Real-Time 3D Guidewire Reconstruction from Intraoperative DSA Images for Robot-Assisted Endovascular Interventions
Journal:
arXiv
Published Date:
Jun 25, 2025
Abstract
Accurate three-dimensional (3D) reconstruction of guidewire shapes is crucial
for precise navigation in robot-assisted endovascular interventions.
Conventional 2D Digital Subtraction Angiography (DSA) is limited by the absence
of depth information, leading to spatial ambiguities that hinder reliable
guidewire shape sensing. This paper introduces a novel multimodal framework for
real-time 3D guidewire reconstruction, combining preoperative 3D Computed
Tomography Angiography (CTA) with intraoperative 2D DSA images. The method
utilizes robust feature extraction to address noise and distortion in 2D DSA
data, followed by deformable image registration to align the 2D projections
with the 3D CTA model. Subsequently, the inverse projection algorithm
reconstructs the 3D guidewire shape, providing real-time, accurate spatial
information. This framework significantly enhances spatial awareness for
robotic-assisted endovascular procedures, effectively bridging the gap between
preoperative planning and intraoperative execution. The system demonstrates
notable improvements in real-time processing speed, reconstruction accuracy,
and computational efficiency. The proposed method achieves a projection error
of 1.76$\pm$0.08 pixels and a length deviation of 2.93$\pm$0.15\%, with a frame
rate of 39.3$\pm$1.5 frames per second (FPS). These advancements have the
potential to optimize robotic performance and increase the precision of complex
endovascular interventions, ultimately contributing to better clinical
outcomes.
