Cognitive AutonomouS CAtheters operating in Dynamic Environments
Emmanuel Vander Poorten, Abraham Temesgen Tibebu, Bingbin Yu, Christian Rauch, Felix Bernhard, Jan Hendrik Metzen, Yohannes Kassahun, P. Tran, A. Devreker, C. Gruijthuijsen, S. Portoles-Diez, G. Smoljkic, V. Strbac, N. Famaey, D. Reynaerts, J. Vander Sloten, B. Yu, J. H. Metzen, S. Giannarou, L. Zhao, S. Lee, G. Yang, E. Mazomenos, P. Chang, D. Stoyanov, M. Kvasnytsia, J. Van Deun, E. Verhoelst, A. Di Iasio M. Sette, G. Leo, F. Hertner, D. Scherly, L. Chelini, N. Häni, D. Seatovic, B. Rosa, H. De Praetere, P. Herijgers
In Journal of Medical Robotics Research, o.A., volume 1, number 3, pages o.A., Sep/2016.
Advances in miniaturized surgical instrumentation are key to less demanding and safer medical interventions. In cardiovascular procedures interventionalists turn towards catheter-based interventions, treating patients considered unfit for more invasive approaches. A positive outcome is not guaranteed. The risk for calcium dislodgement, tissue damage or even vessel rupture cannot be eliminated when instruments are maneuvered through fragile and diseased vessels. This paper reports on the progress made in terms of catheter design, vessel reconstruction, catheter shape modeling, surgical skill analysis, decision-making and control. These efforts are geared towards the development of the necessary technology to autonomously steer catheters through the vasculature, a target of the EU-funded project CASCADE (Cognitive AutonomouS CAtheters operating in Dynamic Environments). Whereas autonomous placement of an aortic valve implant forms the ultimate and concrete goal, the technology of the individual building blocks that are identifed to reach this ambitious goal are expected to be much sooner impacting and assisting interventionalists in their clinical daily practice.
Robotic catheters; cognitive surgical robotics; uidic actuation, automatic registration, 3D reconstruction, SCEM, real- time FEM, continuum robot control, teleoperation, haptic guidance, machine learning, autonomous catheter control