Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors

C.M. Heunis*, Vincenza Belfiore, Marilena Vendittelli, Sarthak Misra

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    Abstract

    Catheterization instruments are increasingly being
    improved to accurately diagnose and treat cardiovascular conditions.
    However, current catheter systems provide limited information
    about the shape of the catheter and tissue-instrument
    interaction forces during an intervention. Furthermore, relying
    on inconsistent feedback of such interaction forces during an
    intervention may result in tissue injury. This paper presents
    the first steps to estimate the interaction forces between a
    catheter and a mock-up arterial environment. We base the
    proposed method on a Pseudo-Rigid Body approximation of
    the catheter and integrate three-dimensional shape information
    provided by Fiber Bragg Grating sensors inside the catheter.
    The reconstructed forces along the catheter body can be fed
    back to the surgeon in visual and/or haptic form. In this
    work, the estimated forces are displayed in real-time in a
    graphical user interface with the reconstructed catheter shape.
    Experimental validation demonstrates a root mean square error
    of 0.03 N and a mean reconstruction error of 0.02 N.
    Original languageEnglish
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages5419-5425
    Number of pages7
    Publication statusAccepted/In press - 20 Jun 2019
    Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China
    Duration: 4 Nov 20198 Nov 2019
    https://www.iros2019.org/

    Conference

    Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Abbreviated titleIROS 2019
    CountryChina
    CityMacau
    Period4/11/198/11/19
    Internet address

    Keywords

    • Force and Tactile Sensing
    • Simulation and Animation
    • Surgical Robotics: Steerable Catheters/Needles

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