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Real-Time Multi-Modal Sensing and Feedback for Catheterization in Porcine Tissue
Christoff M Heunis1, Filip S Uligoj1, Carlos Fambuena Santos1
1Surgical Robotics Laboratory, Department of Biomechanical Engineering, Faculty of Engineering Technology, University of Twente, 7500 AE Enschede, The Netherlands.
Sensors (Basel, Switzerland)
|January 6, 2021
Summary
This study presents a radiation-free, multi-modal framework for 3D visualization during catheterization. It accurately reconstructs vasculature and instruments without X-rays, improving surgical safety.
Area of Science:
- Medical Imaging
- Robotics
- Biomedical Engineering
Background:
- Endovascular surgeries and catheterization often rely on intra-operative X-rays, which involve ionizing radiation and nephrotoxic contrast agents.
- Accurate visualization of catheters and vasculature is critical for successful and safe surgical outcomes.
Purpose of the Study:
- To introduce a multi-modal sensing and feedback framework for real-time 3D visualization during endovascular procedures.
- To enable radiation-free visualization of endovascular catheters and surrounding vasculature.
- To assist clinicians by providing enhanced imaging during catheterization.
Main Methods:
- Development of a multi-modal framework integrating ultrasound (US) imaging, 3D surface imaging, and Fiber Bragg Grating (FBG) sensors.
- Utilizing a hybrid position-force controller for a robotically-actuated US transducer to navigate uneven tissue surfaces.
- Conducting experiments within a porcine limb model simulating in-vivo conditions and limb motions.
Main Results:
- Reliable 3D reconstruction of vasculature with a mean accuracy of 1.9±0.3 mm.
- Accurate reconstruction of the catheter with a mean accuracy of 0.82±0.21 mm.
- Demonstrated feasibility of the framework during externally-induced limb motions.
Conclusions:
- The multi-modal framework enables radiation-free and accurate reconstruction of tissues and instruments.
- This technology can reduce reliance on intra-operative X-rays and associated risks.
- Improved diagnostic technologies offer a safer alternative for visualization in catheterization procedures.
