Robotic Ultrasound for Catheter Navigation in Endovascular Procedures
Fernanda Langsch, Salvatore Virga, Javier Esteban, Rüdiger Göbl, Nassir Navab
Abstract
Endovascular procedures require real time visual feedback on the location of inserted catheters. This is currently achieved using X-ray fluoroscopy, which causes exposure to radiation. This study describes an alternative method using a robotic ultrasound system for catheter tracking and navigation in endovascular interventions, focusing on endovascular aneurysm repair. This approach relies on the registration of pre-operative images to provide both a tracking trajectory and visual feedback of the real-time catheter position. The procedure was validated on healthy volunteers and on a phantom that included a realistic vessel structure, showing an average tracking error of the moving catheter tip of 1.78±1.02 mm.
BibTeX
@inproceedings{iros2019_roboticultrasoun,
title = {Robotic Ultrasound for Catheter Navigation in Endovascular Procedures},
author = {Fernanda Langsch and Salvatore Virga and Javier Esteban and Rüdiger Göbl and Nassir Navab},
booktitle = {IROS 2019},
year = {2019}
}