University of Twente Student Theses
MRI-Guided Endovascular Interventions with CathBot Robotic Platform
Reinok, Martin (2024) MRI-Guided Endovascular Interventions with CathBot Robotic Platform.
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| Full Text Status: | Access to this publication is restricted |
| Embargo date: | 4 July 2025 |
| Abstract: | Endovascular procedures often rely on X-ray fluoroscopy for real-time imaging guidance, which poses risks of ionizing radiation. MRI offers a safer alternative with superior soft tissue contrast and no ionizing radiation. However, its use in procedural guidance is limited by technical challenges. This thesis addresses these challenges in MRI-guided endovascular interventions using the CathBot robotic platform and interactive MR imaging. The key issues are low spatial/temporal resolution, guidewire visibility, and procedure safety. The project aims to enhance MRI-guided procedures by optimizing an interactive MRI sequence, detecting an MR-safe passive endovascular guidewire using a convolutional neural network (CNN), and implementing haptic feedback on the CathBot platform. It compares balanced steady-state free precession (bSSFP) and gradient echo (GRE) sequences to optimize signal-to-noise and contrast-to-noise ratios while maintaining interactivity. The CNN detects susceptibility artifacts from paramagnetic markers on the guidewire in near real-time. Additionally, an automated MRI slice alignment system tracks the guidewire's movement. Integration with the CathBot platform provides real-time collision detection and haptic feedback, introducing a concept for haptic feedback in MRI-guided interventions, ensuring improved accuracy and reduced risk during procedures. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 54 computer science |
| Programme: | Embedded Systems MSc (60331) |
| Link to this item: | https://purl.utwente.nl/essays/99939 |
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