Automated motion control of the COAST robotic guidewire under fluoroscopic guidance
Published in IEEE ISMR, 2021
Abstract: We propose a fully automated approach to perform navigation of the COaxially Aligned STeerable (COAST) guidewire under fluoroscopic imaging in 2D phantom models. We utilize fluoroscopic images to calculate the optimal path between two points using a modified hybrid A-star algorithm in the phantom vasculature. The modified hybrid A-star computes a trajectory which is used for the velocity kinematics of the guidewire robot. The experiments show that the robot is able to follow the pre-computed path to the destination with a mean error of 8.2 pixels (2.87 mm).
Recommended citation: Ravigopal, S. R., Brumfiel, T. A., & Desai, J. P. (2021, November). Automated motion control of the COAST robotic guidewire under fluoroscopic guidance. In 2021 International Symposium on Medical Robotics (ISMR) (pp. 1-7). IEEE.
Download Paper