journal IEEE Transactions on Biomedical Engineering.

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries

  • Biomedical application
  • Modeling
  • Magnetic microrobots
  • Path planning

In this paper, a microrobotic surgical simulation and planning has been presented for the treatment of PAD.

Q1 IF: 4.756
Authors
Affiliations

Karim Belharet

Antoine Ferreira

Published

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.

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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