Bijlsma, JelleJelleBijlsmaKundrat, DennisDennisKundratDagnino, GiulioGiulioDagnino2024-05-132024-05-132024https://publica.fraunhofer.de/handle/publica/46777710.1007/s41315-024-00340-32-s2.0-85191683516There is increasing interests in robotic and computer technologies to accurately perform endovascular intervention. One major limitation of current endovascular intervention - either manual or robot-assisted is the surgical navigation which still relies on 2D fluoroscopy. Recent research efforts are towards MRI-guided interventions to reduce ionizing radiation exposure, and to improve diagnosis, planning, navigation, and execution of endovascular interventions. We propose an MR-based navigation framework for robot-assisted endovascular procedures. The framework allows the acquisition of real-time MR images; segmentation of the vasculature and tracking of vascular instruments; and generation of MR-based guidance, both visual and haptic. The instrument tracking accuracy - a key aspect of the navigation framework - was assessed via 4 dedicated experiments with different acquisition settings, framerate, and time. The experiments showed clinically acceptable tracking accuracy in the range of 1.30-3.80 mm RMSE. We believe that this work represents a valuable first step towards MR-guided robot-assisted intervention.enEndovascular roboticsInstrument trackingMR-guided interventionjournal article