A Feasibility Study of Fluoroscopy-based Catheter Modeling

Abstract

Knowledge of contact forces between instruments and blood vessels during endovascular interventions like thrombectomies can help make these interventions safer and faster. We show that it is generally feasible to derive the contact forces directly from the intraoperative fluoroscopy imaging system which can make the costly integration of additional sensors into catheters and guidewires dispensable. Our study is limited to stationary normal loading and planar deflections. In our loading scenario of crossing the carotid siphon with a guidewire, the magnitude of contact forces can be detected up to an average deviation of 4.5 % for an imagebased pose measurement accuracy of the guidewire of 1 mm.

Keywords

• endovascular
• force from shape
• flexible instruments
• force sensing