Tracking a magnetically guided catheter with a single rotating C-Arm

Ayoung Hong; Andrew J. Petruska; Bradley J. Nelson

ICRA 2015poster18 citations

Tracking a magnetically guided catheter with a single rotating C-Arm

Ayoung Hong, Andrew J. Petruska, Bradley J. Nelson

Abstract

This paper presents a method to localize a magnetically guided catheter using a single rotating C-Arm. Because the three dimensional position of the catheter tip, when extracted from a single view, contains large uncertainties, we propose to combine multiple views by rotating the C-Arm and using a Kalman filter. The proposed approach yields good tracking performance for several catheter poses and reduces the maximum estimated standard deviation to 0.3 cm after incorporating six views. This represents a 62 percent reduction in three dimensional position uncertainty.

BibTeX

@inproceedings{icra2015_trackingamagneti,
  title = {Tracking a magnetically guided catheter with a single rotating C-Arm},
  author = {Ayoung Hong and Andrew J. Petruska and Bradley J. Nelson},
  booktitle = {ICRA 2015},
  year = {2015}
}