The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications

Positioning conventional endovascular catheters is not without risk, and there is a multitude of complications that are associated with their use in manual surgical interventions. By utilizing surgical manipulators, the efficacy of remote-controlled catheters can be investigated in vivo. However, te...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2020-04, Vol.5 (2), p.705-712
Main Authors: Heunis, Christoff M., Wotte, Yannik P., Sikorski, Jakub, Furtado, Guilherme Phillips, Misra, Sarthak
Format: Article
Language:English
Subjects:
Actuation
Catheterization
Catheters
Electromagnets
In vivo methods and tests
Instruments
Magnetic resonance imaging
Manipulators
Medical robots and systems
Phantoms
Proportional integral
Steering
surgical robotics: planning
surgical robotics: steerable catheters/needles
Synchronism
Target recognition
Torso
Tracking
Transducers
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Summary:Positioning conventional endovascular catheters is not without risk, and there is a multitude of complications that are associated with their use in manual surgical interventions. By utilizing surgical manipulators, the efficacy of remote-controlled catheters can be investigated in vivo. However, technical challenges, such as the duration of catheterizations, accurate positioning at target sites, and consistent imaging of these catheters using nonhazardous modalities, still exist. In this paper, we propose the integration of multiple sub-systems in order to extend the clinical feasibility of an autonomous surgical system designed to address these challenges. The system handles the full synchronization of co-operating manipulators that both actuate a clinical tool. The experiments within this study are conducted within a clinicallyrelevant workspace and inside a gelatinous phantom that represents a life-size human torso. A catheter is positioned using magnetic actuation and proportional-integral (PI) control in conjunction with real-time ultrasound images. Our results indicate an average error between the tracked catheter tip and target positions of 2.09 ± 0.49 mm. The median procedure time to reach targets is 32.6 s. We expect that our system will provide a step towards collaborative manipulators employing mobile electromagnets, and possibly improve autonomous catheterization procedures within endovascular surgeries.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2965077