Automated planning for robotic guidewire ...
Type de document :
Communication dans un congrès avec actes
Titre :
Automated planning for robotic guidewire navigation in the coronary arteries
Auteur(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 ]
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 ]
Titre de la manifestation scientifique :
Robosoft 2022 - International Conference on Soft Robotics
Ville :
Edimbourg
Pays :
Royaume-Uni
Date de début de la manifestation scientifique :
2022-04-13
Mot(s)-clé(s) en anglais :
Catheter Navigation
Quadratic Programming
Monte Carlo Tree Search
Quadratic Programming
Monte Carlo Tree Search
Discipline(s) HAL :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >
Lire la suite >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.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
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- Automated_planning_for_robotic_guidewire_navigation_in_the_coronary_arteries.pdf
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