Belharet, Karim and Folio, David and Ferreira, Antoine


This work 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. Secondly, 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 (PAD)



  title = {Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries},
  author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
  journal = {IEEE Transactions on Biomedical Engineering},
  year = {2013},
  month = apr,
  number = {4},
  pages = {994--1001},
  volume = {60},
  doi = {10.1109/TBME.2012.2236092},
  hal = {00767787},
  keywords = {microrobotics, minimally invasive surgery, blood flow simulation, anisotropic path planning, blood, computational modeling, force, magnetic anisotropy, navigation, planning, surgery}