Archive | 2021
Robust Catheter Tracking by Fusing Electromagnetic Tracking, Fiber Bragg Grating and Sparse Fluoroscopic Images
Abstract
In this paper, we propose a novel method to improve the shape sensing\naccuracy of FBG for catheter by fusing FBG-based sensed shape with sparse fluoroscopic\nimages. The main advantage of the new proposed method compared to other methods\nare the limited number in fluoroscopic image used during procedure while it\nstill maintains high precision real-time 3D visualization of the catheter. To\ndemonstrate the performance of the proposed method 2D and 3D dynamic\nexperiments were carried out and they shows\npromising results. For a catheter with an embedded fiber length of 170 mm, the\nproposed approach can reconstruct the 3D shape with a median root mean square\nerror of 0.54 mm were seen in the 3D experiments compared to the traditional\napproach of using FBG alone of 0.86 mm.