Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries

Karim Belharet 1 David Folio 1, * Antoine Ferreira 1
* Auteur correspondant
1 IRAUS
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
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).
Type de document :
Article dans une revue
IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2013, 60 (4), pp.994-1001. 〈10.1109/TBME.2012.2236092〉
Liste complète des métadonnées

Littérature citée [26 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-00767787
Contributeur : David Folio <>
Soumis le : dimanche 20 janvier 2013 - 07:00:04
Dernière modification le : lundi 16 juillet 2018 - 16:01:38
Document(s) archivé(s) le : vendredi 31 mars 2017 - 19:31:45

Fichier

2012_tbme_planning_final.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Karim Belharet, David Folio, Antoine Ferreira. Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2013, 60 (4), pp.994-1001. 〈10.1109/TBME.2012.2236092〉. 〈hal-00767787〉

Partager

Métriques

Consultations de la notice

205

Téléchargements de fichiers

242