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Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
Jared Lawson, Rohan Chitale, Nabil Simaan
Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheters shape and pose. Currently, a significant perception burden is pla…
Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation
Jared Lawson, Madison Veliky, Colette P. Abah +3
Objective: The objective of this work is to introduce and demonstrate the effectiveness of a novel sensing modality for contact detection between an off-the-shelf aspiration cathet…
Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback
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…