Robust Catheter and Guidewire Tracking Using B-Spline Tube Model and Pixel-Wise Posteriors
Robust Catheter and Guidewire Tracking Using B-Spline Tube Model and Pixel-Wise Posteriors
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DOI：
10.1109/lra.2016.2517821
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发表时间：
2016-01-01
影响因子：
5.2
通讯作者：
Stoyanov, Danail
中科院分区：
文献类型：
--
作者：
Chang, Ping-Lin;Rolls, Alexander;Stoyanov, Danail
在血管内手术和心脏病学中，机器人导管正在成为一种有前途的技术，用于增强导管操作和导航，同时减少辐射暴露。对于机器人导管系统，尤其是具有肌腱致动的机器人导管系统，关键挑战是导管形状和位置在解剖结构内的定位。一种有效的方法是通过基于图像的导管/导丝检测和跟踪。然而，这些都是困难的问题，由于薄的外观的仪器在图像和低信噪比的荧光透视。在这封信中，我们提出了一个可变形的B样条管模型，它可以有效地表示导管和导丝的形状。该模型允许使用基于区域的概率算法进行拟合，该算法不依赖于强度梯度，而是利用有符号距离函数和测量的非参数分布。与以前的B样条拟合方法，优化样条控制点，我们提出了一个节点驱动的计划，更好地拟合复杂的曲线之前，等距。我们的概率框架显示了在不同手术中导管和导丝跟踪的有希望的结果，即使处理重叠的仪器段。我们目前的实证研究，使用体模模型数据和在体内荧光序列与注释地面真相。我们的研究结果表明，所提出的方法可以精确地模拟导管和导丝的轮廓在近真实的时间，这些信息可以嵌入到一个机器人导管控制回路或用于图像引导。
In endovascular surgery and cardiology, robotic catheters are emerging as a promising technology for enhanced catheter manipulation and navigation while reducing radiation exposure. For robotic catheter systems especially with tendon actuation, a key challenge is the localisation of the catheter shape and position within the anatomy. An effective approach is through image-based catheter/guidewire detection and tracking. However, these are difficult problems due to the thin appearance of the instruments in the image and the low signal-to-noise ratio of fluoroscopy. In this letter, we propose a deformable B-spline tube model, which can effectively represent the shape of a catheter and guidewire. The model allows fitting using a region-based probabilistic algorithm, which does not rely on intensity gradients but exploits a signed distance function and the nonparametric distributions of measurements. Unlike previous B-spline fitting approaches, which optimise the spline with respect to control points, we propose a knot-driven scheme with an equidistance prior to better fit complex curves. Our probabilistic framework shows promising results for catheter and guidewire tracking in different procedures even with handling overlapping instrument segments. We present empirical studies using phantom model data and in vivo fluoroscopic sequences with annotated ground truth. Our results indicate that the proposed approach can precisely model the catheter and guidewire contours in near real time, and this information can be embedded in a robotic catheter control loop or utilised for image-guidance.