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Purpose As a promising intravascular therapeutic approach for autonomous catheterization, especially for thrombosis treatment, a microrobot or robotic catheter driven by an external electromagnetic actuation system has been recently investigated. However, the three-dimensional (3D) real-time position and orientation tracking of the microrobot remains a challenge for precise feedback control in clinical...
The ultimate goal of this work is to develop an image-based guidance system for a microrobot that treats vascular disease. In the preoperative stage, a computed tomography angiography (CTA) image is taken after fiducial markers are implanted. In order to obtain the position information of the microrobot during surgery, a biplanar fluoroscopic image is used. Fiducial marker-based registration is carried...
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