Fast vision-based catheter 3D reconstruction

Moradi Dalvand, Mohsen, Nahavandi, Saeid and Howe, Robert D. 2016, Fast vision-based catheter 3D reconstruction, Physics in medicine and biology, vol. 61, no. 14, pp. 5128-5148, doi: 10.1088/0031-9155/61/14/5128.

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Title Fast vision-based catheter 3D reconstruction
Author(s) Moradi Dalvand, Mohsen
Nahavandi, SaeidORCID iD for Nahavandi, Saeid
Howe, Robert D.
Journal name Physics in medicine and biology
Volume number 61
Issue number 14
Start page 5128
End page 5148
Total pages 21
Publisher Institute of Physics Publishing
Place of publication Bristol, Eng.
Publication date 2016-07-21
ISSN 1361-6560
Summary Continuum robots offer better maneuverability and inherent compliance and are well-suited for surgical applications as catheters, where gentle interaction with the environment is desired. However, sensing their shape and tip position is a challenge as traditional sensors can not be employed in the way they are in rigid robotic manipulators. In this paper, a high speed vision-based shape sensing algorithm for real-time 3D reconstruction of continuum robots based on the views of two arbitrary positioned cameras is presented. The algorithm is based on the closed-form analytical solution of the reconstruction of quadratic curves in 3D space from two arbitrary perspective projections. High-speed image processing algorithms are developed for the segmentation and feature extraction from the images. The proposed algorithms are experimentally validated for accuracy by measuring the tip position, length and bending and orientation angles for known circular and elliptical catheter shaped tubes. Sensitivity analysis is also carried out to evaluate the robustness of the algorithm. Experimental results demonstrate good accuracy (maximum errors of  ±0.6 mm and  ±0.5 deg), performance (200 Hz), and robustness (maximum absolute error of 1.74 mm, 3.64 deg for the added noises) of the proposed high speed algorithms.
Language eng
DOI 10.1088/0031-9155/61/14/5128
Field of Research 090304 Medical Devices
091399 Mechanical Engineering not elsewhere classified
080106 Image Processing
010101 Algebra and Number Theory
010299 Applied Mathematics not elsewhere classified
0299 Other Physical Sciences
0903 Biomedical Engineering
Socio Economic Objective 861502 Medical Instruments
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2016, Institute of Physics Publishing
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