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Automated planning for robotic guidewire ...
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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] refId
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 ...
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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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