2P1-B10 In-Vitroでのカテーテル経路解析の為のカテーテルと血管形状の三次元視覚化(医療ロボティクス・メカトロニクス)

概要

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Bi-planar fluoroscopy is a technique used in Interventional Radiology (IVR) combined with Digital Subtraction Angiography to visualize simultaneously blood vessels from perpendicular directions during endovascular interventions. Stereovision for a polarized light system used in in-vitro endovascular surgery simulation was constructed imitating a bi-planar fluoroscopy. Relying on the bi-planar imaging, software was developed for catheter trajectory quantitative analysis; this enabled the construction of reference trajectories for catheter insertion robot control considering three-dimensional tip tracking and bi-planar information of the blood vessel morphology changes and stress within the membrane. Additionally the cross-section diameter and centerline line position for the catheter and blood vessel model were obtained for each column of the captured images, enabling an elliptical approximation and three-dimensional visualization of the interaction between the catheter and the silicone model morphology.
一般社団法人日本機械学会の論文
2011-05-26