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 conferencePosterAcademic


    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
    Original languageEnglish
    Number of pages1
    Publication statusPublished - 1 Nov 2019
    Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, China
    Duration: 4 Nov 20198 Nov 2019


    Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Abbreviated titleIROS 2019
    Internet address


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

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