Avery, James;
Runciman, Mark;
Fiani, Cristina;
Sanchez, Elena Monfort;
Akhond, Saina;
Liu, Zhuang;
Aristovich, Kirill;
(2022)
Lumen Shape Reconstruction using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography.
In:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
IEEE
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Abstract
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct deployment. We propose the use of integrated impedance measurements and Electrical Impedance Tomography (EIT) imaging to assess the deformation of the balloon and determine the size and shape of the surrounding lumen. Previous work using single impedance measurements, or pressure data and analytical models, whilst demonstrating high sizing accuracy, have assumed a circular cross section. Here we extend these methods by adding a multitude of electrodes to detect elliptical and occluded lumen and obtain EIT images to localise deformations. Using a 14 Fr (5.3 mm) catheter as an example, numerical simulations were performed to find the optimal electrode configuration of two rings of 8 electrodes spaced 10 mm apart. The simulations predicted that the maximum detectable aspect ratio decreased from 0.9 for a 14mm balloon to 0.5 at 30mm. The sizing and ellipticity detection results were verified experimentally. A prototype robotic balloon catheter was constructed to automatically inflate a compliant balloon while simultaneously recording EIT and pressure data. Data were collected in experiments replicating stenotic vessels with an elliptical and asymmetrical profile, and the widening of a lumen during angioplasty. After calibration, the system was able to correctly localise the occlusion and detect aspect ratios of 0.75. EIT images further localised the occlusion and visualised the dilation of the lumen during balloon inflation.
| Type: | Proceedings paper |
|---|---|
| Title: | Lumen Shape Reconstruction using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography |
| Event: | IROS 2022 - IEEE/RSJ International Conference on Intelligent Robots and Systems, 23-27 October 2022, Kyoto, Japan |
| ISBN-13: | 978-1-6654-7927-1 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS47612.2022.9981150 |
| Publisher version: | https://doi.org/10.1109/IROS47612.2022.9981150 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Electrodes, Electrical impedance tomography, Impedance measurement, Shape, Imaging, Surgery, Lumen |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10158653 |
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