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A Novel Trajectory Predicting Method of Catheter for the Vascular Interventional Surgical Robot

In the process of vascular interventional surgery, there are many factors that affect the movement of the catheter in the complex vascular environment. In order to avoid the collision between the catheter and the vascular wall, the real-time requirements for the path planning of the catheter are higher and higher. The trajectory prediction of the catheter can better solve the real-time problem. In this paper, a trajectory prediction algorithm based on Kalman filter is proposed. The optimal state value of the next time is predicted by the state value of the previous time. In this paper, the real-time trajectory of the catheter in the virtual environment is extracted by the vascular interventional surgery doctor training system. Then the predicted value is calculated by Kalman filter, and analysis the error between the predicted trajectory and the actual trajectory. The experimental results show that the trajectory predicted by Kalman filter is close to the real trajectory.