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.
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 language | English |
|---|---|
| Title of host publication | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Pages | 5419-5425 |
| Number of pages | 7 |
| ISBN (Electronic) | 978-1-7281-4004-9 |
| DOIs | |
| Publication status | Published - 28 Jan 2020 |
| Event | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China Duration: 4 Nov 2019 → 8 Nov 2019 https://www.iros2019.org/ |
Conference
| Conference | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Abbreviated title | IROS 2019 |
| Country/Territory | China |
| City | Macau |
| Period | 4/11/19 → 8/11/19 |
| Internet address |
Keywords
- Force and Tactile Sensing
- Simulation and Animation
- Surgical Robotics: Steerable Catheters/Needles
- 2023 OA procedure