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Comparative Analysis of Interactive Modalities for Intuitive Endovascular Interventions

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Titel: Comparative Analysis of Interactive Modalities for Intuitive Endovascular Interventions
Autoren: Wu, Di, Li, Zhen, Ansari, Mohammad Hasan Dad, Ha, Xuan Thao, Ourak, Mouloud, Dankelman, Jenny, Menciassi, Arianna, Momi, Elena De, Poorten, Emmanuel Vander
Quelle: IEEE Transactions on Visualization and Computer Graphics
Verlagsinformationen: Institute of Electrical and Electronics Engineers (IEEE), 2025.
Publikationsjahr: 2025
Schlagwörter: Technology, robotic catheter, Catheters, PERCUTANEOUS CORONARY INTERVENTION, endovascular intervention, Augmented reality, 46 Information and computing sciences, Input devices, User-Computer Interface, Imaging, Three-Dimensional, Robotic Surgical Procedures, 0801 Artificial Intelligence and Image Processing, Computer Graphics, Humans, Visualization, 0802 Computation Theory and Mathematics, Science & Technology, catheter navigation, Endovascular Procedures, Software Engineering, Computer Science, Software Engineering, Navigation, 3. Good health, Resists, user study, CATHETER, Computer Science, ROBOT, Three-dimensional displays, VISUALIZATION, Robots, RAS
Beschreibung: Endovascular intervention is a minimally invasive method for treating cardiovascular diseases. Although fluoroscopy, known for real-time catheter visualization, is commonly used, it exposes patients and physicians to ionizing radiation and lacks depth perception due to its 2D nature. To address these limitations, a study was conducted using teleoperation and 3D visualization techniques. This in-vitro study involved the use of a robotic catheter system and aimed to evaluate user performance through both subjective and objective measures. The focus was on determining the most effective modes of interaction. Three interactive modes for guiding robotic catheters were compared in the study: 1) Mode GM, using a gamepad for control and a standard 2D monitor for visual feedback; 2) Mode GH, with a gamepad for control and HoloLens providing 3D visualization; and 3) Mode HH, where HoloLens serves as both control input and visualization device. Mode GH outperformed other modalities in subjective metrics, except for mental demand. It exhibited a median tracking error of 4.72 mm, a median targeting error of 1.01 mm, a median duration of 82.34 s, and a median natural logarithm of dimensionless squared jerk of 40.38 in the in-vitro study. Mode GH showed 8.5%, 4.7%, 6.5%, and 3.9% improvements over Mode GM and 1.5%, 33.6%, 34.9%, and 8.1% over Mode HH for tracking error, targeting error, duration, and dimensionless squared jerk, respectively. To sum up, the user study emphasizes the potential benefits of employing HoloLens for enhanced 3D visualization in catheterization. The user study also illustrates the advantages of using a gamepad for catheter teleoperation, including user-friendliness and passive haptic feedback, compared to HoloLens. To further gauge the potential of using a more traditional joystick as a control input device, an additional study utilizing the Haption Virtuose robot was conducted. It reveals the potential for achieving smoother trajectories, with a 38.9% reduction in total path length compared to a gamepad, potentially due to its larger range of motion and single-handed control.
Publikationsart: Article
ISSN: 2160-9306
1077-2626
DOI: 10.1109/tvcg.2024.3362628
Zugangs-URL: https://pubmed.ncbi.nlm.nih.gov/38319759
https://lirias.kuleuven.be/handle/20.500.12942/744612
https://doi.org/10.1109/tvcg.2024.3362628
Rights: IEEE Copyright
Dokumentencode: edsair.doi.dedup.....2fc1948b225f0a49aaa97a43807c295b
Datenbank: OpenAIRE
Beschreibung
Abstract:Endovascular intervention is a minimally invasive method for treating cardiovascular diseases. Although fluoroscopy, known for real-time catheter visualization, is commonly used, it exposes patients and physicians to ionizing radiation and lacks depth perception due to its 2D nature. To address these limitations, a study was conducted using teleoperation and 3D visualization techniques. This in-vitro study involved the use of a robotic catheter system and aimed to evaluate user performance through both subjective and objective measures. The focus was on determining the most effective modes of interaction. Three interactive modes for guiding robotic catheters were compared in the study: 1) Mode GM, using a gamepad for control and a standard 2D monitor for visual feedback; 2) Mode GH, with a gamepad for control and HoloLens providing 3D visualization; and 3) Mode HH, where HoloLens serves as both control input and visualization device. Mode GH outperformed other modalities in subjective metrics, except for mental demand. It exhibited a median tracking error of 4.72 mm, a median targeting error of 1.01 mm, a median duration of 82.34 s, and a median natural logarithm of dimensionless squared jerk of 40.38 in the in-vitro study. Mode GH showed 8.5%, 4.7%, 6.5%, and 3.9% improvements over Mode GM and 1.5%, 33.6%, 34.9%, and 8.1% over Mode HH for tracking error, targeting error, duration, and dimensionless squared jerk, respectively. To sum up, the user study emphasizes the potential benefits of employing HoloLens for enhanced 3D visualization in catheterization. The user study also illustrates the advantages of using a gamepad for catheter teleoperation, including user-friendliness and passive haptic feedback, compared to HoloLens. To further gauge the potential of using a more traditional joystick as a control input device, an additional study utilizing the Haption Virtuose robot was conducted. It reveals the potential for achieving smoother trajectories, with a 38.9% reduction in total path length compared to a gamepad, potentially due to its larger range of motion and single-handed control.
ISSN:21609306
10772626
DOI:10.1109/tvcg.2024.3362628