High sensitivity vasculature models and catheter trajectory reconstruction using a bi-planar vision system

Simulator based evaluation has been used for medical licensing, intravascular tools evaluation and robotic catheter insertion systems research. However it is need to develop quantitative evaluation methods for the catheter trajectory inside vasculature phantoms. In this study we present two technologies developed for that purpose. First we present models of vasculature made of epoxy resin with higher sensitivity for photoelastic effect than previously used modeling materials. The second contribution for that purpose is a stereovision system for measuring evaluation parameters such as catheter tip motion capture, model deformation and stress within the model at 3fps enabling comparison catheter trajectories and catheter insertion robot control. Models of carotid artery, saccular aneurysm with bleb, aorta arch and giant aneurysm were built using the epoxy resin. And for the robot control using the vision system, from 10 consecutive trials of trajectory reconstruction in a model of carotid artery a success rate of 80% was obtained with feedback control activated.

[1]  Toshio Fukuda,et al.  Human Blood Pressure Simulation for Stress Analysis in Model of Vasculature Using Photoelastic Effect , 2009, Int. J. Autom. Technol..

[2]  T Fukuda,et al.  Numerical evaluation method for catheter prototypes using photo‐elastic stress analysis on patient‐specific vascular model , 2007, The international journal of medical robotics + computer assisted surgery : MRCAS.

[3]  Kevin Kunkler,et al.  The role of medical simulation: an overview , 2006, The international journal of medical robotics + computer assisted surgery : MRCAS.

[4]  D Bergqvist,et al.  Assessing endovascular skills using the Simulator for Testing and Rating Endovascular Skills (STRESS) machine. , 2009, European journal of vascular and endovascular surgery : the official journal of the European Society for Vascular Surgery.

[5]  F Arai,et al.  Photoelastic stress analysis in blood vessel phantoms: three‐dimensional visualization and saccular aneurysm with bleb , 2011, The international journal of medical robotics + computer assisted surgery : MRCAS.

[6]  F Arai,et al.  Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery , 2007, The international journal of medical robotics + computer assisted surgery : MRCAS.

[7]  Fumihito Arai,et al.  Patient-Specific IVR Endovascular Simulator with Augmented Reality for Medical Training and Robot Evaluation , 2008, J. Robotics Mechatronics.

[8]  Toshio Fukuda,et al.  Image Processing for Sensing Guide Wire Behaviour during Endovascular Surgery Simulation , 2010, ISR/ROBOTIK.

[9]  Kaspar Althoefer,et al.  Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures , 2010, 2010 IEEE International Conference on Robotics and Automation.

[10]  D. Caleb Rucker,et al.  A model for concentric tube continuum robots under applied wrenches , 2010, 2010 IEEE International Conference on Robotics and Automation.

[11]  Thenkurussi Kesavadas,et al.  Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices , 2010, The international journal of medical robotics + computer assisted surgery : MRCAS.

[12]  Fumihito Arai,et al.  Numerical comparison of catheter insertion trajectory within blood vessel model using image processing , 2010, 2010 International Symposium on Micro-NanoMechatronics and Human Science.

[13]  J. Birkmeyer,et al.  Simulation Improves Resident Performance in Catheter-Based Intervention: Results of a Randomized, Controlled Study , 2006, Annals of surgery.

[14]  Toshio Fukuda,et al.  Photoelastic Stress Analysis Error Quantification in Vasculature Models for Robot Feedback Control , 2010, IEEE/ASME Transactions on Mechatronics.