Jared Lawson

2 accepted papers

2025

Fluoroscopic Shape and Pose Tracking of Catheters With Custom Radiopaque Markers

Jared Lawson, Rohan Chitale, Nabil Simaan

RA-L 2025

Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheter's shape and pose. Currently, a significant perception burden is placed on interventionalists to mentally reconstruct and predict catheter motions from biplane fluoroscopy images. Efforts

Cited by 0 Source ↗Scholar ↗

2023

Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback

Jared Lawson, Rohan Chitale, Nabil Simaan

ICRA 2023poster

Small catheters undergo significant torsional deflections during endovascular interventions. A key challenge in enabling robot control of these catheters is the estimation of their bending planes. This paper considers approaches for estimating these bending planes based on bi-plane image feedback. T…

Cited by 2 Source ↗Scholar ↗