Fusion Framework for Coaxial Catheter Tracking

Fusion Framework for Coaxial Catheter Tracking

Ha, Xuan Thao (Katholieke Universiteit Leuven; Scuola Superiore Sant’Anna)
Wu, D. (TU Delft Medical Instruments & Bio-Inspired Technology; Katholieke Universiteit Leuven)
Trauzettel, F. (TU Delft Medical Instruments & Bio-Inspired Technology; Katholieke Universiteit Leuven)
Ourak, Mouloud (Katholieke Universiteit Leuven)
Borghesan, Gianni (Katholieke Universiteit Leuven; Flanders Make)
Menciassi, Arianna (Scuola Superiore Sant’Anna)
Poorten, Emmanuel Vander (Katholieke Universiteit Leuven)

2023

Minimally invasive catheter-based interventions normally take place under the guidance of fluoroscopy. However, fluoroscopy is harmful to both patients and clinicians. Moreover, it only offers 2-D shape visualization of flexible devices. To solve the problem of harmful radiation and offer 3-D pose and shape information, recent studies propose a combination of electromagnetic tracking (EMT) sensors and multicore fiber Bragg grating (FBG) fiber sensing. However, for robust localization, at least two EMT sensors are required to be attached to each multicore fiber. This may make the catheter overly complex and fragile. Furthermore, the inability of multicore FBG fibers to distinguish between twist-induced strain and bend-induced strain impacts shape sensing accuracy. This article proposes a new approach offering a precise shape sensing method that is robust against torsional twists and exploits symmetry and geometry to compensate for limited sensing information. The proposed approach originates from the observation that many interventional procedures employ a plurality of concentric instruments. By distributing sensors over these instruments, the complexity per instrument can be kept acceptable. The proposed sensor fusion approach ensures robust and superior shape reconstruction. Experiments in 3-D with ground truth generated by a stereo vision system have been done and yielded promising results. Compared to the state-of-the-art methods, the presented framework uses only half of the required EMT sensors per instrument resulting in significant spatial conservation while improving the catheter shape tracking accuracy by 57%.

Electromagnetic tracking (EMT)
optical fiber
sensor fusion
shape sensing
steerable catheters/needles

http://resolver.tudelft.nl/uuid:66e4a981-a5d0-4a48-9b14-836d89c32e76

https://doi.org/10.1109/JSEN.2023.3309589

2024-03-01

1530-437X

IEEE Sensors Journal, 23 (19), 22580-22591

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

journal article

© 2023 Xuan Thao Ha, D. Wu, F. Trauzettel, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten