Wang, Y;
Muthurangu, V;
Wurdemann, Helge;
(2023)
Toward Autonomous Pulmonary Artery Catheterization: A Learning-based Robotic Navigation System.
In:
Proceedings of the 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.
IEEE: Sydney, Australia.
Preview |
Text
Yaxi_Wang_EMBC_Final.pdf - Accepted Version Download (1MB) | Preview |
Abstract
Providing imaging during interventional treatments of cardiovascular diseases is challenging. Magnetic Resonance Imaging (MRI) has gained popularity as it is radiationfree and returns high resolution of soft tissue. However, the clinician has limited access to the patient, e.g., to their femoral artery, within the MRI scanner to accurately guide and manipulate an MR-compatible catheter. At the same time, communication will need to be maintained with a clinician, located in a separate control room, to provide the most appropriate image to the screen inside the MRI room. Hence, there is scope to explore the feasibility of how autonomous catheterization robots could support the steering of catheters along trajectories inside complex vessel anatomies. In this paper, we present a Learning from Demonstration based Gaussian Mixture Model for a robot trajectory optimisation during pulmonary artery catheterization. The optimisation algorithm is integrated into a 2 Degree-of-Freedom MRcompatible interventional robot allowing for continuous and simultaneous translation and rotation. Our methodology achieves autonomous navigation of the catheter tip from the inferior vena cava, through the right atrium and the right ventricle into the pulmonary artery where an interventions is performed. Our results show that our MR-compatible robot can follow an advancement trajectory generated by our Learning from Demonstration algorithm. Looking at the overall duration of the intervention, it can be concluded that procedures performed by the robot (teleoperated or autonomously) required significantly less time compared to manual hand-held procedures.
| Type: | Proceedings paper |
|---|---|
| Title: | Toward Autonomous Pulmonary Artery Catheterization: A Learning-based Robotic Navigation System |
| Event: | 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/EMBC40787.2023.10340140 |
| Publisher version: | https://doi.org/10.1109/EMBC40787.2023.10340140 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Heart, Shape, Magnetic resonance imaging, Catheterization, Phantoms, Trajectory, Robots |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10169138 |
Archive Staff Only
 |
View Item |
