Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries

Karim Belharet; David Folio; Antoine Ferreira

doi:10.1109/TBME.2012.2236092

Abstract

This work presents a preoperative microrobotic surgical simulation and planning application. The main contribution is to support computer-aided minimally invasive surgery (MIS) procedure using untethered microrobots that have to navigate within the arterial networks. We first propose a fast interactive application (with endovascular tissues) able to simulate the blood flow and microrobot interaction. Secondly, we also propose a microrobotic surgical planning framework, based on the anisotropic Fast Marching Method (FMM), that provides a feasible pathway robust to biomedical navigation constraints. We demonstrate the framework performance in a case study of the treatment of peripheral arterial diseases (PAD)

Keywords: Anisotropic path planning, blood flow simulation, microrobotics, minimally invasive surgery (MIS)

Funding

The work of K. Belharet was supported by the Nano-IRM project, founded by Region Centre and City of Bourges.

Reuse

CC BY 4.0

Copyright

© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Citation

BibTeX citation:

@article{belharet2013,
  author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
  publisher = {IEEE},
  title = {Simulation and {Planning} of a {Magnetically} {Actuated}
    {Microrobot} {Navigating} in {Arteries}},
  journal = {IEEE Transactions on Biomedical Engineering},
  volume = {60},
  number = {4},
  pages = {994-1001},
  date = {2013-04-01},
  url = {https://dfolio.fr/publications/articles/2013belharetTBME.html},
  doi = {10.1109/TBME.2012.2236092},
  issn = {1558-2531},
  langid = {en},
  abstract = {This work presents a preoperative microrobotic surgical
    simulation and planning application. The main contribution is to
    support computer-aided minimally invasive surgery (MIS) procedure
    using untethered microrobots that have to navigate within the
    arterial networks. We first propose a fast interactive application
    (with endovascular tissues) able to simulate the blood flow and
    microrobot interaction. Secondly, we also propose a microrobotic
    surgical planning framework, based on the anisotropic Fast Marching
    Method (FMM), that provides a feasible pathway robust to biomedical
    navigation constraints. We demonstrate the framework performance in
    a case study of the treatment of peripheral arterial diseases (PAD)}
}

For attribution, please cite this work as:

Belharet K., Folio D., and Ferreira A., “Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries,” IEEE Trans. Biomed. Eng., vol. 60, pp. 994–1001, April 2013. [Online]. Available: https://dfolio.fr/publications/articles/2013belharetTBME.html