Robust Catheter Tracking by Fusing Electromagnetic Tracking, Fiber Bragg
Grating and Sparse Fluoroscopic Images
- Xuan Thao Ha ,
- Mouloud Ourak ,
- Omar Al-Ahmad ,
- Di Wu ,
- Gianni Borghesan ,
- Arianna Menciassi ,
- Emmanuel Vander Poorten
Abstract
In this paper, we propose a novel method to improve the shape sensing
accuracy of FBG for catheter by fusing FBG-based sensed shape with
sparse fluoroscopic images. The main advantage of the new proposed
method compared to other methods are the limited number in fluoroscopic
image used during procedure while it still maintains high precision
real-time 3D visualization of the catheter. To demonstrate the
performance of the proposed method 2D and 3D dynamic experiments were
carried out and they shows promising results. For a catheter with an
embedded fiber length of 170 mm, the proposed approach can reconstruct
the 3D shape with a median root mean square error of 0.54 mm were seen
in the 3D experiments compared to the traditional approach of using FBG
alone of 0.86 mm.