Real-time microrobot posture recognition via biplane X-ray imaging system for external electromagnetic actuation.

Journal: International journal of computer assisted radiology and surgery
Published Date: Nov 1, 2018

Abstract

PURPOSE: As a promising intravascular therapeutic approach for autonomous catheterization, especially for thrombosis treatment, a microrobot or robotic catheter driven by an external electromagnetic actuation system has been recently investigated. However, the three-dimensional (3D) real-time position and orientation tracking of the microrobot remains a challenge for precise feedback control in clinical applications owing to the micro-size of the microrobot geometry in vessels, along with bifurcation and vulnerability. Therefore, in this paper, we propose a 3D posture recognition method for the unmanned microrobotic surgery driven by an external electromagnetic actuator system.

Authors

  • Phu Bao Nguyen
    School of Mechanical Engineering, Chonnam National University, Gwangju, 61186, South Korea.
  • Byungjeon Kang
    Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy.
  • D M Bappy
    Medical Microrobot Center, Robot Research Initiative, Chonnam National University, Gwangju, 61186, South Korea.
  • Eunpyo Choi
  • Sukho Park
    Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea shpark12@dgist.ac.kr.
  • Seong Young Ko
    School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea.
  • Jong-Oh Park
    School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea. Electronic address: jop@jnu.ac.kr.
  • Chang-Sei Kim

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