Fusion Framework for Coaxial Catheter Tracking

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...

Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter

In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents a novel compliant motion control algorithm...