Towards Automatic Manipulation of Intra-cardiac Echocardiography Catheter

09/12/2020
by   Young-Ho Kim, et al.
0

Intra-cardiac Echocardiography (ICE) has been evolving as a real-time imaging modality of choice for guiding electrophiosology and structural heart interventions. ICE provides real-time imaging of anatomy, catheters, and complications such as pericardial effusion or thrombus formation. However, there now exists a high cognitive demand on physicians with the increased reliance on intraprocedural imaging. In response, we present a robotic manipulator for AcuNav ICE catheters to alleviate the physician's burden and support applied methods for more automated. Herein, we introduce two methods towards these goals: (1) a data-driven method to compensate kinematic model errors due to non-linear elasticity in catheter bending, providing more precise robotic control and (2) an automated image recovery process that allows physicians to bookmark images during intervention and automatically return with the push of a button. To validate our error compensation method, we demonstrate a complex rotation of the ultrasound imaging plane evaluated on benchtop. Automated view recovery is validated by repeated imaging of landmarks on benchtop and in vivo experiments with position- and image-based analysis. Results support that a robotic-assist system for more autonomous ICE can provide a safe and efficient tool, potentially reducing the execution time and allowing more complex procedures to become common place.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 7

page 8

page 9

09/23/2021

Deep Learning for Ultrasound Beamforming

Diagnostic imaging plays a critical role in healthcare, serving as a fun...
10/30/2020

Autonomous Robotic Screening of Tubular Structures based only on Real-Time Ultrasound Imaging Feedback

Ultrasound (US) imaging is widely employed for diagnosis and staging of ...
08/13/2018

Intraoperative robotic-assisted large-area high-speed microscopic imaging and intervention

Objective: Probe-based confocal endomicroscopy is an emerging high-magni...
11/03/2020

Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current

Tendon-sheath-driven manipulators (TSM) are widely used in minimally inv...
11/03/2021

Image-Guided Navigation of a Robotic Ultrasound Probe for Autonomous Spinal Sonography Using a Shadow-aware Dual-Agent Framework

Ultrasound (US) imaging is commonly used to assist in the diagnosis and ...
12/28/2021

Robotic Hand Rehabilitation System

Rehabilitation exercises are essential to ensure speedy recovery of stro...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.