Pose Estimation

Catheters navigated in the brain are inserted, rotated about their central axis, and in the case of steerability, they can be deflected to bend in certain directions. As we look to automate or control these motions, we rely on pose estimation of where the catheters are and how they will move if steered from their current configuration. In the case of neurointervention, the only feedback modality available is biplane fluoroscopy, in which radiopaque features on the catheter are segmented in two views. In this work, we focus on recovering the full pose of a catheter’s distal tip which includes both the position and orientation (including z-rotation). More results to come on this project!