An Automatic Registration Method for Radiation-Free Catheter Navigation Guidance

Catheter navigation is typically based on fluoroscopy. This implies exposure to harmful radiation, lack of depth perception and limited soft-tissue contrast. Catheter navigation would benefit from guidance that makes better use of detailed pre-operatively acquired MR/CT images, while reducing radiation exposure and improving spatial awareness of the catheter pose and shape. A prerequisite for such guidance is an accurate registration between the...