3D catheter guidance including shape sensing for endovascular navigation

Sonja Jäckle; Verónica García-Vázquez; Felix Andreas Freiherr von Haxthausen; Tim Eixmann; Malte Maria Sieren; Hinnerk Schulz-Hildebrandt; Gereon Hüttmann; Floris Ernst; Markus Kleemann; Torben Pätz

doi:10.1117/12.2548094

3D catheter guidance including shape sensing for endovascular navigation

Sonja Jäckle, Verónica García-Vázquez, Felix Andreas Freiherr von Haxthausen, Tim Eixmann, Malte Maria Sieren, Hinnerk Schulz-Hildebrandt, Gereon Hüttmann, Floris Ernst, Markus Kleemann, Torben Pätz

Abstract

Currently, uoroscopy and conventional digital subtraction angiography are used for imaging guidance in endovascular aortic repair (EVAR) procedures. Drawbacks of these image modalities are X-ray exposure, the usage of contrast agents and the lack of depth information. To overcome these disadvantages, a catheter prototype containing a multicore fiber with fiber Bragg gratings for shape sensing and three electromagnetic (EM) sensors for locating the shape was built in this study. Furthermore, a model for processing the input data from the tracking systems to obtain the located 3D shape of the first 38 cm of the catheter was introduced: A spatial calibration between the optical fiber and each EM sensor was made in a calibration step and used to obtain the located shape of the catheter in subsequent experiments. The evaluation of our shape localization method with the catheter prototype in different shapes resulted in average errors from 0.99 to 2.29 mm and maximum errors from 1.73 to 2.99 mm. The experiments showed that an accurate shape localization with a multicore fiber and three EM sensors is possible, and that this catheter guidance is promising for EVAR procedures. Future work will be focused on the development of catheter guidance based on shape sensing with a multicore fiber, and the orientation and position of less than three EM sensors.

Original language	English
Title of host publication	Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling
Editors	Baowei Fei, Cristian A. Linte
Number of pages	9
Volume	11315
Publisher	SPIE
Publication date	16.03.2020
Pages	3
Article number	1131504
ISBN (Print)	978-151063397-1
DOIs	https://doi.org/10.1117/12.2548094
Publication status	Published - 16.03.2020
Event	Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling - Houston, United States Duration: 16.02.2020 → 19.02.2020 Conference number: 159792

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Academic Focus: Biomedical Engineering

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This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1117/12.2548094

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Jäckle, S., García-Vázquez, V., Freiherr von Haxthausen, F. A., Eixmann, T., Sieren, M. M., Schulz-Hildebrandt, H., Hüttmann, G., Ernst, F., Kleemann, M., & Pätz, T. (2020). 3D catheter guidance including shape sensing for endovascular navigation. In B. Fei, & C. A. Linte (Eds.), Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling (Vol. 11315, pp. 3). Article 1131504 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 11315). SPIE. https://doi.org/10.1117/12.2548094

Jäckle, Sonja ; García-Vázquez, Verónica ; Freiherr von Haxthausen, Felix Andreas et al. / 3D catheter guidance including shape sensing for endovascular navigation. Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling. editor / Baowei Fei ; Cristian A. Linte. Vol. 11315 SPIE, 2020. pp. 3 (Proceedings of SPIE - The International Society for Optical Engineering).

@inproceedings{e3f60b16961842858061d78e71604aa6,

title = "3D catheter guidance including shape sensing for endovascular navigation",

abstract = "Currently, uoroscopy and conventional digital subtraction angiography are used for imaging guidance in endovascular aortic repair (EVAR) procedures. Drawbacks of these image modalities are X-ray exposure, the usage of contrast agents and the lack of depth information. To overcome these disadvantages, a catheter prototype containing a multicore fiber with fiber Bragg gratings for shape sensing and three electromagnetic (EM) sensors for locating the shape was built in this study. Furthermore, a model for processing the input data from the tracking systems to obtain the located 3D shape of the first 38 cm of the catheter was introduced: A spatial calibration between the optical fiber and each EM sensor was made in a calibration step and used to obtain the located shape of the catheter in subsequent experiments. The evaluation of our shape localization method with the catheter prototype in different shapes resulted in average errors from 0.99 to 2.29 mm and maximum errors from 1.73 to 2.99 mm. The experiments showed that an accurate shape localization with a multicore fiber and three EM sensors is possible, and that this catheter guidance is promising for EVAR procedures. Future work will be focused on the development of catheter guidance based on shape sensing with a multicore fiber, and the orientation and position of less than three EM sensors.",

author = "Sonja J{\"a}ckle and Ver{\'o}nica Garc{\'i}a-V{\'a}zquez and {Freiherr von Haxthausen}, {Felix Andreas} and Tim Eixmann and Sieren, {Malte Maria} and Hinnerk Schulz-Hildebrandt and Gereon H{\"u}ttmann and Floris Ernst and Markus Kleemann and Torben P{\"a}tz",

note = "Funding Information: This work was funded by the German Federal Ministry of Education and Research (BMBF, project Nav EVAR, funding code: 13GW0228) and the Ministry of Economic Affairs, Employment, Transport and Technology of Schleswig-Holstein. The authors would like to thank Armin Herzog (Klinik f{\"u}r Radiologie und Nuklearmedizin, Universit{\"a}tsklinikums Schleswig-Holstein, Campus L{\"u}beck) for support of CT scanner. Moreover, the authors extend their gratitude to Timo Damm (Molecular Imaging North Competence Center (MOINCC), Kiel), Christina Debbeler (Institut f{\"u}r Medizintechnik, Universit{\"a}t zu L{\"u}beck), Tobias Klepsch (Medizinische Bildgebung, Tech-nische Hochschule L{\"u}beck), Jan Stenzel (Core Facility Multimodale Kleintierbildgebung, Universit{\"a}tsmedizin Rostock) and Alexandra de Francisco L{\'o}pez and Yolanda Sierra Palomares (Instituto de Investigaci{\'o}n Sanitaria Gregorio Mara{\~n}{\'o}n, Madrid) for their technical support. Publisher Copyright: {\textcopyright} 2020 SPIE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling ; Conference date: 16-02-2020 Through 19-02-2020",

year = "2020",

month = mar,

day = "16",

doi = "10.1117/12.2548094",

language = "English",

isbn = "978-151063397-1",

volume = "11315",

series = "Proceedings of SPIE - The International Society for Optical Engineering",

publisher = "SPIE",

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booktitle = "Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling",

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Jäckle, S, García-Vázquez, V, Freiherr von Haxthausen, FA, Eixmann, T, Sieren, MM, Schulz-Hildebrandt, H, Hüttmann, G , Ernst, F, Kleemann, M & Pätz, T 2020, 3D catheter guidance including shape sensing for endovascular navigation. in B Fei & CA Linte (eds), Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling. vol. 11315, 1131504, Proceedings of SPIE - The International Society for Optical Engineering, vol. 11315, SPIE, pp. 3, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling , Houston, Texas, United States, 16.02.20. https://doi.org/10.1117/12.2548094

3D catheter guidance including shape sensing for endovascular navigation. / Jäckle, Sonja; García-Vázquez, Verónica; Freiherr von Haxthausen, Felix Andreas et al.
Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling. ed. / Baowei Fei; Cristian A. Linte. Vol. 11315 SPIE, 2020. p. 3 1131504 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 11315).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

TY - GEN

T1 - 3D catheter guidance including shape sensing for endovascular navigation

AU - Jäckle, Sonja

AU - García-Vázquez, Verónica

AU - Freiherr von Haxthausen, Felix Andreas

AU - Eixmann, Tim

AU - Sieren, Malte Maria

AU - Schulz-Hildebrandt, Hinnerk

AU - Hüttmann, Gereon

AU - Ernst, Floris

AU - Kleemann, Markus

AU - Pätz, Torben

N1 - Conference code: 159792

PY - 2020/3/16

Y1 - 2020/3/16

N2 - Currently, uoroscopy and conventional digital subtraction angiography are used for imaging guidance in endovascular aortic repair (EVAR) procedures. Drawbacks of these image modalities are X-ray exposure, the usage of contrast agents and the lack of depth information. To overcome these disadvantages, a catheter prototype containing a multicore fiber with fiber Bragg gratings for shape sensing and three electromagnetic (EM) sensors for locating the shape was built in this study. Furthermore, a model for processing the input data from the tracking systems to obtain the located 3D shape of the first 38 cm of the catheter was introduced: A spatial calibration between the optical fiber and each EM sensor was made in a calibration step and used to obtain the located shape of the catheter in subsequent experiments. The evaluation of our shape localization method with the catheter prototype in different shapes resulted in average errors from 0.99 to 2.29 mm and maximum errors from 1.73 to 2.99 mm. The experiments showed that an accurate shape localization with a multicore fiber and three EM sensors is possible, and that this catheter guidance is promising for EVAR procedures. Future work will be focused on the development of catheter guidance based on shape sensing with a multicore fiber, and the orientation and position of less than three EM sensors.

AB - Currently, uoroscopy and conventional digital subtraction angiography are used for imaging guidance in endovascular aortic repair (EVAR) procedures. Drawbacks of these image modalities are X-ray exposure, the usage of contrast agents and the lack of depth information. To overcome these disadvantages, a catheter prototype containing a multicore fiber with fiber Bragg gratings for shape sensing and three electromagnetic (EM) sensors for locating the shape was built in this study. Furthermore, a model for processing the input data from the tracking systems to obtain the located 3D shape of the first 38 cm of the catheter was introduced: A spatial calibration between the optical fiber and each EM sensor was made in a calibration step and used to obtain the located shape of the catheter in subsequent experiments. The evaluation of our shape localization method with the catheter prototype in different shapes resulted in average errors from 0.99 to 2.29 mm and maximum errors from 1.73 to 2.99 mm. The experiments showed that an accurate shape localization with a multicore fiber and three EM sensors is possible, and that this catheter guidance is promising for EVAR procedures. Future work will be focused on the development of catheter guidance based on shape sensing with a multicore fiber, and the orientation and position of less than three EM sensors.

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M3 - Conference contribution

SN - 978-151063397-1

VL - 11315

T3 - Proceedings of SPIE - The International Society for Optical Engineering

SP - 3

BT - Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling

A2 - Fei, Baowei

A2 - Linte, Cristian A.

PB - SPIE

T2 - Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling

Y2 - 16 February 2020 through 19 February 2020

ER -

Jäckle S, García-Vázquez V, Freiherr von Haxthausen FA, Eixmann T, Sieren MM, Schulz-Hildebrandt H et al. 3D catheter guidance including shape sensing for endovascular navigation. In Fei B, Linte CA, editors, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling. Vol. 11315. SPIE. 2020. p. 3. 1131504. (Proceedings of SPIE - The International Society for Optical Engineering). doi: 10.1117/12.2548094

3D catheter guidance including shape sensing for endovascular navigation

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