用定制标记实现微导管在脑血管中实时三维形变与姿态追踪
Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
- 通过定制放射显影标记布局，实现双平面造影下的同步形变与姿态估计
- 在小于2毫米外径的微导管上实现形变误差<1mm、扭转误差<40度
- 适用于神经介入场景，为导管自主导航提供视觉感知基础
在脑血管内安全导航可操纵及机器人导管，需实时掌握其形状与姿态。当前主要依赖术者通过双平面造影图像进行主观推断，负担沉重。现有追踪方法多限于平面分割或大型传感设备，不适用于神经介入中使用的微导管。本文提出一种基于定制放射显影标记的导管追踪方法，通过优化标记布局设计，降低对标记追踪不确定性的敏感性。该方法在小于2毫米外径的微导管上，在模拟血管环境中实现了形变追踪误差低于1毫米、导管扭转误差低于40度的表现。研究成果可支持可操纵导管在双平面成像下的自主导航。
原文摘要 · Abstract (English)
Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheters shape and pose. Currently, a significant perception burden is placed on interventionalists to mentally reconstruct and predict catheter motions from biplane fluoroscopy images. Efforts to track these catheters are limited to planar segmentation or bulky sensing instrumentation, which are incompatible with microcatheters used in neurointervention. In this work, a catheter is equipped with custom radiopaque markers arranged to enable simultaneous shape and pose estimation under biplane fluoroscopy. A design measure is proposed to guide the arrangement of these markers to minimize sensitivity to marker tracking uncertainty. This approach was deployed for microcatheters smaller than 2mm OD navigating phantom vasculature with shape tracking errors less than 1mm and catheter roll errors below 40 degrees. This work can enable steerable catheters to autonomously navigate under biplane imaging.
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