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

C.M. Heunis, Yannik Wotte, J. Sikorski, Guilherme Phillips Furtado, S. Misra

Research output: Contribution to journalArticleAcademicpeer-review

Abstract

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.
Original languageEnglish
JournalIEEE Robotics and automation letters
DOIs
Publication statusAccepted/In press - 25 Dec 2019

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Catheters
Autonomous Systems
Positioning
Target
PI Control
Workspace
Phantom
Manipulator
Modality
Surgery
Efficacy
Synchronization
Electromagnets
Imaging
Manipulators
Experiment
Imaging techniques
Experiments

Cite this

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title = "The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications",
abstract = "Positioning conventional endovascular catheters isnot without risk, and there is a multitude of complicationsthat are associated with their use in manual surgical interventions.By utilizing surgical manipulators, the efficacy ofremote-controlled catheters can be investigated in vivo. However,technical challenges, such as the duration of catheterizations,accurate positioning at target sites, and consistent imaging ofthese catheters using non-hazardous modalities, still exist. Inthis paper, we propose the integration of multiple sub-systemsin order to extend the clinical feasibility of an autonomoussurgical system designed to address these challenges. The systemhandles the full synchronization of co-operating manipulatorsthat both actuate a clinical tool. The experiments within thisstudy are conducted within a clinically-relevant workspace andinside a gelatinous phantom that represents a life-size humantorso. A catheter is positioned using magnetic actuation andproportional-integral (PI) control in conjunction with real-timeultrasound images. Our results indicate an average error betweenthe tracked catheter tip and target positions of 2:09 0:49mm. The median procedure time to reach targets is 32:6 s.We expect that our system will provide a step towards collaborativemanipulators employing mobile electromagnets, andpossibly improve autonomous catheterization procedures withinendovascular surgeries.",
author = "C.M. Heunis and Yannik Wotte and J. Sikorski and {Phillips Furtado}, Guilherme and S. Misra",
year = "2019",
month = "12",
day = "25",
doi = "10.1109/LRA.2020.2965077",
language = "English",
journal = "IEEE Robotics and automation letters",
issn = "2377-3766",
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The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications. / Heunis, C.M.; Wotte, Yannik; Sikorski, J.; Phillips Furtado, Guilherme ; Misra, S.

In: IEEE Robotics and automation letters, 25.12.2019.

Research output: Contribution to journalArticleAcademicpeer-review

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AU - Sikorski, J.

AU - Phillips Furtado, Guilherme

AU - Misra, S.

PY - 2019/12/25

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N2 - Positioning conventional endovascular catheters isnot without risk, and there is a multitude of complicationsthat are associated with their use in manual surgical interventions.By utilizing surgical manipulators, the efficacy ofremote-controlled catheters can be investigated in vivo. However,technical challenges, such as the duration of catheterizations,accurate positioning at target sites, and consistent imaging ofthese catheters using non-hazardous modalities, still exist. Inthis paper, we propose the integration of multiple sub-systemsin order to extend the clinical feasibility of an autonomoussurgical system designed to address these challenges. The systemhandles the full synchronization of co-operating manipulatorsthat both actuate a clinical tool. The experiments within thisstudy are conducted within a clinically-relevant workspace andinside a gelatinous phantom that represents a life-size humantorso. A catheter is positioned using magnetic actuation andproportional-integral (PI) control in conjunction with real-timeultrasound images. Our results indicate an average error betweenthe tracked catheter tip and target positions of 2:09 0:49mm. The median procedure time to reach targets is 32:6 s.We expect that our system will provide a step towards collaborativemanipulators employing mobile electromagnets, andpossibly improve autonomous catheterization procedures withinendovascular surgeries.

AB - Positioning conventional endovascular catheters isnot without risk, and there is a multitude of complicationsthat are associated with their use in manual surgical interventions.By utilizing surgical manipulators, the efficacy ofremote-controlled catheters can be investigated in vivo. However,technical challenges, such as the duration of catheterizations,accurate positioning at target sites, and consistent imaging ofthese catheters using non-hazardous modalities, still exist. Inthis paper, we propose the integration of multiple sub-systemsin order to extend the clinical feasibility of an autonomoussurgical system designed to address these challenges. The systemhandles the full synchronization of co-operating manipulatorsthat both actuate a clinical tool. The experiments within thisstudy are conducted within a clinically-relevant workspace andinside a gelatinous phantom that represents a life-size humantorso. A catheter is positioned using magnetic actuation andproportional-integral (PI) control in conjunction with real-timeultrasound images. Our results indicate an average error betweenthe tracked catheter tip and target positions of 2:09 0:49mm. The median procedure time to reach targets is 32:6 s.We expect that our system will provide a step towards collaborativemanipulators employing mobile electromagnets, andpossibly improve autonomous catheterization procedures withinendovascular surgeries.

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