Magnetic Trackers: Robot Control and Vasculature Imaging - Microsurgery: Advances, Simulations, and Applications - page 235

Reference Point
Camera Motion Triggered
Catheter Trajectory
Detection range 10 mm

60

P 1

50

40

30

P 6

P 5

20

P 2

P 3

P 4

10

P 0

0

20 40 60 80 100 120 140 160 180 200 220

Coronal Axis (mm)

Figure 7.9 Magnetic sensor trajectory projection showing that the motion

of the robotic camera was triggered inside the designed
detection range [16].

This small reaction range may be explained by the location of P 0
near the silicone model entrance, but the small reaction range in P 5 ,
0.21 mm, can be explained by one of the following reasons:
(i) A local distortion in the magnetic ield appeared between the
LUT construction and the robot manipulation.
(ii) A change on silicone vasculature lumen shape between the
LUT construction and the robot manipulation.
(iii) Excess of speed in the motion of the catheter.

Table 7.3 Comparison of deined and experimental detection ranges for

all reference points in M 0 and system setting time

Reference
point

Maximum
deined
detection
range
(mm)

Experimental
reaction
range (mm)

Setting
time (s)

Step count

DOF1 DOF2 DOF3

P 0 10 4.56 9.6 27718 14812 1456

P 1 10 7.00 3.2 2836 8816 2342

P 2 10 6.68 0.4 0 0 1104

P 3 10 8.80 2.4 6334 1950 0

P 4 10 7.81 1.4 3740 0 218

P 5 10 0.21 2.2 5652 3396 0

P 6 10 7.03 2.6 9156 650 0