Real-Time Multi-Modal Sensing and Feedback for Catheterization in Porcine Tissue

In this study, we introduce a multi-modal sensing and feedback framework aimed at assisting clinicians during endovascular surgeries and catheterization procedures. This framework utilizes state-of-the-art imaging and sensing sub-systems to produce a 3D visualization of an endovascular catheter and...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2021-01, Vol.21 (1), p.273
Main Authors: Heunis, Christoff M, S Uligoj, Filip, Santos, Carlos Fambuena, Misra, Sarthak
Format: Article
Language:English
Subjects:
Algorithms
Animals
Bragg gratings
Calibration
Cameras
Catheterization
Catheters
Contrast agents
Diagnostic systems
Feedback
image-guided surgery
Intubation
Ionizing radiation
Magnetic resonance imaging
medical robotics
Motion
Motion capture
multi-modal sensing
Real time
robotic registration
Robotics
Scanners
Sensors
Swine
Visualization
X ray imagery
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Summary:In this study, we introduce a multi-modal sensing and feedback framework aimed at assisting clinicians during endovascular surgeries and catheterization procedures. This framework utilizes state-of-the-art imaging and sensing sub-systems to produce a 3D visualization of an endovascular catheter and surrounding vasculature without the need for intra-operative X-rays. The catheterization experiments within this study are conducted inside a porcine limb undergoing motions. A hybrid position-force controller of a robotically-actuated ultrasound (US) transducer for uneven porcine tissue surfaces is introduced. The tissue, vasculature, and catheter are visualized by integrated real-time US images, 3D surface imaging, and Fiber Bragg Grating (FBG) sensors. During externally-induced limb motions, the vasculature and catheter can be reliably reconstructed at mean accuracies of 1.9±0.3 mm and 0.82±0.21 mm, respectively. The conventional use of intra-operative X-ray imaging to visualize instruments and vasculature in the human body can be reduced by employing improved diagnostic technologies that do not operate via ionizing radiation or nephrotoxic contrast agents. The presented multi-modal framework enables the radiation-free and accurate reconstruction of significant tissues and instruments involved in catheterization procedures.
ISSN:1424-8220
1424-8220
DOI:10.3390/s21010273