Collaborative Surgical Robots: Optical Tracking During Endovascular Surgery

Christoff Marthinus Heunis, Beatriz Belchiorinho Farola Marques Barata, Guilherme Phillips Furtado, Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

16 Citations (Scopus)
36 Downloads (Pure)


Endovascular interventions usually require meticulous handling of surgical instruments and constant monitoring of the operating room workspace. To address these challenges, robotic- assisted technologies and tracking techniques are increasingly being developed. Specifically, the limited workspace and potential for a collision between the robot and surrounding dynamic obstacles are important aspects that need to be considered. This article presents a navigation system developed to assist clinicians with the magnetic actuation of endovascular catheters using multiple surgical robots. We demonstrate the actuation of a magnetic catheter in an experimental arterial testbed with dynamic obstacles. The motions and trajectory planning of two six degrees of freedom (6-DoF) robotic arms are established through passive markerguided motion planning. We achieve an overall 3D tracking accuracy of 2.3 ± 0.6 mm for experiments involving dynamic obstacles. We conclude that integrating multiple optical trackers with the online planning of two serial-link manipulators is useful to support the treatment of endovascular diseases and aid clinicians during interventions.

Original languageEnglish
Article number9042842
Pages (from-to)29-44
Number of pages16
JournalIEEE Robotics and Automation Magazine
Issue number3
Early online date19 Mar 2020
Publication statusPublished - Sept 2020


  • Cameras
  • Catheters
  • Instruments
  • Manipulators
  • Robot kinematics
  • Tools
  • 22/2 OA procedure


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