Biomedical Engineering Reference
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is obtained. When the catheter is inserted through the vasculature,
only the catheter and bone is seen in the video obtained from the
luoroscope. If the position and orientation of the luoroscope has
not changed since the angiogram registration, then the static image
of vasculature became a map of the desired trajectory to be followed
by the catheter. When that image is subtracted to the video of the
catheter inside the body, bone is eliminated as it appears in both
images and the moving catheter appears over the static image of
vasculature.
Bi-planar Fluoroscope
Surgical Bed
Figure 7.2
Surgical room equipped with Interventional Radiology (IVR)
system.
The endovascular simulator EVE provides an excellent platform to
recreate vascular lumen, simulating in a realistic way the interaction
between the catheter and the vascular wall. But physicians and
trainees using EVE, can see the catheter moving through the silicone
vasculature directly. To have a more realistic simulator and a better
training tool, it is needed that the person using EVE sees the catheter
as he does during a real endovascular intervention. Therefore, it is
needed to generate an image similar to used for IVR and to track
catheter trajectory in order to have always the catheter inside the
IVR simulated image.
7.2.1
Mechanical Design
A Surgical bed was adapted to hold on its sides a robotic system
with three degrees of freedom. This covers a half cylinder shaped
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