State Estimation for MRI-Actuated Cathers via Catadioptric Stereo Camera
State Estimation for MRI-Actuated Cathers via Catadioptric Stereo Camera
复制标题
通过折反射立体相机对 MRI 驱动导管进行状态估计
DOI：
10.1109/iros.2018.8594153
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Cavusoglu, M. Cenk
中科院分区：
文献类型：
--
作者：
Greigarn, Tipakorn;Jackson, Russell;Cavusoglu, M. Cenk
MRI驱动导管是一种新型机器人导管系统，利用MR扫描仪进行远程操纵和导管跟踪。为了开发与MR跟踪系统并行的导管的数学模型和规划算法，需要替代导管跟踪方法。提出了一种基于粒子滤波和折反射摄像系统的导管跟踪算法。粒子滤波器的运动模型基于导管的准静态运动学。测量模型根据摄像机分割图像和导管虚拟渲染的归一化互相关计算粒子的权重。实验结果证明了该算法的有效性。
An MRI-actuated catheter is a novel robotic catheter system that utilizes the MR scanner for both remote steering and catheter tracking. In order to develop the mathematical model and the planning algorithm of the catheter in parallel to the MR tracking system, an alternative catheter tracking method is needed. This paper presents a catheter tracking algorithm based on the particle filter and the catadioptric camera system. The motion model of the particle filter is based on the quasi-static kinematics of the catheter. The measurement model calculates the weights of the particles according to the normalized crosscorrelation of the segmented image from camera and a virtual rendering of the catheter. The efficacy of the tracking algorithm is demonstrates via experimental results.
DOI：
10.1109/icra.2017.7989414
发表时间：
2017-05
期刊：
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Greigarn T;Jackson R;Liu T;Çavuşoğlu MC
通讯作者：
Çavuşoğlu MC
影响因子：
7.8
作者：
Burgner-Kahrs, Jessica;Rucker, D. Caleb;Choset, Howie
通讯作者：
Choset, Howie