Motion-adapted catheter navigation with real-time instantiation and improved visualisation
Identifieur interne : 001791 ( Pmc/Curation ); précédent : 001790; suivant : 001792Motion-adapted catheter navigation with real-time instantiation and improved visualisation
Auteurs : Su-Lin Lee ; Ka-Wai Kwok ; Lichao Wang ; Celia Riga ; Colin Bicknell ; Nicholas Cheshire ; Guang-Zhong YangSource :
- Journal of robotic surgery [ 1863-2483 ] ; 2013.
Abstract
The improvements to catheter manipulation by the use of robot-assisted catheter navigation for endovascular procedures include increased precision, stability of motion and operator comfort. However, navigation through the vasculature under fluoroscopic guidance is still challenging, mostly due to physiological motion and when tortuous vessels are involved. In this paper, we propose a motion-adaptive catheter navigation scheme based on shape modelling to compensate for these dynamic effects, permitting predictive and dynamic navigations. This allows for timed manipulations synchronised with the vascular motion. The technical contribution of the paper includes the following two aspects. Firstly, a dynamic shape modelling and real-time instantiation scheme based on sparse data obtained intra-operatively is proposed for improved visualisation of the 3D vasculature during endovascular intervention. Secondly, a reconstructed frontal view from the catheter tip using the derived dynamic model is used as an interventional aid to user guidance. To demonstrate the practical value of the proposed framework, a simulated aortic branch cannulation procedure is used with detailed user validation to demonstrate the improvement in navigation quality and efficiency.
Url:
DOI: 10.1007/s11701-013-0423-2
PubMed: 24744817
PubMed Central: 3987170
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PMC:3987170Le document en format XML
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<author><name sortKey="Lee, Su Lin" sort="Lee, Su Lin" uniqKey="Lee S" first="Su-Lin" last="Lee">Su-Lin Lee</name>
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<author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name>
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<author><name sortKey="Wang, Lichao" sort="Wang, Lichao" uniqKey="Wang L" first="Lichao" last="Wang">Lichao Wang</name>
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<author><name sortKey="Riga, Celia" sort="Riga, Celia" uniqKey="Riga C" first="Celia" last="Riga">Celia Riga</name>
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<author><name sortKey="Bicknell, Colin" sort="Bicknell, Colin" uniqKey="Bicknell C" first="Colin" last="Bicknell">Colin Bicknell</name>
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<author><name sortKey="Cheshire, Nicholas" sort="Cheshire, Nicholas" uniqKey="Cheshire N" first="Nicholas" last="Cheshire">Nicholas Cheshire</name>
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<author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name>
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<series><title level="j">Journal of robotic surgery</title>
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<front><div type="abstract" xml:lang="en"><p id="P1">The improvements to catheter manipulation by the use of robot-assisted catheter navigation for endovascular procedures include increased precision, stability of motion and operator comfort. However, navigation through the vasculature under fluoroscopic guidance is still challenging, mostly due to physiological motion and when tortuous vessels are involved. In this paper, we propose a motion-adaptive catheter navigation scheme based on shape modelling to compensate for these dynamic effects, permitting predictive and dynamic navigations. This allows for timed manipulations synchronised with the vascular motion. The technical contribution of the paper includes the following two aspects. Firstly, a dynamic shape modelling and real-time instantiation scheme based on sparse data obtained intra-operatively is proposed for improved visualisation of the 3D vasculature during endovascular intervention. Secondly, a reconstructed frontal view from the catheter tip using the derived dynamic model is used as an interventional aid to user guidance. To demonstrate the practical value of the proposed framework, a simulated aortic branch cannulation procedure is used with detailed user validation to demonstrate the improvement in navigation quality and efficiency.</p>
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<pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101300401</journal-id>
<journal-id journal-id-type="pubmed-jr-id">37336</journal-id>
<journal-id journal-id-type="nlm-ta">J Robot Surg</journal-id>
<journal-id journal-id-type="iso-abbrev">J Robot Surg</journal-id>
<journal-title-group><journal-title>Journal of robotic surgery</journal-title>
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<issn pub-type="ppub">1863-2483</issn>
<issn pub-type="epub">1863-2491</issn>
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<article-id pub-id-type="doi">10.1007/s11701-013-0423-2</article-id>
<article-id pub-id-type="manuscript">EMS57910</article-id>
<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
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<title-group><article-title>Motion-adapted catheter navigation with real-time instantiation and improved visualisation</article-title>
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<contrib-group><contrib contrib-type="author" corresp="yes"><name><surname>Lee</surname>
<given-names>Su-Lin</given-names>
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<aff id="A1">Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.<email>su-lin.lee@imperial.ac.uk</email>
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<contrib contrib-type="author"><name><surname>Kwok</surname>
<given-names>Ka-Wai</given-names>
</name>
<aff id="A2">Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK</aff>
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<contrib contrib-type="author"><name><surname>Wang</surname>
<given-names>Lichao</given-names>
</name>
<aff id="A3">Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Riga</surname>
<given-names>Celia</given-names>
</name>
<aff id="A4">Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Bicknell</surname>
<given-names>Colin</given-names>
</name>
<aff id="A5">Academic Division of Surgery, Imperial College London, London, UK</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Cheshire</surname>
<given-names>Nicholas</given-names>
</name>
<aff id="A6">Academic Division of Surgery, Imperial College London, London, UK</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Yang</surname>
<given-names>Guang-Zhong</given-names>
</name>
<aff id="A7">Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK</aff>
</contrib>
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<pub-date pub-type="nihms-submitted"><day>9</day>
<month>4</month>
<year>2014</year>
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<pub-date pub-type="ppub"><day>1</day>
<month>9</month>
<year>2013</year>
</pub-date>
<pub-date pub-type="pmc-release"><day>15</day>
<month>4</month>
<year>2014</year>
</pub-date>
<volume>7</volume>
<issue>3</issue>
<fpage>251</fpage>
<lpage>260</lpage>
<pmc-comment>elocation-id from pubmed: 10.1007/s11701-013-0423-2</pmc-comment>
<permissions><copyright-statement>© Springer-Verlag London 2013</copyright-statement>
<copyright-year>2013</copyright-year>
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<self-uri xlink:href="http://link.springer.com/article/10.1007%2Fs11701-013-0423-2/fulltext.html"></self-uri>
<abstract><p id="P1">The improvements to catheter manipulation by the use of robot-assisted catheter navigation for endovascular procedures include increased precision, stability of motion and operator comfort. However, navigation through the vasculature under fluoroscopic guidance is still challenging, mostly due to physiological motion and when tortuous vessels are involved. In this paper, we propose a motion-adaptive catheter navigation scheme based on shape modelling to compensate for these dynamic effects, permitting predictive and dynamic navigations. This allows for timed manipulations synchronised with the vascular motion. The technical contribution of the paper includes the following two aspects. Firstly, a dynamic shape modelling and real-time instantiation scheme based on sparse data obtained intra-operatively is proposed for improved visualisation of the 3D vasculature during endovascular intervention. Secondly, a reconstructed frontal view from the catheter tip using the derived dynamic model is used as an interventional aid to user guidance. To demonstrate the practical value of the proposed framework, a simulated aortic branch cannulation procedure is used with detailed user validation to demonstrate the improvement in navigation quality and efficiency.</p>
</abstract>
<kwd-group><kwd>Robotic surgery</kwd>
<kwd>Minimally invasive surgery</kwd>
<kwd>Endovascular intervention</kwd>
<kwd>Image-guided intervention</kwd>
<kwd>Shape modelling</kwd>
<kwd>Motion prediction</kwd>
</kwd-group>
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