Positioning conventional endovascular catheters is not without risk, and there is a multitude of complications that are associated with their use in manual surgical interventions. By utilizing surgical manipulators, the efficacy of remote-controlled catheters can be investigated in vivo. However, technical challenges, such as the duration of catheterizations, accurate positioning at target sites, and consistent imaging of these catheters using non-hazardous modalities, still exist. In this paper, we propose the integration of multiple sub-systems in order to extend the clinical feasibility of an autonomous surgical system designed to address these challenges. The system handles the full synchronization of co-operating manipulators that both actuate a clinical tool. The experiments within this study are conducted within a clinically-relevant workspace and inside a gelatinous phantom that represents a life-size human torso. A catheter is positioned using magnetic actuation and proportional-integral (PI) control in conjunction with real-time ultrasound images. Our results indicate an average error between the tracked catheter tip and target positions of 2.09 +/- 0.49 mm. The median procedure time to reach targets is 32.6 s. We expect that our system will provide a step towards collaborative manipulators employing mobile electromagnets, and possibly improve autonomous catheterization procedures within endovascular surgeries.


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    Title :

    The ARMM System-Autonomous Steering of Magnetically-Actuated Catheters:Towards Endovascular Applications



    Publication date :

    2020-04-01


    Remarks:

    Heunis , C M , Wotte , Y P , Sikorski , J , Furtado , G P & Misra , S 2020 , ' The ARMM System-Autonomous Steering of Magnetically-Actuated Catheters : Towards Endovascular Applications ' , IEEE Robotics and Automation Letters , vol. 5 , no. 2 , pp. 705-712 . https://doi.org/10.1109/LRA.2020.2965077



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





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