Optics Based Motion Measurement for a Catheter Navigation System: A Novel and Low Cost Approach

摘要

Robot-assisted therapy has been investigated to protect physicians from the radiation exposure during fluoroscopic X-ray image guided catheter intervention. This paper introduces an optics based approach to measure catheter motion input to build a catheter navigation system. The principle of measurement, which forms foundation of catheter sensor system, is presented in terms of geometry relationship and approximation. Then calibrated motion measurement is achieved, for both translational and rotational components. A common optical mouse device is used to cheaply implement such a sensor system prototype with other necessary mechanical stages. A computer running corresponding software acquires and processes motion sense via a USB port. Partial experimental results on motion measurement are analyzed, to show proposed approach has impressive motion sense resolution. Finally, comparison between optical mouse sensor and traditional optical encoder are demonstrated and discussions on this technology and catheter manipulator system are also made for future research and work.