State Estimation for MRI-Actuated Catheters via Catadioptric Stereo Camera
Tipakorn Greigarn1, Russell Jackson1, M Cenk Çavuşoğlu1
1Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
|August 23, 2019
Summary
A new particle filter and catadioptric camera system tracks MRI-actuated catheters. This enables parallel development of catheter models and algorithms alongside MR tracking systems.
Area of Science:
- Robotics
- Medical Imaging
- Computer Vision
Background:
- MRI-actuated catheters offer remote steering and tracking capabilities.
- Developing catheter models and algorithms requires an alternative tracking method independent of the MR scanner.
Purpose of the Study:
- To present a novel catheter tracking algorithm using a particle filter and catadioptric camera system.
- To enable parallel development of mathematical models and planning algorithms for MRI-actuated catheters.
Main Methods:
- A particle filter with quasi-static kinematics as its motion model was employed.
- A measurement model using normalized cross-correlation between segmented camera images and virtual catheter renderings determined particle weights.
- A catadioptric camera system was utilized for image acquisition.
Main Results:
- The proposed algorithm successfully tracked the catheter.
- Experimental results demonstrated the efficacy of the particle filter-based tracking approach.
- The system provides an alternative to MR-based tracking for catheter development.
Conclusions:
- The particle filter and catadioptric camera system offer a viable alternative for tracking MRI-actuated catheters.
- This method facilitates parallel development of catheter control systems.
- The approach is validated by experimental evidence.
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