Elektrische bio-impedantiegebaseerde instrumentgeleiding voor medische toepassingen

Precise instrument guidance is essential for the safety and effectiveness of minimally invasive medical procedures. Across applications such as neurosurgical micromanipulation, cardiovascular interventions, and needle-based therapies, clinicians operate in confined, deformable, and often non-visible environments where millimeter-scale deviations can compromise outcomes. Persistent challenges include physiological motion at the microscale, ambiguous instrument alignment in complex anatomy, and limited tip-level awareness when direct visualization is unavailable. Existing guidance modalities—such as fluoroscopy, CT, ultrasound, electromagnetic tracking, and fiber-optic sensing—address parts of these challenges but are limited by radiation exposure, hardware complexity, line-of-sight constraints, susceptibility to interference, or poor integration with medical instruments. This PhD research establishes electrical bioimpedance (EBI) sensing as a compact, radiation-free, and real-time modality capable of providing localized information directly at the instrument tip. The thesis develops physics-based models, optimized electrode configurations, and real-time estimation algorithms to transform impedance measurements into actionable guidance cues. The work demonstrates that EBI can be elevated from a qualitative tissue-contact indicator to a quantitative, model-driven sensing layer for intelligent instrument navigation. The contributions are validated across three distinct medical scenarios: physiological motion compensation, catheter alignment guidance, and proximity-based needle depth estimation.