3D Pose Estimation of the Catheter based on Single X-ray Image

Abstract

In minimal invasive surgery, catheter plays a big role to access deep inside the body using small holes. For successful surgeries, the accurate positioning of the catheter during surgery is needed. Various catheter tracking methods have been discussed, however, it resulted in high exposure or shape needs to be decided in prior. Here, we suggest a novel method to track the 3D position of a catheter without knowing the shape of the catheter in prior and with single-view images to lower X-ray irradiation. By conducting real-world experiments, we have shown that the proposed method successfully tracks the catheter, with an error less than 2mm. The further research will lead to a robust and accurate tracking of catheter, increasing successful operations and enabling more challengeable surgeries.