Ultrasound-based tracking strategy for endoluminal devices in cardiovascular surgery

作者：Mura Marco; Ciuti Gastone^*; Ferrari Vincenzo; Dario Paolo; Menciassi Arianna

来源：International Journal of Medical Robotics and Computer Assisted Surgery, 2015, 11(3): 319-330.

DOI：10.1002/rcs.1603

• robotic-assisted surgery
• cardiovascular intervention
• ultrasound tracking
• soft-tethered endoluminal device
• robotic magnetic guidance

BackgroundMagnetic endovascular navigation of wireless or soft-tethered endoluminal devices was recently proposed in the literature. This approach allows for innovative therapeutic procedures, but developing a real-time tracking strategy, compatible with magnetic dragging, is a challenging problem and is not yet solved.
MethodsTwo-dimensional (2D) imaging ultrasound (US)-based tracking algorithms applied to a platform for cardiovascular treatment, i.e.the MicroVAST platform, were implemented and tested for deriving the optimal strategy for tracking endovascular devices dragged by magnetic locomotion.
ResultsThe algorithm, based on the combination of Shi-Tomasi features detector, Lucas-Kanade features tracking and watershed segmentation technique, was demonstrated to be the most reliable and accurate solution for the implementation of the tracking strategy of soft-tethered endoluminal devices.
ConclusionsOur results encourage the development of US-based tracking algorithms for endoluminal devices in cardiovascular surgery, paving the way to a robust three-dimensional (3D) imaging US-based tracking strategy implementation.

• 出版日期2015-9