Sensor Fusion for Shape Reconstruction Using Electromagnetic Tracking Sensors and Multi-Core Optical Fiber

Journal article (2023)

Authors

Xuan Thao Ha Scuola Superiore Sant’Anna, Katholieke Universiteit Leuven
D. Wu Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering , Katholieke Universiteit Leuven
Mouloud Ourak Katholieke Universiteit Leuven
Gianni Borghesan Katholieke Universiteit Leuven, Flanders Make
Arianna Menciassi Scuola Superiore Sant’Anna
Emmanuel Vander Poorten Katholieke Universiteit Leuven
Research Group
Medical Instruments & Bio-Inspired Technology (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Xuan Thao Ha, D. Wu, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel Vander Poorten
DOI
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https://doi.org/10.1109/LRA.2023.3280456
Sensor fusion Shape sensing Optical fiber Electromagnetic tracking Surgical robotics: steerable catheters/needles
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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Medical Instruments & Bio-Inspired Technology

Abstract

Optical fiber-based shape sensing is gaining popularity in cardiac catheterization lately. Typically, these procedures are taking place under the guidance of fluoroscopy. However, fluoroscopy has several disadvantages. Thanks to fiber optic shape sensing and Electromagnetic Tracking (EMT), the 3D catheter shape can now be tracked in real-time without the need for fluoroscopy. Traditional optical fiber and EMT-based shape tracking methods have the drawback of the highest shape sensing error at the tip. The information offered by the EMT sensors is used mainly to localize the estimated shape in a fixed coordinate frame. In this letter, a novel approach for tracking the catheter is introduced to address the aforementioned problem. The catheter shape is directly reconstructed in the EMT coordinate frame by approximating the catheter shape by a number of Bézier curves while taking into account the curvatures measured by the optical fiber. Both 2D and 3D shape sensing experiments are conducted. The results of the 3D experiment show that the proposed method reduces the mean shape tracking error by approximately 38% (from 12.1 mm to 5.4 mm for a sensed length of 540 mm long) compared to the traditional method where the same number of sensors are used.