Robotic Catheter Tracking

This work presents a preliminary study on tracking the MRI-Guided robotic catheter from MR Images. The proposed algorithm is based on the particle filter and uses the detected catheter location in the MR images as the measurements. The quasi-static kinematic model of the catheter serves as the motion model of the particle filter, and the measurement model of the particle filter calculates the weight from the Euclidean distance between the detected catheter location in the MR images and a predicted location of the catheter based on its current configuration. The feasibility algorithm is demonstrated with simulation studies and on a robotic catheter testbed.

Manuscript in preparation

• State Estimation of an MRI-Actuated Robotic Catheter from MR Images
  E. E. Tuna, D. Franson, N. Seiberlich, and M.C. Cavusoglu
  In Preparation.