An image-based guidewire navigation method for robot-assisted intravascular interventions

摘要

This paper aims at using a newly developed robotic system to automatically deliver guidewires or catheters to the target site on percutaneous coronary interventions (PCIs) or electrophysiology interventions. An autonomous delivery strategy using electromagnetic tracking technology is introduced and phantom experiments are performed to validate this strategy. In order to advance the guidewire into the planned branch, the strategy classifies this branch selection problem into three cases according to the width of the vessels and employs an image-based algorithm for the first and second cases. Another image-based algorithm specifically designed for the third case is also presented.