3D catheter guidance including shape sensing for endovascular navigation

Jäckle, Sonja; García-Vázquez, Verónica; Haxthausen, Felix von; Eixmann, Tim; Sieren, M; Schulz‐Hildebrandt, Hinnerk; Hüttmann, Gereon; Ernst, Floris; Kleemann, Markus; Pätz, Torben

doi:10.1117/12.2548094

Cited by 15 publications

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“…For all experiments, the shapes were reconstructed accurately (e avg < 0.9 mm and e max < 2.0 mm). The accuracies are comparable to previous experiments [9,10] but higher than those reported in [12] (shape reconstruction of a catheter containing four multicore fibers and with a length of 11.8 cm, maximum error: 1.05 mm). Nevertheless, our reconstructed shapes with only one multicore fiber were longer (specifically, 38 cm), more flexible and complex than the evaluated shapes in [12].…”

Section: Resultssupporting

confidence: 84%

“…The reason for this is that both the EM sensor errors and the shape errors influence the resulting located shape. In comparison with a previous study [10], the errors of the shapes located with three EM sensors are higher. However, the results are not completely comparable because in [10] the EM sensors were located at the tip, middle and end of the 38 cm shape sensing region of a catheter.…”

Section: Resultscontrasting

confidence: 81%

“…In this step, the corresponding shape pointŜ i k and the correction vector v k for mapping each EM sensor position to its corresponding shape point were determined for each EM sensor. The calibration method was already introduced in detail in [10]. Afterwards, the shapeŜ can be located in the CT space with the posesP CT k of the EM sensors using the values obtained in the calibration.…”

Section: Localization Modelmentioning

confidence: 99%

“…In this work, we present a 3D guidance for a stentgraft system combining fiber optical shape sensing with EM tracking. A shape localization method based on two EM sensors is introduced and compared with an approach based on three EM sensors, which was already presented in [10]. Moreover, a realistic vessel phantom was built for evaluating both guidance methods.…”

Section: Introductionmentioning

confidence: 99%

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Three-dimensional guidance including shape sensing of a stentgraft system for endovascular aneurysm repair

et al. 2020

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Purpose During endovascular aneurysm repair (EVAR) procedures, medical instruments are guided with two-dimensional (2D) fluoroscopy and conventional digital subtraction angiography. However, this requires X-ray exposure and contrast agent is used, and the depth information is missing. To overcome these drawbacks, a three-dimensional (3D) guidance approach based on tracking systems is introduced and evaluated. Methods A multicore fiber with fiber Bragg gratings for shape sensing and three electromagnetic (EM) sensors for locating the shape were integrated into a stentgraft system. A model for obtaining the located shape of the first 38 cm of the stentgraft system with two EM sensors is introduced and compared with a method based on three EM sensors. Both methods were evaluated with a vessel phantom containing a 3D-printed vessel made of silicone and agar-agar simulating the surrounding tissue. Results The evaluation of the guidance methods resulted in average errors from 1.35 to 2.43 mm and maximum errors from 3.04 to 6.30 mm using three EM sensors, and average errors from 1.57 to 2.64 mm and maximum errors from 2.79 to 6.27 mm using two EM sensors. Moreover, the videos made from the continuous measurements showed that a real-time guidance is possible with both approaches. Conclusion The results showed that an accurate real-time guidance with two and three EM sensors is possible and that two EM sensors are already sufficient. Thus, the introduced 3D guidance method is promising to use it as navigation tool in EVAR procedures. Future work will focus on developing a method with less EM sensors and a detailed latency evaluation of the guidance method.

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Section: Resultssupporting

confidence: 84%

Section: Resultscontrasting

confidence: 81%

Section: Localization Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Three-dimensional guidance including shape sensing of a stentgraft system for endovascular aneurysm repair

et al. 2020

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“…For this reason, a catheter prototype including an optical fiber for shape sensing and three electromagnetic (EM) sensors, which provide the position and orientation information, was built to enable a 3D catheter guidance. In addition, a model was introduced to process the input data from the tracking systems to obtain the located 3D shape of the first 38 cm of the catheter [1]. First, a spatial calibration between the optical fiber and each EM sensor was made.…”

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Abstract: 3D Catheter Guidance Including Shape Sensing for Endovascular Navigation

et al. 2020

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Instrument localisation for endovascular aneurysm repair: Comparison of two methods based on tracking systems or using imaging

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García-Vázquez

et al. 2021

Robotics Computer Surgery

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Background:In endovascular aneuysm repair (EVAR) procedures, medical instruments are currently navigated with a two-dimensional imaging based guidance requiring X-rays and contrast agent.Methods: Novel approaches for obtaining the three-dimensional instrument positions are introduced. Firstly, a method based on fibre optical shape sensing, one electromagnetic sensor and a preoperative computed tomography (CT) scan is described. Secondly, an approach based on image processing using one 2D fluoroscopic image and a preoperative CT scan is introduced. Results:For the tracking based method, average errors from 1.81 to 3.13 mm and maximum errors from 3.21 to 5.46 mm were measured. For the image-based approach, average errors from 3.07 to 6.02 mm and maximum errors from 8.05 to 15.75 mm were measured. Conclusion:The tracking based method is promising for usage in EVAR procedures.For the image-based approach are applications in smaller vessels more suitable, since its errors increase with the vessel diameter.

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3D catheter guidance including shape sensing for endovascular navigation

Cited by 15 publications

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Three-dimensional guidance including shape sensing of a stentgraft system for endovascular aneurysm repair

Three-dimensional guidance including shape sensing of a stentgraft system for endovascular aneurysm repair

Abstract: 3D Catheter Guidance Including Shape Sensing for Endovascular Navigation

Instrument localisation for endovascular aneurysm repair: Comparison of two methods based on tracking systems or using imaging

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