An Observer-Based Fusion Method Using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters

Denasi A, Khan F, Boskma KJ, Kaya M, Hennersperger C, Gobl R, Tirindelli M, Navab N, Misra S (2018)

Publication Type: Conference contribution

Publication year: 2018

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 50-57

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Brisbane, QLD, AUS

ISBN: 9781538630815

DOI: 10.1109/ICRA.2018.8462695

Abstract

Minimally invasive surgery involves using flexible medical instruments such as endoscopes and catheters. Magnetically actuated catheters can provide improved steering precision over conventional catheters. However, besides the actuation method, an accurate tip position is required for precise control of the medical instruments. In this study, the tip position obtained from transverse 2D ultrasound images and multicore optical shape sensors are combined using a robust sensor fusion algorithm. The tip position is tracked in the ultrasound images using a template-based tracker and a convolutional neural network based tracker, respectively. Experimental results for a rhombus path are presented, where data obtained from both tracking sources are fused using Luenberger and Kalman state estimators. The mean and standard deviation of the Euclidean error for the Luenberger observer is 0.2pm 0.11 [mm] whereas for the Kalman filter it is 0.18pm 0.13 [mm], respectively.

Involved external institutions

University of Twente NL Netherlands (NL) Technische Universität München (TUM) DE Germany (DE) Johns Hopkins University (JHU) US United States (USA) (US)

How to cite

APA:

Denasi, A., Khan, F., Boskma, K.J., Kaya, M., Hennersperger, C., Gobl, R.,... Misra, S. (2018). An Observer-Based Fusion Method Using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 50-57). Brisbane, QLD, AUS: Institute of Electrical and Electronics Engineers Inc..

MLA:

Denasi, Alper, et al. "An Observer-Based Fusion Method Using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters." Proceedings of the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, QLD, AUS Institute of Electrical and Electronics Engineers Inc., 2018. 50-57.

BibTeX: Download