The ARMM System: Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications

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

*Corresponding author for this work

    Research output: Contribution to conferencePoster

    Abstract

    During a minimally-invasive surgical intervention,
    robot-assisted surgery may prove to offer a greater range
    of motion of surgical instruments and improved ergonomics
    for the surgeon, when compared to manual actuation
    techniques. Previously, we have developed the Advanced
    Robotics for Magnetic Manipulation (ARMM) system, which
    consists of two 6-degrees-of-freedom (DOF) surgical robots.
    Furthermore, we described the tracking, dynamics, and
    motions of these robots, indicating an overall 3D tracking
    accuracy of 2.4±0.4 mm and a mean joint velocity error of
    1.23 rad/s. In this work, we aim to demonstrate fully
    autonomous control of these robots in a clinically-relevant
    environment.
    Original languageEnglish
    Pages3360
    Number of pages1
    Publication statusAccepted/In press - 19 Aug 2019
    Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China
    Duration: 4 Nov 20198 Nov 2019
    https://www.iros2019.org/

    Conference

    Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Abbreviated titleIROS 2019
    CountryChina
    CityMacau
    Period4/11/198/11/19
    Internet address

    Fingerprint

    Surgical Instruments
    Catheters
    Joints
    Surgeons

    Keywords

    • Medical Robots and Systems
    • Multi-Robot Systems
    • Path Planning for Multiple Mobile Robots or Agents

    Cite this

    Heunis, C. M., Sikorski, J., Phillips Furtado, G., & Misra, S. (Accepted/In press). The ARMM System: Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications. 3360. Poster session presented at 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China.
    Heunis, C.M. ; Sikorski, J. ; Phillips Furtado, Guilherme ; Misra, S. / The ARMM System : Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications. Poster session presented at 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China.1 p.
    @conference{994b9e5d1661462eae36eacd3c2c8f88,
    title = "The ARMM System: Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications",
    abstract = "During a minimally-invasive surgical intervention,robot-assisted surgery may prove to offer a greater rangeof motion of surgical instruments and improved ergonomicsfor the surgeon, when compared to manual actuationtechniques. Previously, we have developed the AdvancedRobotics for Magnetic Manipulation (ARMM) system, whichconsists of two 6-degrees-of-freedom (DOF) surgical robots.Furthermore, we described the tracking, dynamics, andmotions of these robots, indicating an overall 3D trackingaccuracy of 2.4±0.4 mm and a mean joint velocity error of1.23 rad/s. In this work, we aim to demonstrate fullyautonomous control of these robots in a clinically-relevantenvironment.",
    keywords = "Medical Robots and Systems, Multi-Robot Systems, Path Planning for Multiple Mobile Robots or Agents",
    author = "C.M. Heunis and J. Sikorski and {Phillips Furtado}, Guilherme and S. Misra",
    year = "2019",
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    Heunis, CM, Sikorski, J, Phillips Furtado, G & Misra, S 2019, 'The ARMM System: Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications' 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China, 4/11/19 - 8/11/19, pp. 3360.

    The ARMM System : Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications. / Heunis, C.M.; Sikorski, J.; Phillips Furtado, Guilherme ; Misra, S.

    2019. 3360 Poster session presented at 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China.

    Research output: Contribution to conferencePoster

    TY - CONF

    T1 - The ARMM System

    T2 - Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications

    AU - Heunis, C.M.

    AU - Sikorski, J.

    AU - Phillips Furtado, Guilherme

    AU - Misra, S.

    PY - 2019/8/19

    Y1 - 2019/8/19

    N2 - During a minimally-invasive surgical intervention,robot-assisted surgery may prove to offer a greater rangeof motion of surgical instruments and improved ergonomicsfor the surgeon, when compared to manual actuationtechniques. Previously, we have developed the AdvancedRobotics for Magnetic Manipulation (ARMM) system, whichconsists of two 6-degrees-of-freedom (DOF) surgical robots.Furthermore, we described the tracking, dynamics, andmotions of these robots, indicating an overall 3D trackingaccuracy of 2.4±0.4 mm and a mean joint velocity error of1.23 rad/s. In this work, we aim to demonstrate fullyautonomous control of these robots in a clinically-relevantenvironment.

    AB - During a minimally-invasive surgical intervention,robot-assisted surgery may prove to offer a greater rangeof motion of surgical instruments and improved ergonomicsfor the surgeon, when compared to manual actuationtechniques. Previously, we have developed the AdvancedRobotics for Magnetic Manipulation (ARMM) system, whichconsists of two 6-degrees-of-freedom (DOF) surgical robots.Furthermore, we described the tracking, dynamics, andmotions of these robots, indicating an overall 3D trackingaccuracy of 2.4±0.4 mm and a mean joint velocity error of1.23 rad/s. In this work, we aim to demonstrate fullyautonomous control of these robots in a clinically-relevantenvironment.

    KW - Medical Robots and Systems

    KW - Multi-Robot Systems

    KW - Path Planning for Multiple Mobile Robots or Agents

    M3 - Poster

    SP - 3360

    ER -

    Heunis CM, Sikorski J, Phillips Furtado G, Misra S. The ARMM System: Demonstrating Clinical Feasibility in Steering Magnetically Actuated Catheters in Endovascular Applications. 2019. Poster session presented at 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China.