Lee Su-Lin, Kwok Ka-Wai, Wang Lichao, Riga Celia, Bicknell Colin, Cheshire Nicholas, Yang Guang-Zhong
Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.
Academic Division of Surgery, Imperial College London, London, UK.
J Robot Surg. 2013 Sep 1;7(3):251-60. doi: 10.1007/s11701-013-0423-2.
The improvements to catheter manipulation by the use of robot-assisted catheter navigation for endovascular procedures include increased precision, stability of motion and operator comfort. However, navigation through the vasculature under fluoroscopic guidance is still challenging, mostly due to physiological motion and when tortuous vessels are involved. In this paper, we propose a motion-adaptive catheter navigation scheme based on shape modelling to compensate for these dynamic effects, permitting predictive and dynamic navigations. This allows for timed manipulations synchronised with the vascular motion. The technical contribution of the paper includes the following two aspects. Firstly, a dynamic shape modelling and real-time instantiation scheme based on sparse data obtained intra-operatively is proposed for improved visualisation of the 3D vasculature during endovascular intervention. Secondly, a reconstructed frontal view from the catheter tip using the derived dynamic model is used as an interventional aid to user guidance. To demonstrate the practical value of the proposed framework, a simulated aortic branch cannulation procedure is used with detailed user validation to demonstrate the improvement in navigation quality and efficiency.
通过使用机器人辅助导管导航进行血管内手术，导管操作的改进包括提高了精度、运动稳定性和操作者舒适度。然而，在荧光透视引导下通过脉管系统进行导航仍然具有挑战性，主要是由于生理运动以及涉及到迂曲血管时。在本文中，我们提出了一种基于形状建模的运动自适应导管导航方案，以补偿这些动态影响，实现预测性和动态导航。这使得能够进行与血管运动同步的定时操作。本文的技术贡献包括以下两个方面。首先，提出了一种基于术中获得的稀疏数据的动态形状建模和实时实例化方案，以改善血管内介入过程中三维脉管系统的可视化。其次，使用从导管尖端利用导出的动态模型重建的正视图作为用户引导的介入辅助。为了证明所提出框架的实用价值，使用了模拟主动脉分支插管程序，并进行了详细的用户验证，以证明导航质量和效率的提高。
