A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking

摘要

Background: 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.Methods: 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.Results: 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).Conclusions: 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.