Collaborative Surgical Robots:Optical Tracking During Endovascular Operations

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Collaborative Surgical Robots:Optical Tracking During Endovascular Operations

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Heunis, Christoff M. / Barata, Beatriz Farola / Phillips Furtado, Guilherme / Misra, Sarthak

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.

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Dokumentinformationen

Titel :

Collaborative Surgical Robots:Optical Tracking During Endovascular Operations

Beteiligte:

Heunis, Christoff M. (Autor:in) / Barata, Beatriz Farola (Autor:in) / Phillips Furtado, Guilherme (Autor:in) / Misra, Sarthak (Autor:in)

Erscheinungsdatum :

2020-09-01

Anmerkungen:

Heunis , C M , Barata , B F , Phillips Furtado , G & Misra , S 2020 , ' Collaborative Surgical Robots : Optical Tracking During Endovascular Operations ' , Ieee robotics & automation magazine , vol. 27 , no. 3 , pp. 29-44 . https://doi.org/10.1109/MRA.2020.2976300

DOI :

https://doi.org/10.1109/MRA.2020.2976300

Medientyp :

Aufsatz (Zeitschrift)

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

Cameras , Robot kinematics , Manipulators , Catheters , Collision avoidance , Medical robotics , Surgery , SYSTEM

Klassifikation :

DDC: