Automated planning for robotic guidewire navigation in the coronary arteries

Schegg, Pierre; Dequidt, Jérémie; Coevoet, Eulalie; Leurent, Edouard; Sabatier, Rémi; Preux, Philippe; Duriez, Christian

Document type :

Communication dans un congrès avec actes

Title :

Automated planning for robotic guidewire navigation in the coronary arteries

Author(s) :

Schegg, Pierre [Auteur]
Robocath
Deformable Robots Simulation Team [DEFROST ]
Dequidt, Jérémie [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Coevoet, Eulalie [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Leurent, Edouard [Auteur]
Robocath
Sabatier, Rémi [Auteur]
Service de cardiologie et de pathologie vasculaire [CHU Caen]
Preux, Philippe [Auteur]

Scool [Scool]
Duriez, Christian [Auteur]

Deformable Robots Simulation Team [DEFROST ]

Conference title :

Robosoft 2022 - International Conference on Soft Robotics

City :

Edimbourg

Country :

Royaume-Uni

Start date of the conference :

2022-04-13

English keyword(s) :

Catheter Navigation
Quadratic Programming
Monte Carlo Tree Search

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

Soft continuum robots, and comparable instruments allow to perform some surgical procedures noninvasively. While safer, less morbid and more cost-effective, these medical interventions increase the complexity for the ...
Show more >Soft continuum robots, and comparable instruments allow to perform some surgical procedures noninvasively. While safer, less morbid and more cost-effective, these medical interventions increase the complexity for the practitioners: the manipulation of anatomical structures is indirect through telescopic and flexible devices and the visual feedback is indirect through monitors. Interventional cardiology is an example of complex procedures where catheters and guidewires are manipulated to reach and treat remote areas of the vascular network. Such interventions may be assisted with a robot that will operate the tools but the planning (choice of tools and trajectories) remains a complex task. In this paper we use a simulation framework for flexible devices inside the vasculature and we propose a method to automatically control these devices to reach specific locations. Experiments performed on 15 patient geometries exhibit good performance. Automatic manipulation reaches the goal in more than 90% of the cases.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

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