19 accepted papers
In current clinical practice, fluoroscopy is used to track the catheter shape during endovascular navigation. To reduce radiation exposure for clinicians and patients, alternative approaches relying on electromagnetic (EM) tracking and fiber-optic shape sensing (FOSS) have been investigated. EM sens
Reliable microneedle guidance during subretinal injection remains a major clinical challenge. One of the reasons is that surgeons must infer the 3D position of the needle from a stereomicroscope that offers limited depth perception and from narrow B-scan iOCT cross-sections that cover only a fractio
Catheters and guidewires are increasingly used to navigate tortuous paths offering minimal invasive access to deeply seated locations in the body. Steering these instruments is highly challenging among others due to poor awareness of the configuration such instrument takes on in the body. To address
2D ultrasound (US) guidance is an essential tool in fetoscopic laser photocoagulation (FLP) to treat twin-to-twin transfusion syndrome (TTTS). During the procedure, the sonographer and endoscopic surgeon manage different image modalities each with its own field of view. Tacit collaboration is needed
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 ca
Continuum robots such as robotic catheters are increasingly being used in minimally invasive surgery. Compliance contributes to enhanced safety during e.g. catheter insertion, however, estimation of contact force and location may help clinicians avoiding exerting excessive force. Ultimately this cou
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
The human heart is a fragile and dynamic organ that requires careful approach during catheter intervention. It is essential for physicians to have a high degree of awareness of the anatomy and the relative pose of the catheter when operating inside the heart. One of the key aspects that can aid phys
Nowadays, navigating therapeutic catheters takes place under 2D fluoroscopic imaging. This requires considerable training of the clinician and exposes him/her to X-ray radiation. Researchers have increasingly investigated alternative sensing techniques. In this respect, Fiber Bragg Grating (FBG)-bas
Catheters are increasingly being used to tackle problems in the cardiovascular system. However, positioning precision of the catheter tip is negatively affected by hysteresis. To ensure tissue damage due to imprecise positioning is avoided, hysteresis is to be understood and compensated for. This wo
Intra-operative local 3D vessel representations have the potential to significantly decrease the use of contrast agents and exposure to ionizing radiation during endovascular procedures, while overcoming the 2D visualization limitation of fluoroscopic guidance. By fusing intravascular ultrasound (IV
Fiber optic shape sensing is gaining popularity within areas such as medical catheterization where catheters and guidewires are used to navigate through tortuous vascular paths. Shape sensing can aid medical interventionalists by reducing exposure to damaging radiation and providing a more detailed
In minimally invasive surgery (MIS), the incision point acts as a fulcrum about which the surgical instrument pivots. Most robotic MIS systems foresee procedures to carefully align the robot with the incision in the patient. Such procedures disrupt the normal workflow. This hampers the clinical tran
Retinal vein occlusion is a widespread eye vascular disease leading to vision loss because of clots obstructing a retinal vessel. Recent research investigated retinal vein cannulation, a promising treatment in which a microneedle injects a thrombolytic agent inside the clotted vessel. During this su
Computer vision and robotics are being increasingly applied in medical interventions. Especially in interventions where extreme precision is required, they could make a difference. One such application is robot-assisted retinal microsurgery. In recent works, such interventions are conducted under a
The twin-to-twin transfusion syndrome is a severe fetal anomaly appearing in up to 15% of identical twin pregnancies. This anomaly occurs when twins share blood vessels from a common placenta. The complication leads to an unbalanced blood transfusion between both fetuses. A current surgical treatmen
In robotic minimally invasive surgery, the incision point acts as a fulcrum around which the surgical instrument pivots. The fulcrum point has been the topic of much research. Mechanisms have been invented to enforce instrument motion about such a fulcrum. Other systems establish a fulcrum through c
Twin-twin transfusion syndrome requires interventional treatment using a fetoscopically introduced laser to sever the shared blood supply between the fetuses. This is a delicate procedure relying on small instrumentation with limited articulation to guide the laser tip and a narrow field of view to
In endovascular surgery and cardiology, robotic catheters are emerging as a promising technology for enhanced catheter manipulation and navigation while reducing radiation exposure. For robotic catheter systems especially with tendon actuation, a key challenge is the localisation of the catheter sha