Tracking the 3D Shape of Steerable Catheters with Helical Markers

International audienceThis work presents the design of helical markers and application of neural network to enable full-length monitoring of the 3D shape and orientation of an active (steerable) catheter from isolated 2D images

Investigating the Role of Helical Markers in 3D Catheter Shape Monitoring from 2D Fluoroscopy

International audienceThis work provides preliminary results indicating that helical markers and neural networks can enable efficient monitoring of the 3D shape and orientation of an active catheter from isolated 2D fluoroscopic images

Actionneurs non conventionnels pour la robotique

Robotics has now entered many industrial fields. Actuation technologies of robotic systems must therefore be compatible with various needs, which are very challenging in terms of compactness, accuracy, safety, dynamics or compatibility with specific environments. The performances of conventional electromagnetic or hydraulic actuators can then sometimes be insufficient. This article introduces the three most encountered alternate actuation technologies: piezoelectric actuation, shape memory alloy actuation and flexible fluidic actuation. For each of them, the principle is introduced with a review of existing actuators. Modeling and integration considerations are then developed as well as meaningful examples to present the interest of each technology. A comparative study is finally presented.info:eu-repo/semantics/publishe

Micro/macro-scale robotic approach for middle ear surgery

International audienceThis article deals with the development of a robotic solution for middle ear surgery. The surgical procedure consists of the resection of pathological tissues that occurs inside the middle ear cavity known as cholesteatoma. The current surgical procedure is performed manually, is invasive and does not guarantee an exhaustive cholesteatoma tissues removal leading to reoccurrence in 25-30% cases. To remedy this, we developed a new surgical protocol that combines a robotic solution and original surgical instruments. On one side, it consists of a redundant seven degrees of freedom (DoFs) robotic arm extended with a 2 DoFs flexible fibroscope (emulating a future microrobot under development). On the other side, different control architectures are proposed to achieve the surgical procedure. One control mode is based on the teleoperation of whole developed system using a joystick such as an Omni device. The other mode combines comanipulation of the 7 DoFs robotic arm using an embedded force/torque sensor and teleoperation of the remaining 2 DoFs fibroscope using a lab-made in-hand joystick. The proposed materials and methods were validated experimentally using a robotic setup. The obtained results using the different control schemes are discussed

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An Effective Algorithm for Finding Shortest Paths in Tubular Spaces

International audienceWe propose a novel algorithm to determine the Euclidean shortestpath (ESP) from a given point (source) to another point(destination) inside a tubular space. The method is based on theobservation data of a virtual particle (VP) assumed to move alongthis path. In the first step, the geometric properties of theshortest path inside the considered space are presented and proven.Utilizing these properties, the desired ESP can be segmented intothree partitions depending on the visibility of the VP. Ouralgorithm will check which partition the VP belongs to andcalculate the correct direction of its movement, and thus theshortest path will be traced. The proposed method is then comparedto Dijkstra’s algorithm, considering different types of tubularspaces. In all cases, the solution provided by the proposedalgorithm is smoother, shorter, and has a higher accuracy with afaster calculation speed than that obtained by Dijkstra’s method

Design and prototyping of a robotic assistant for microsurgery

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Endoscopic instrument with support foot

The invention relates to an endoscopic instrument (1) having an elongate body with a distal end (4) designed to be introduced into the body of the patient so as to come into proximity with an internal organ, the distal end carrying a tool (7) for intervention on the internal organ. The endoscopic instrument has a foot (10) rigidly connected to the distal end and designed to bear on the internal organ, and also controllable means (13) for conferring movements on the tool, at least in directions transverse to a longitudinal axis (X) of the distal end of the endoscopic instrument, when the foot is bearing against the internal organ

Cascaded U-net for segmentation of endovascular path in mechanical thrombectomy

International audienceEndovascular interventions have experienced a very important development in recent years. In the particular context of cerebral stroke, mechanical thrombectomy has become a therapeutic of reference. Nevertheless, catheterization involves a technical gesture that can be very difficult or impossible in complex anatomical configurations. Preoperative images can help physicians in planning via visualization of structures of interest and during the intervention via augmented reality navigation. To guide the intervention, segmented navigation structures from pre-operative images are projected onto 2D intraoperative X-ray images. To this aim, common and internal carotids and aortic arch, that correspond to endovascular path, must be quickly and properly segmented. In this this work we propose a method for segmentation of vascular structures corresponding to endovascular path in mechanical thrombectomy from pre-operative images. Cascaded U-net are used to segment the common and internal arteries: a first U-net is used to mask the original MRA and a second U-net is used to segment the arteries. Another U-net is used to segment the aortic arch. The proposed method better highlights vascular structures related to endovascular navigation than a simple 2D U-net. Also, Dice coefficient of segmented vascular structures is equal to 0.851 with a sensitivity equal to 0.922. © 2022 SPIE