Interactive navigation control with haptic rendering for endovascular treatment
Ghembaza, M.B.E.K.
Amirat, Y.
Lab. d' Informatique Industrielle et d' Autom., Vitry-sur-Seine, France;
This paper appears in: Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Publication Date: 1-3 Dec. 2004
Volume: 1,
On page(s): 60- 64 vol.1
ISSN:
ISBN: 0-7803-8645-0
INSPEC Accession Number: 8411997
Current Version Published: 2005-06-13
Abstract
This paper presents a virtual guidance technique for the micro-robot's reactive navigation in order to increase the precision and the safety of the surgeon gesture in endovascular treatment of abdominal aortic aneurysms. We describe in particular the active compliant micro-robot that has been developed to improve the endovascular technique. From an analysis of the requirements of a virtual environment dedicated to this technique, we present the proposed approach based on the artificial potential field method for virtual guidance of the micro-robot's distal extremity. Finally, an algorithm for contact detection between the non-active catheter body and the aortic walls is proposed for haptic rendering synthesis. This approach is based on pre-calculated cartography of the aorta's inside, in order to minimize the calculation time.
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