Endovascular procedures are challenging to perform due to
the complexity and difficulty in catheter manipulation. The simultaneous
recovery of the 3D structure of the vasculature and the catheter posi-
tion and orientation intra-operatively is necessary in catheter control
and navigation. State-of-art Simultaneous Catheter and Environment
Modelling provides robust and real-time 3D vessel reconstruction based on real-time intravascular ultrasound (IVUS) imaging and electromagnetic (EM) sensing, but still relies on accurate registration between EM and pre-operative data. In this paper, a registration-free vessel reconstruction method is proposed for endovascular navigation. In the optimisation framework, the EM-CT registration is estimated and updated intra-operatively together with the 3D vessel reconstruction from IVUS, EM and pre-operative data, and thus does not require explicit registration. The proposed algorithm can also deal with global (patient) motion and periodic deformation caused by cardiac motion. Phantom and in-vivo experiments validate the accuracy of the algorithm and the results
demonstrate the potential clinical value of the technique.