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

    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

    Fingerprint

    Catheters
    Sensors
    Tissue
    Fiber Bragg gratings
    User interfaces
    Feedback

    Keywords

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

    Cite this

    Heunis, C. M., Belfiore, V., Vendittelli, M., & Misra, S. (Accepted/In press). Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5419-5425)
    Heunis, C.M. ; Belfiore, Vincenza ; Vendittelli, Marilena ; Misra, Sarthak. / Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019. pp. 5419-5425
    @inproceedings{daf52033e8044a8fb18936aa8535e588,
    title = "Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors",
    abstract = "Catheterization instruments are increasingly beingimproved to accurately diagnose and treat cardiovascular conditions.However, current catheter systems provide limited informationabout the shape of the catheter and tissue-instrumentinteraction forces during an intervention. Furthermore, relyingon inconsistent feedback of such interaction forces during anintervention may result in tissue injury. This paper presentsthe first steps to estimate the interaction forces between acatheter and a mock-up arterial environment. We base theproposed method on a Pseudo-Rigid Body approximation ofthe catheter and integrate three-dimensional shape informationprovided by Fiber Bragg Grating sensors inside the catheter.The reconstructed forces along the catheter body can be fedback to the surgeon in visual and/or haptic form. In thiswork, the estimated forces are displayed in real-time in agraphical user interface with the reconstructed catheter shape.Experimental validation demonstrates a root mean square errorof 0.03 N and a mean reconstruction error of 0.02 N.",
    keywords = "Force and Tactile Sensing, Simulation and Animation, Surgical Robotics: Steerable Catheters/Needles",
    author = "C.M. Heunis and Vincenza Belfiore and Marilena Vendittelli and Sarthak Misra",
    year = "2019",
    month = "6",
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    language = "English",
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    Heunis, CM, Belfiore, V, Vendittelli, M & Misra, S 2019, Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 5419-5425, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 4/11/19.

    Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors. / Heunis, C.M.; Belfiore, Vincenza; Vendittelli, Marilena; Misra, Sarthak.

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019. p. 5419-5425.

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

    TY - GEN

    T1 - Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors

    AU - Heunis, C.M.

    AU - Belfiore, Vincenza

    AU - Vendittelli, Marilena

    AU - Misra, Sarthak

    PY - 2019/6/20

    Y1 - 2019/6/20

    N2 - Catheterization instruments are increasingly beingimproved to accurately diagnose and treat cardiovascular conditions.However, current catheter systems provide limited informationabout the shape of the catheter and tissue-instrumentinteraction forces during an intervention. Furthermore, relyingon inconsistent feedback of such interaction forces during anintervention may result in tissue injury. This paper presentsthe first steps to estimate the interaction forces between acatheter and a mock-up arterial environment. We base theproposed method on a Pseudo-Rigid Body approximation ofthe catheter and integrate three-dimensional shape informationprovided by Fiber Bragg Grating sensors inside the catheter.The reconstructed forces along the catheter body can be fedback to the surgeon in visual and/or haptic form. In thiswork, the estimated forces are displayed in real-time in agraphical user interface with the reconstructed catheter shape.Experimental validation demonstrates a root mean square errorof 0.03 N and a mean reconstruction error of 0.02 N.

    AB - Catheterization instruments are increasingly beingimproved to accurately diagnose and treat cardiovascular conditions.However, current catheter systems provide limited informationabout the shape of the catheter and tissue-instrumentinteraction forces during an intervention. Furthermore, relyingon inconsistent feedback of such interaction forces during anintervention may result in tissue injury. This paper presentsthe first steps to estimate the interaction forces between acatheter and a mock-up arterial environment. We base theproposed method on a Pseudo-Rigid Body approximation ofthe catheter and integrate three-dimensional shape informationprovided by Fiber Bragg Grating sensors inside the catheter.The reconstructed forces along the catheter body can be fedback to the surgeon in visual and/or haptic form. In thiswork, the estimated forces are displayed in real-time in agraphical user interface with the reconstructed catheter shape.Experimental validation demonstrates a root mean square errorof 0.03 N and a mean reconstruction error of 0.02 N.

    KW - Force and Tactile Sensing

    KW - Simulation and Animation

    KW - Surgical Robotics: Steerable Catheters/Needles

    M3 - Conference contribution

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    EP - 5425

    BT - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    ER -

    Heunis CM, Belfiore V, Vendittelli M, Misra S. Reconstructing Endovascular Catheter Interaction Forces in 3D using Multicore Optical Shape Sensors. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019. p. 5419-5425