Real-Time Multi-Modal Sensing and Feedback for Catheterization in Porcine Tissue.

ABSTRACT: In this study, we introduce a multi-modal sensing and feedback framework aimed at assisting clinicians during endovascular surgeries and catheterization procedures. This framework utilizes state-of-the-art imaging and sensing sub-systems to produce a 3D visualization of an endovascular catheter and surrounding vasculature without the need for intra-operative X-rays. The catheterization experiments within this study are conducted inside a porcine limb undergoing motions. A hybrid position-force controller of a robotically-actuated ultrasound (US) transducer for uneven porcine tissue surfaces is introduced. The tissue, vasculature, and catheter are visualized by integrated real-time US images, 3D surface imaging, and Fiber Bragg Grating (FBG) sensors. During externally-induced limb motions,

SUBMITTER: Heunis CM 

PROVIDER: S-EPMC7795440 | biostudies-literature | 2021 Jan

REPOSITORIES: biostudies-literature