Multi-turn, tension-stiffening catheter navigation system

  title={Multi-turn, tension-stiffening catheter navigation system},
  author={Yi Chen and Jean H. Chang and Alison S. Greenlee and Kenneth C. Cheung and Alexander H. Slocum and Rajiv Gupta},
  journal={2010 IEEE International Conference on Robotics and Automation},
In poorly constrained extra-vascular environments such as hollow viscera, current catheter navigation techniques are restricted to simple paths and therefore limit a doctor's ability to position the catheter. This paper presents a new catheter positioning system that enables faster and more accurate catheter placement, with fewer scans. The proposed robotic catheter navigation system can execute curved paths and maintain any number of three-dimensional turns using tension stiffening guide-wires… CONTINUE READING
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