Robust Catheter and Guidewire Tracking Using B-Spline Tube Model and Pixel-Wise Posteriors.

In endovascular surgery and cardiology, robotic catheters are emerging as a promising technology for enhanced catheter manipulation and navigation while reducing radiation exposure. For robotic catheter systems especially with tendon actuation, a key challenge is the localisation of the catheter shape and position within the anatomy. An effective approach is through image-based catheter/guidewire ...