Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries

Karim Belharet (1) , David Folio (1) , Antoine Ferreira (1)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

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).

Mots clés: anisotropic path planning; Microrobotics; minimally invasive surgery; blood flow simulation; anisotropic path planning.

Domaines: Automatique / Robotique

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