Vessel-based rigid registration for endovascular therapy of the abdominal aorta

Nypan, Erik; Tangen, Geir; Manstad-Hulaas, Frode; Brekken, Reidar

doi:10.1080/13645706.2019.1575240

Cited by 11 publications

(12 citation statements)

References 20 publications

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“…Second, the blood vessel centerline has been reported to be employed for automatic blood vessel segmentation, while in the present study, the ine cient method of manual segmentation was still in use [20]. Third, the point cloud, iterative-closest-point matching algorithm, and semiautomatic rigid 3D registration have been shown to be capable of registration with promising results [19]. Instead, in this study, a simple point-topoint registration with three marker points was used, potentially causing some imprecision.…”

Section: Discussionmentioning

confidence: 64%

“…It has been reported that active moving anatomical markers, such as the heart surface, or manually installed body surface markers were used as the marker points for registration [18][19][20]. In this study, we used the skeleton as the marker points to ensure that the registration results were more stable and accurate, because the skeleton had no position change during image acquisition.…”

Section: Discussionmentioning

confidence: 99%

“…During CTA data collection, raising or distaling the shoulder will signi cantly change the relative position relationship between the humeral head and the sternoclavicular joint, after which the arteries between those two will demonstrate completely different directions. Meanwhile, respiratory movement will also lead to the continuous change of thoracic cavity volume, leading to the relative displacement of the blood vessels close to the thoracic cavity and even motion artifact [18,19,24,25]. By instructing volunteers to take a uni ed posture for image acquisition, or using some simple xing stents, this type of dispersion will be reduced.…”

Section: Discussionmentioning

confidence: 99%

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Establishment of Standard Human Blood Vessel Model Based on Image Registration and Fitting Technology

Luo¹,

Wu²,

Wang³

et al. 2021

Preprint

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Purpose: The blood vessel gives key information for pathological changes in a variety of diseases. In view of the crucial role of blood vessel structure, the present study aims to establish a digital human blood vessel standard model for diagnosing blood vessel-related diseases. Methods: The present study recruited eight healthy volunteers, and reconstructed their bilateral upper extremity arteries according to CTA. The reconstructed vessels were segmented, registered, and merged into a bunch. After being cut by continuous cut planes, the dispersion of the blood vessel bunches on each cut plane were calculated. Results: The results demonstrated that the middle segment of the brachial artery, the proximal segment of the ulnar artery, and the middle and distal segments of the radial artery had a low degree of dispersion. A standard blood vessel model was finally established by the integral method using the low-dispersion segments above. The accuracy of the standard blood vessel model was also verified by an actual contralateral vessel, which revealed that the deviation between the model and the actual normal contralateral brachial artery was relatively small. Conclusion: The structure of the model was highly accordant with the real ones, which can be of great help in evaluating the blood vessel changes in blood vessel-related diseases, bone and soft-tissue tumors, and creating accurate surgical plans.

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Section: Discussionmentioning

confidence: 64%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Establishment of Standard Human Blood Vessel Model Based on Image Registration and Fitting Technology

Luo¹,

Wu²,

Wang³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…The normalized path length g l (a) is presented as (11), where the length l(a) is a cumulative sum of the distance Fig. 4 Schematics of the genetic algorithm procedure for local optimization between adjacent points.…”

Section: Local Plannermentioning

confidence: 99%

“…In real applications, the proper replanning frequency is usually constrained by multiple factors: the catheter tip position tracking frequency, vision sensing feedback frequency, and controller frequency. For example, the frequency of an electromagnetic tracking system (Aurora) is 40Hz [11], the frequency of intra-operative model reconstruction is 1.25Hz [19], and the controller frequency is 10Hz [15]. Therefore, the replanning frequency needs to be set accordingly.…”

Section: Introductionmentioning

confidence: 99%

Path planning for endovascular catheterization under curvature constraints via two-phase searching approach

Dankelman

Momi

2021

Int J CARS

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Purpose Planning a safe path for flexible catheters is one of the major challenges of endovascular catheterization. State-of-the-art methods rarely consider the catheter curvature constraint and reduced computational time of path planning which guarantees the possibility to re-plan the path during the actual operation. Methods In this manuscript, we propose a fast two-phase path planning approach under the robot curvature constraint. Firstly, the vascular structure is extracted and represented by vascular centerlines and corresponding vascular radii. Then, the path is searched along the vascular centerline using breadth first search (BFS) strategy and locally optimized via the genetic algorithm (GA) to satisfy the robot curvature constraint. This approach (BFS-GA) is able to respect the robot curvature constraint while keeping it close to the centerlines as much as possible. We can also reduce the optimization search space and perform parallel optimization to shorten the computational time. Results We demonstrate the method’s high efficiency in two-dimensional and three-dimensional space scenarios. The results showed the planner’s ability to satisfy the robot curvature constraint while keeping low computational time cost compared with sampling-based methods. Path replanning in femoral arteries can reach an updating frequency at $$6.4\pm 2.3$$ 6.4 ± 2.3 Hz. Conclusion The presented work is suited for surgical procedures demanding satisfying curvature constraints while optimizing specified criteria. It is also applicable for curvature constrained robots in narrow passages.

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WarpEM: Dynamic Time Warping for Accurate Catheter Registration in EM-Guided Procedures

Ramadani,

Ewert,

Schunkert

et al. 2023

Lecture Notes in Computer Science

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Vessel-based rigid registration for endovascular therapy of the abdominal aorta

Cited by 11 publications

References 20 publications

Establishment of Standard Human Blood Vessel Model Based on Image Registration and Fitting Technology

Establishment of Standard Human Blood Vessel Model Based on Image Registration and Fitting Technology

Path planning for endovascular catheterization under curvature constraints via two-phase searching approach

WarpEM: Dynamic Time Warping for Accurate Catheter Registration in EM-Guided Procedures

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