Real-Time Collision Avoidance of a Redundant Dual-Arm Robot Based on Distance Function Method

Nowadays the morbidity and mortality of cardiovascular and cerebrovascular diseases are increasing year by year. Vascular interventional surgery has been considered as the most widely treatment to these diseases and it is developing rapidly for its minimally invasive procedure, safety and short recovery time. However, due to the low signal-to-noise ratio (SNR) and pipe-like structures in the human body, the resolution of fluoroscopic sequences can be too low for surgeons to recognize the catheter in some cases, which impose restrictions on the performance and efficiency of this surgery in clinic. Therefore, enhancing and tracking the catheter in the endovascular interventions have become a crucial part. This paper proposes a morphologic method based on multiscale filter and direction-oriented method, which can enhance and detect the catheter from sequences in real-time. And finally this method takes 0.064s per frame with an accuracy of 89.39%, which can meet the requirements of clinic operations.