Imperial College London
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DrStamatiaGiannarou

Faculty of Medicine, Department of Surgery & Cancer

Senior Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 3492stamatia.giannarou Website

 
 
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Location

 

413Bessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Zhao:2016:10.1109/LRA.2016.2524984,
author = {Zhao, L and Giannarou, S and Lee, S and Yang, GZ},
doi = {10.1109/LRA.2016.2524984},
journal = {IEEE Robotics and Automation Letters},
pages = {961--968},
title = {SCEM+: real-time robust simultaneous catheter and environment modeling for endovascular navigation},
url = {http://dx.doi.org/10.1109/LRA.2016.2524984},
volume = {1},
year = {2016}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Endovascular procedures are characterised by significant challenges mainly due to the complexity in catheter control and navigation. Real-time recovery of the 3-D structure of the vasculature is necessary to visualise the interaction between the catheter and its surrounding environment to facilitate catheter manipulations. State-of-the-art intraoperative vessel reconstruction approaches are increasingly relying on nonionising imaging techniques such as optical coherence tomography (OCT) and intravascular ultrasound (IVUS). To enable accurate recovery of vessel structures and to deal with sensing errors and abrupt catheter motions, this letter presents a robust and real-time vessel reconstruction scheme for endovascular navigation based on IVUS and electromagnetic (EM) tracking. It is formulated as a nonlinear optimisation problem, which considers the uncertainty in both the IVUS contour and the EM pose, as well as vessel morphology provided by preoperative data. Detailed phantom validation is performed and the results demonstrate the potential clinical value of the technique.
AU  - Zhao,L
AU  - Giannarou,S
AU  - Lee,S
AU  - Yang,GZ
DO  - 10.1109/LRA.2016.2524984
EP  - 968
PY  - 2016///
SN  - 2377-3766
SP  - 961
TI  - SCEM+: real-time robust simultaneous catheter and environment modeling for endovascular navigation
T2  - IEEE Robotics and Automation Letters
UR  - http://dx.doi.org/10.1109/LRA.2016.2524984
UR  - https://ieeexplore.ieee.org/document/7397923
UR  - http://hdl.handle.net/10044/1/29196
VL  - 1
ER  -
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