University of Twente Student Theses

Login

Vision-based guidance for robot assisted endovascular intervention

Schell, A. (2021) Vision-based guidance for robot assisted endovascular intervention.

[img] PDF
3MB
Abstract:Cardiovascular diseases are the predominant factor of death in the European Union. Over the years, a lot of emphasis have been put on minimal invasive procedures as they outperform the classical open surgeries. Robotic platforms have been designed to assist surgeons, in order to increase accuracy, repeatability, comfort, and post-operatory recovery times, but there are still disadvantages to be addresses. One of the main disadvantages is the imagining system based on X-ray angiography, which exposes both the patient and the practitioner to radiation. Another drawback is the lack of haptic feedback, such intervention requiring a skilled surgeon. In this thesis, a new robotic platform for endovascular interventions - CathBot (developed at the Imperial College London) - is presented and a vision-based guidance system is developed to offer visual and haptic feedback to the operator, providing information on the interactions between vasculature and the whole catheter during surgery. The imaging system proposed works on X-ray angiograms and with the help of state of the art machine learning algorithms it is able to detect both the blood vessels and the surgical instruments. The proposed network architecture was able to detect the vasculature with an average accuracy of 94%, and the instrumentation with an average accuracy of 88%. The system achieved 4 frames per second on a mid-end machine. A framework for contact point detection and force estimation is also proposed.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering MSc (60353)
Link to this item:https://purl.utwente.nl/essays/104175
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page