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
@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)}
}