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.

Abstract

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.

Keywords

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

Files

Links

Cite and export

Choose a format, then copy or download.

@article{Poorten2016Cognitive,
  author    = {Poorten, Emmanuel Vander and Tibebu, Abraham Temesgen and Yu, Bingbin and Rauch,
               Christian and Bernhard, Felix and Metzen, Jan Hendrik and Kassahun, Yohannes and
               Tran, P. and Devreker, A. and Gruijthuijsen, C. and Portoles-Diez, S. and Smoljkic,
               G. and Strbac, V. and Famaey, N. and Reynaerts, D. and Sloten, J. Vander and Yu, B.
               and Metzen, J. H. and Giannarou, S. and Zhao, L. and Lee, S. and Yang, G. and
               Mazomenos, E. and Chang, P. and Stoyanov, D. and Kvasnytsia, M. and Van Deun, J. and
               Verhoelst, E. and Di Iasio M. Sette, A. and Leo, G. and Hertner, F. and Scherly, D.
               and Chelini, L. and Häni, N. and Seatovic, D. and Rosa, B. and De Praetere, H. and
               Herijgers, P.},
  title     = {Cognitive {AutonomouS} {CAtheters} operating in Dynamic Environments},
  journal   = {Journal of Medical Robotics Research},
  volume    = {1},
  number    = {3},
  month     = sep,
  year      = {2016},
  url       = {https://robotik.dfki-bremen.de/en/research/publications/8331}
}
Download (.bib) 
TY  - JOUR
AU  - Poorten, Emmanuel Vander
AU  - Tibebu, Abraham Temesgen
AU  - Yu, Bingbin
AU  - Rauch, Christian
AU  - Bernhard, Felix
AU  - Metzen, Jan Hendrik
AU  - Kassahun, Yohannes
AU  - Tran, P.
AU  - Devreker, A.
AU  - Gruijthuijsen, C.
AU  - Portoles-Diez, S.
AU  - Smoljkic, G.
AU  - Strbac, V.
AU  - Famaey, N.
AU  - Reynaerts, D.
AU  - Sloten, J. Vander
AU  - Yu, B.
AU  - Metzen, J. H.
AU  - Giannarou, S.
AU  - Zhao, L.
AU  - Lee, S.
AU  - Yang, G.
AU  - Mazomenos, E.
AU  - Chang, P.
AU  - Stoyanov, D.
AU  - Kvasnytsia, M.
AU  - Van Deun, J.
AU  - Verhoelst, E.
AU  - Di Iasio M. Sette, A.
AU  - Leo, G.
AU  - Hertner, F.
AU  - Scherly, D.
AU  - Chelini, L.
AU  - Häni, N.
AU  - Seatovic, D.
AU  - Rosa, B.
AU  - De Praetere, H.
AU  - Herijgers, P.
TI  - Cognitive AutonomouS CAtheters operating in Dynamic Environments
T2  - Journal of Medical Robotics Research
VL  - 1
IS  - 3
PY  - 2016
DA  - 2016/09//
AB  - 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.
KW  - Robotic catheters
KW  - cognitive surgical robotics
KW  - uidic actuation, automatic registration, 3D reconstruction, SCEM, real- time FEM, continuum robot control, teleoperation, haptic guidance, machine learning, autonomous catheter control
UR  - https://robotik.dfki-bremen.de/en/research/publications/8331
LA  - eng
ER  -
Download (.ris) 
Poorten, E. V., Tibebu, A. T., Yu, B., Rauch, C., Bernhard, F., Metzen, J. H., Kassahun, Y., Tran, P., Devreker, A., Gruijthuijsen, C., Portoles-Diez, S., Smoljkic, G., Strbac, V., Famaey, N., Reynaerts, D., Sloten, J. V., Yu, B., Metzen, J. H., Giannarou, S., … Herijgers, P. (2016). Cognitive AutonomouS CAtheters operating in Dynamic Environments. Journal of Medical Robotics Research, 1(3). https://robotik.dfki-bremen.de/en/research/publications/8331


Back to the list
to top