title: A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking.
abstract: 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.
  
  
  
  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.
  
  
  
  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).
  
  
  
  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.
authors.affiliation: a The BioRobotics Institute, Scuola Superiore Sant'Anna , Pisa , Italy.
authors.forename: Marco
authors.initials: M
authors.lastname: Mura
authors.affiliation: b EndoCAS Center, University of Pisa , Pisa , Italy.
authors.forename: Simone
authors.initials: S
authors.lastname: Parrini
authors.affiliation: a The BioRobotics Institute, Scuola Superiore Sant'Anna , Pisa , Italy.
authors.forename: Gastone
authors.initials: G
authors.lastname: Ciuti
authors.affiliation: b EndoCAS Center, University of Pisa , Pisa , Italy.
authors.forename: Vincenzo
authors.initials: V
authors.lastname: Ferrari
authors.affiliation: b EndoCAS Center, University of Pisa , Pisa , Italy.
authors.forename: Cinzia
authors.initials: C
authors.lastname: Freschi
authors.affiliation: b EndoCAS Center, University of Pisa , Pisa , Italy.
authors.forename: Mauro
authors.initials: M
authors.lastname: Ferrari
authors.affiliation: a The BioRobotics Institute, Scuola Superiore Sant'Anna , Pisa , Italy.
authors.forename: Paolo
authors.initials: P
authors.lastname: Dario
authors.affiliation: a The BioRobotics Institute, Scuola Superiore Sant'Anna , Pisa , Italy.
authors.forename: Arianna
authors.initials: A
authors.lastname: Menciassi
mesh_terms: D000465:Algorithms; D002318:Cardiovascular Diseases / Q000601:surgery; D057510:Endovascular Procedures / Q000295:instrumentation*; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008328:Man-Machine Systems; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D014463:Ultrasonography / Q000379:methods*
keywords: Cardiovascular intervention; robotic magnetic guidance; robotic-assisted surgery; soft-tethered endoluminal device; ultrasound tracking