Catadioptric Stereo Tracking for Three Dimensional Shape Measurement of MRI Guided Catheters.
Catadioptric Stereo Tracking for Three Dimensional Shape Measurement of MRI Guided Catheters.
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用于 MRI 引导导管三维形状测量的折反射立体跟踪。
DOI：
10.1109/icra.2016.7487641
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Çavuşoğlu,MCenk
中科院分区：
文献类型：
--
作者：
Jackson,RussellC;Liu,Taoming;Çavuşoğlu,MCenk
最近推出的磁共振成像（MRI）驱动的可控导管为提高心脏导管手术的有效性奠定了基础。MRI虽然能够对导管进行成像以进行跟踪和控制，但不能满足识别和开发完整导管模型所需的所有需求。具体而言，必须确定导管的频率响应，以确保导管系统的稳定控制。这需要比MRI可以实现的更高频率的成像。这项工作使用了一个折反射立体相机系统，包括一个镜子和一个单一的相机，以跟踪MRI驱动的导管内的MRI机。折反射系统与MRI并行工作，能够以60 fps的速度记录导管以进行后处理。在MRI内部的成像条件下验证折反射系统的准确性。然后，当导管在MRI内被致动时，立体相机用于跟踪导管。
The recent introduction of Magnetic Resonance Imaging (MRI)-actuated steerable catheters lays the ground work for increasing the efficacy of cardiac catheter procedures. The MRI, while capable of imaging the catheter for tracking and control, does not fulfill all of the needs required to identify and develop a complete catheter model. Specifially, the frequency response of the catheter must be identified to ensure stable control of the catheter system. This requires a higher frequency imaging than the MRI can achieve. This work uses a catadioptric stereo camera system consisting of a mirror and a single camera in order to track a MRI actuated catheter inside a MRI machine. The catadioptric system works in parallel to the MRI and is capable of recording the catheter at 60 fps for post processing. The accuracy of the catadioptric system is verified in imaging conditions that would be found inside the MRI. The stereo camera is then used to track a catheter as it is actuated inside the MRI.