TY - JOUR
T1 - Collaborative Surgical Robots
T2 - Optical Tracking During Endovascular Surgery
AU - Heunis, Christoff Marthinus
AU - Belchiorinho Farola Marques Barata, Beatriz
AU - Phillips Furtado, Guilherme
AU - Misra, Sarthak
PY - 2020/9
Y1 - 2020/9
N2 - 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.
AB - 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.
KW - Cameras
KW - Catheters
KW - Instruments
KW - Manipulators
KW - Robot kinematics
KW - Tools
UR - http://www.scopus.com/inward/record.url?scp=85083443404&partnerID=8YFLogxK
U2 - 10.1109/MRA.2020.2976300
DO - 10.1109/MRA.2020.2976300
M3 - Article
AN - SCOPUS:85083443404
VL - 27
SP - 29
EP - 44
JO - IEEE robotics & automation magazine
JF - IEEE robotics & automation magazine
SN - 1070-9932
IS - 3
M1 - 9042842
ER -