Tootfinder

Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
Jared Lawson, Rohan Chitale, Nabil Simaan
https://arxiv.org/abs/2506.09934

Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheters shape and pose. Currently, a significant perception burden is placed on interventionalists to mentally reconstruct and predict catheter motions from biplane fluoroscopy images. Efforts to track these catheters are limited to planar segmentation or bulky sensing instrumentation, which are incompatible with microcatheters used in neurointervention. In this work, a catheter is equippe…