A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking. Issue 1 (1st January 2016)

• Record Type: Journal Article
• Authors: Mura, Marco; Parrini, Simone; Ciuti, Gastone; Ferrari, Vincenzo; Freschi, Cinzia; Ferrari, Mauro; Dario, Paolo; Menciassi, Arianna
• Is Part Of: Computer assisted surgery. Volume 21:Issue 1(2016)
• Page Start: 63
• Page End: 79
• Publication Date: 2016-01-01
• Subjects: Cardiovascular intervention -- robotic-assisted surgery -- robotic magnetic guidance -- soft-tethered endoluminal device -- ultrasound tracking; Computer-assisted surgery -- Periodicals
• DOI: 10.1080/24699322.2016.1185467
• Languages: English
• ISSNs: 2469-9322

Abstract

Abstract: Background: Cardiovascular diseases are the first cause of death globally: an estimated 17.5 million people died in 2012. By combining the benefits of magnetic navigation and ultrasound (US) imaging, the authors proposed a robotic platform (i.e. the MicroVAST platform) for intravascular medical procedures. Methods: A 3D imaging US-based tracking algorithm is implemented for the navigation of a magnetic-dragged soft-tethered device. Tests were performed to evaluate the algorithm in terms of tracking error and precision of locomotion. Results: The 3D imaging US-based algorithm tracked the endovascular device with an error of 6.4 ± 2.8 pixels and a mean displacement between the endovascular device and the preoperative path of 13.6 ± 4.5 mm (computational time of 12.2 ± 1.5 ms and 30.7 ± 6.1 matched features). Conclusions: The MicroVAST platform includes innovative solutions for navigation allowing for an assisted magnetic locomotion of medical devices in the cardiovascular district by combining a 3D imaging US-based tracking algorithm with pre-operative data.