首页|Georgia Institute of Technology Reports Findings in Robotics (Realtime Pose Tracking for a Continuum Guidewire Robot under Fluoroscopic Imaging)
Georgia Institute of Technology Reports Findings in Robotics (Realtime Pose Tracking for a Continuum Guidewire Robot under Fluoroscopic Imaging)
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New research on Robotics is the subject of a report. According to news reporting out of Atlanta, Georgia, by NewsRx editors, research stated, “Atherosclerosis is a medical condition that causes buildup of plaque in the blood vessels and narrowing of the arteries. Surgeons often treat this condition through angioplasty with catheter placements.” Our news journalists obtained a quote from the research from the Georgia Institute of Technology, “Continuum guidewire robots offer significant advantages for catheter placements due to their dexterity. Tracking these guidewire robots and their surrounding workspace under fluoroscopy in real-time can be useful for visualization and accurate control. This paper discusses algorithms and methods to track the shape and orientation of the guidewire and the surrounding workspaces of phantom vasculatures in real-time under C-arm fluoroscopy. The shape of continuum guidewires is found through a semantic segmentation architecture based on MobileNetv2 with a Tversky loss function to deal with class imbalances. This shape is refined through medial axis filtering and parametric curve fitting to quantitatively describe the guidewire’s pose. Using a constant curvature assumption for the guidewire’s bending segments, the parameters that describe the joint variables are estimated in real-time for a tendon-actuated COaxially Aligned STeerable (COAST) guidewire robot and tracked through its traversal of an aortic bifurcation phantom.”
AtlantaGeorgiaUnited StatesNorth and Central AmericaEmerging TechnologiesMachine LearningNano-robotRobotRobotics
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