Magnetic Trackers: Robot Control and Vasculature Imaging - Microsurgery: Advances, Simulations, and Applications - page 240

Initialize Aurora and
LSM

Build Map
Including
Coordinates and
LSM configuration

No

Load a Map?

Is the
sensor close to a
point of
the Map ?

Configure LSM
according to the
Map Point

Yes

Yes

Saves map to
Database

No

Load Map From Data
Base and Start
Tracking

Map Data
Base

Keep tracking
searching for
points of the map

Figure 7.14 Flux diagram of ACIS control software.

7.4.2.2 Magnetic tracker

In some of the experiments, the catheter tip had to been modiied in
order to obtain better results (Fig. 7.15). For all experiments, a set of
reference points was collected using the tracker inside the silicone
models. From this set, M 1 was designed containing the planned
insertion paths.

5mm a)

b)

5mm

Figure 7.15 (a) Example of a standard 5F catheter. (b) Modiied magnetic
tracker probe.

7.4.3 Preliminary Experiment for Path Reconstruction

A preliminary experiment was done to evaluate the ACIS
reconiguration accuracy using a sparse LUT built using the model
of the artery of regions 1 and 2 as reference. The magnetic tracker
was manually inserted along the arterial block model of those