TY - JOUR
T1 - Real-time microrobot posture recognition via biplane X-ray imaging system for external electromagnetic actuation
AU - Nguyen, Phu Bao
AU - Kang, Byungjeon
AU - Bappy, D. M.
AU - Choi, Eunpyo
AU - Park, Sukho
AU - Ko, Seong Young
AU - Park, Jong Oh
AU - Kim, Chang Sei
N1 - Publisher Copyright:
© 2018, CARS.
PY - 2018/11/1
Y1 - 2018/11/1
N2 - Purpose: As a promising intravascular therapeutic approach for autonomous catheterization, especially for thrombosis treatment, a microrobot or robotic catheter driven by an external electromagnetic actuation system has been recently investigated. However, the three-dimensional (3D) real-time position and orientation tracking of the microrobot remains a challenge for precise feedback control in clinical applications owing to the micro-size of the microrobot geometry in vessels, along with bifurcation and vulnerability. Therefore, in this paper, we propose a 3D posture recognition method for the unmanned microrobotic surgery driven by an external electromagnetic actuator system. Methods: We propose a real-time position and spatial orientation tracking method for a millimeter-sized intravascular object or microrobot using a principal component analysis algorithm and an X-ray reconstruction. The suggested algorithm was implemented to an actual controllable wireless microrobot system composed of a bullet-shaped object, a biplane X-ray imaging device, and an electromagnetic actuation system. Numerical computations and experiments were conducted for the performance verification. Results: The experimental results showed a good performance of the implemented system with tracking errors less than 0.4 mm in position and 2° in orientation. The proposed tracking technique accomplished a fast processing time, ~ 0.125 ms/frame, and high-precision recognition of the micro-sized object. Conclusions: Since the suggested method does not require pre-information of the object geometry in the human body for its 3D shape and position recognition, it could be applied to various elliptical shapes of the microrobot system with computation time efficacy and recognition accuracy. Hence, the method can be used for therapeutic millimeter- or micron-sized manipulator recognition in vascular, as well as implanted objects in the human body.
AB - Purpose: As a promising intravascular therapeutic approach for autonomous catheterization, especially for thrombosis treatment, a microrobot or robotic catheter driven by an external electromagnetic actuation system has been recently investigated. However, the three-dimensional (3D) real-time position and orientation tracking of the microrobot remains a challenge for precise feedback control in clinical applications owing to the micro-size of the microrobot geometry in vessels, along with bifurcation and vulnerability. Therefore, in this paper, we propose a 3D posture recognition method for the unmanned microrobotic surgery driven by an external electromagnetic actuator system. Methods: We propose a real-time position and spatial orientation tracking method for a millimeter-sized intravascular object or microrobot using a principal component analysis algorithm and an X-ray reconstruction. The suggested algorithm was implemented to an actual controllable wireless microrobot system composed of a bullet-shaped object, a biplane X-ray imaging device, and an electromagnetic actuation system. Numerical computations and experiments were conducted for the performance verification. Results: The experimental results showed a good performance of the implemented system with tracking errors less than 0.4 mm in position and 2° in orientation. The proposed tracking technique accomplished a fast processing time, ~ 0.125 ms/frame, and high-precision recognition of the micro-sized object. Conclusions: Since the suggested method does not require pre-information of the object geometry in the human body for its 3D shape and position recognition, it could be applied to various elliptical shapes of the microrobot system with computation time efficacy and recognition accuracy. Hence, the method can be used for therapeutic millimeter- or micron-sized manipulator recognition in vascular, as well as implanted objects in the human body.
KW - Electromagnetic actuation system
KW - Intravascular microrobot
KW - Principal component analysis
KW - Real-time 3D posture recognition
KW - X-ray reconstruction
UR - http://www.scopus.com/inward/record.url?scp=85052566990&partnerID=8YFLogxK
U2 - 10.1007/s11548-018-1846-z
DO - 10.1007/s11548-018-1846-z
M3 - Article
C2 - 30128951
AN - SCOPUS:85052566990
SN - 1861-6410
VL - 13
SP - 1843
EP - 1852
JO - International Journal of Computer Assisted Radiology and Surgery
JF - International Journal of Computer Assisted Radiology and Surgery
IS - 11
ER -