Título:
|
Motion planning for the virtual bronchoscopy
|
Autor/a:
|
Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Cabras, Paolo; Rosell, Antoni
|
Otros autores:
|
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
|
Bronchoscopy is an interventional medical procedure
employed to analyze the interior side of the human
airways, clear possible obstructions and biopsy. Using a 3D reconstruction
of the tracheobronchial tree, Virtual Bronchoscopy
(VB) may help physicians in the exploration of peripheral lung
lesions. We are developing a haptic-based navigation system
for the VB that allows the navigation within the airways
using a haptic device whose permitted motions mimics those
done with the real bronchoscope. This paper describes the
motion planning module of the system devoted to plan a path
from the trachea to small peripheral pulmonary lesions, that
takes into account the geometry and the kinematic constraints
of the bronchoscope. The motion planner output is used to
visually and haptically guide the navigation during the virtual
exploration using the haptic device. Moreover, physicians can
get useful information of whether the peripheral lesions can
effectively be reached with a given bronchoscope or of which
is the nearest point to the lesion that can be reached. |
Materia(s):
|
-Àrees temàtiques de la UPC::Enginyeria biomèdica::Electrònica biomèdica -Biomedical engineering -Enginyeria biomèdica |
Derechos:
|
|
Tipo de documento:
|
Artículo - Versión publicada Objeto de conferencia |
Editor:
|
IEEE
|
Compartir:
|
|