Research On Image Guidance Of Active-Catheter

Minimally invasive vascular surgery is one of the most revolutionary breakthroughs in modern medicine. Compared with traditional opening surgery, it has many an advantages such as smaller incision, less blood loss and quicker recovery and hence has been widely used around the world. Currently, the catheterization is guided by the 2-D X-ray image. It demands high-level operation skill and limits the success rate. To overcome these shortcomings, a 3-D image guidance technique for the active catheter was proposed in this papersOn the basis of skeletonization of 3D vasculature, the navigation path from the start and target point was generated. A virtual camera was set along the navigation path and the endoscopic view was provided, which facilitate the judgments of surgeons.Collision detection between the catheter and vessels was realized based on the axis aligned bounding box (AABB) technique. The AABB trees of both catheter and vessels were built and collision among these boxes was performed. The intersection test between triangular patches is further carried out to determine the collision information during intervention.A study of the dynamic vascular model was performed. Mass-spring model theory was been used to simulate of the vascular motion. Based on the static model which represented by triangular patches, the mass-spring physical property was set input, and the virtual blood pressure was used to simulate as the impetus. Then the Active Catheter Image Navigation System (ACINS) was build. It contents four parts: geometric model part, user interaction part, data acquisition part and image display part. Additionally, the software simulation training of interventional surgery was added in the ACINS, it proved a convenient training platform for the surgeons.Finally, a minimally invasive vascular surgery experiment was implemented. The iterative closest point (ICP) algorithm was applied to registration between physical space and image space. Electromagnetic 3D position and orientation tracking system is utilized to get the position of the active catheter. The position and orientation of catheter was showed in real-time. The precision of ACINS was evaluated. It has a mean error of 0.19mm and a standard deviation of 0.48mm.