主动导管的实时轨迹跟踪和控制2007.pdfVIP

Image Processing Algorithms for Real-Time Tracking and Control of an Active Catheter* M. Azizian J. Jayender R.V. Patel Electrical and Computer Engineering University of Western Ontario London, Ontario, Canada Email: mazizian, jjagadee@uwo.ca, rajni@eng.uwo.ca Abstract— In this paper, we investigate vision-based robot- catheter into the body, thus preventing any damage to the assisted active catheter insertion. A map of the vessels is epithelial cells of the artery. Angioplasty also suffers from the extracted using image processing techniques and the locations of problem of guiding the catheter through extremely complex the junctions of the blood vessels are detected. The desired path of the catheter and the target is selected by the user/clinician. arteries. Repeated insertion of the catheter to guide it into a The tip of the catheter is tracked in real-time and the robot and branch can lead to rupturing of the artery at the branch. This the active catheter are controlled based on the position of the could also result in prolonged operating times and fatigue to catheter inside the vessels. The active catheter is commanded by clinicians and patients. The surgeon has no estimate on the an autonomous guidance algorithm to bend in the appropriate amount of force that is being applied by the tip of the catheter direction at the branches. The stroke length for the robotic insertion is controlled by the autonomous guidance algorithm on the wall of a blood vessel. Excessiv