Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback
Jared Lawson,Rohan Chitale,Nabil Simaan,Jared Lawson,Rohan Chitale,Nabil Simaan
Small catheters undergo significant torsional deflections during endovascular interventions. A key challenge in enabling robot control of these catheters is the estimation of their bending planes. This paper considers approaches for estimating these bending planes based on bi-plane image feedback. The proposed approaches attempt to minimize error between either the direct (position-based) or insta...
