title: Simulation and planning of a magnetically actuated microrobot navigating in the arteries.
abstract: This paper presents a preoperative microrobotic surgical simulation and planning application. The main contribution is to support computer-aided minimally invasive surgery (MIS) procedure using untethered microrobots that have to navigate within the arterial networks. We first propose a fast interactive application (with endovascular tissues) able to simulate the blood flow and microrobot interaction. Second, we also propose a microrobotic surgical planning framework, based on the anisotropic fast marching method (FMM), that provides a feasible pathway robust to biomedical navigation constraints. We demonstrate the framework performance in a case study of the treatment of peripheral arterial diseases.
authors.affiliation: Laboratoire PRISME, Ecole Nationale Suprieure d’Ingnieurs de Bourges de Bourges, Bourges 18020, France. karim.belharet@ensi-bourges.fr
authors.forename: Karim
authors.initials: K
authors.lastname: Belharet
authors.forename: David
authors.initials: D
authors.lastname: Folio
authors.forename: Antoine
authors.initials: A
authors.lastname: Ferreira
mesh_terms: D003198:Computer Simulation; D057510:Endovascular Procedures / Q000295:instrumentation* / Q000379:methods*; D006801:Humans; D059346:Magnets; D008955:Models, Cardiovascular; D011673:Pulsatile Flow; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*