR-based navigation for robot-assisted endovascular procedures

Jelle Bijlsma, Dennis Kundrat, Giulio Dagnino*

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

1 Citation (Scopus)
32 Downloads (Pure)

Abstract

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.
Original languageEnglish
Number of pages12
JournalInternational Journal of Intelligent Robotics and Applications
Early online date27 Apr 2024
DOIs
Publication statusE-pub ahead of print/First online - 27 Apr 2024

Keywords

  • UT-Hybrid-D
  • Instrument tracking
  • MR-guided intervention
  • Endovascular robotics

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