Ultrasound-based tracking strategy for endoluminal devices in cardiovascular surgery

Mura, Marco; Ciuti, Gastone; Ferrari, Vincenzo; Dario, P.; Menciassi, Arianna

doi:10.1002/rcs.1603

Cited by 6 publications

(5 citation statements)

References 19 publications

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“…Nevertheless, the 3D US probe used in this study has a lower spatial resolution compared with the 2D US probe employed in Ref. [26]; this means that metric errors are bigger (especially in plane 1). This issue is only related to the specific US probe: using a more spatial resolute 3D US hardware would mitigate this problem.…”

Section: Discussionmentioning

confidence: 90%

“…A deep discussion on the different implemented algorithms is reported in Ref. [26]; the most accurate and reliable algorithm, tested on a 2D US-imaging dataset, was a combination of a Shi-Tomasi features extractor, Lucas-Kanade features tracking and watershed segmentation technique.…”

Section: Us-based Tracking Algorithm: Computer Vision Methodologymentioning

confidence: 99%

“…In the previous implementation [26], the tracking algorithm exploited the information derived by a single US-imaging plane. This tracking algorithm required a first initialization phase in which the operator selects the endovascular device onto a region of interest (RoI) to start the tracking procedure.…”

Section: Us-based Tracking Algorithm: Computer Vision Methodologymentioning

confidence: 99%

“…In particular, it was demonstrated that an image-based algorithm based on the combination of Shi-Tomasi features detector, Lucas-Kanade features tracking, and watershed segmentation technique represented the most reliable and accurate solution for the implementation of a tracking algorithm for endovascular magnetic instruments. [26] In this paper, the authors describe the integration of the processing and control module and investigate the implementation of a 3D imaging US-based tracking strategy able to accurately and reliably navigate a softtethered endoluminal device in the cardiovascular district.…”

Section: Introductionmentioning

confidence: 99%

“…The high-level strategy applies the algorithm, implemented and validated in a 2D-imaging configuration, [26] to the three orthogonal US planes acquired by a 3D US machine. The expected benefit is that integrating the information from the other two 2D-imaging US orthogonal planes, together with the pre-operative path data, will improve the robustness and safety of the entire methodology.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking

Mura

Parrini

Ciuti

et al. 2016

Computer Assisted Surgery

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Section: Discussionmentioning

confidence: 90%

Section: Us-based Tracking Algorithm: Computer Vision Methodologymentioning

confidence: 99%

Section: Us-based Tracking Algorithm: Computer Vision Methodologymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking

Mura

Parrini

Ciuti

et al. 2016

Computer Assisted Surgery

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Robotic Assisted Ultrasound‐Guided Endovascular Stent Implantation in a Vascular Model

Scheibert,

Preuss,

Osburg

et al. 2024

Robotics Computer Surgery

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BackgroundEndovascular procedures are the preferred method for treating peripheral arterial disease. However, limited imaging options during these procedures, such as X‐rays and contrast media, expose patients and healthcare professionals to potentially harmful radiation. This study introduces a robotic ultrasound system (RUSS) for navigating endovascular procedures in order to reduce radiation and provide additional information.MethodsThe RUSS comprises a seven‐degree‐of‐freedom robotic arm that navigates an ultrasound transducer across a specific region of interest. The system is controlled by a self‐programed software designed to navigate the robotic arm in a methodical and reproducible manner using a foot switch.ResultsAn endovascular surgeon investigated the guidance and visibility of various guidewires and successfully implanted three stents in a vascular leg phantom using the RUSS without further radiation exposure.ConclusionsThe innovative set‐up has several potential applications, including radiation‐free endovascular procedures as well as health screening and diagnostic support in vascular medicine.

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The Design of Endovascular Robots for Cardiac Interventions: A Survey

Alekseeva,

Viller,

Romanov

2024

Journal of Field Robotics

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The paper presents a survey of modern robots for percutaneous coronary interventions. It covers papers published before October 2024. The robotic systems introduced in these papers are compared by their design, tool manipulation principles, surgical tools compatibility, and human–machine interfaces, including types of feedback. The paper provides an overview of all main design approaches ever implemented in percutaneous coronary intervention robotics and critically analyzes their pros and cons. The survey covers 62 endovascular robotic systems (11 commercial and 51 academic) and 23 endovascular robotic tools, making it the most representative to date to the best of our knowledge. All of these solutions have been implemented at least as prototypes, while some of them have been tested in vivo and even reached clinical practice. In the discussion section, we critically analyze the known field experience with the use of the CorPath GRX (one of the most popular commercial systems currently used in several hospitals around the world), discuss the reasons for the insufficient spread of robotic endovascular surgery and propose a vision for changing this trend. This survey is intended primarily for engineers designing new medical robotic systems. However, it will also be of interest to endovascular surgeons to help them better understand the trade‐offs of both the products already in the market and the promising solutions that will be available in the future.

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Ultrasound-based tracking strategy for endoluminal devices in cardiovascular surgery

Abstract: Our results encourage the development of US-based tracking algorithms for endoluminal devices in cardiovascular surgery, paving the way to a robust three-dimensional (3D) imaging US-based tracking strategy implementation. Copyright © 2014 John Wiley & Sons, Ltd.

Cited by 6 publications

References 19 publications

A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking

A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking

Robotic Assisted Ultrasound‐Guided Endovascular Stent Implantation in a Vascular Model

The Design of Endovascular Robots for Cardiac Interventions: A Survey

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