To develop a fast two-phase path planning approach for endovascular catheterization that considers catheter curvature and time constraints, enhancing procedural efficiency.
Key Findings:
Steerable catheters have varying bending capabilities, with minimum bending radii reported between 8.13mm and 171mm, impacting their usability in complex anatomies.
Existing path planning methods may fail when curvature exceeds catheter bending capability, highlighting the need for improved strategies.
The proposed two-phase approach effectively balances following vascular centerlines and adhering to curvature constraints, potentially improving procedural success rates.
Interpretation:
The two-phase path planning approach enhances the feasibility of catheter navigation in complex vascular environments by ensuring compliance with curvature limits, which is crucial for successful interventions.
Limitations:
The approach relies on accurate centerline extraction, which may be affected by imaging quality, potentially leading to suboptimal path planning.
Real-time replanning may still be constrained by external factors such as tracking and feedback frequencies, which can impact responsiveness during procedures.
Conclusion:
The proposed method offers a promising solution for real-time path planning in endovascular procedures, addressing both curvature constraints and computational efficiency, ultimately aiming to improve patient outcomes.
