Magnetic Trackers: Robot Control and Vasculature Imaging - Microsurgery: Advances, Simulations, and Applications - page 253

Dir e ctions

0
45
90
135

Sample
Center of the sphere
Maximum Radius = 0.54mm

40

0.4

20

0

0

-0.4

-20

0.4

0.4

0

-40

0

y[mm]

-0.4

-0.4

-20 0 20 40

x[mm]

x[mm]

a) b)

Figure 7.22 (a) Samples dispersion variation along the four studied
directions in the XZ plane. (b) Samples dispersion example for
one the locations in XZ plane.

7.5.3 Environment for Hybrid Probe Evaluation

To evaluate this imaging method, an in vitro environment was
constructed by using a silicone membranous model of descending
aorta submerged into a water tank. A scan was performed along the
descending aorta model at low speed with the 6DOF hybrid probe
inserting and extracting the hybrid probe three times. Figure 7.23
shows the membranous silicone model and its original CAD model
obtained from the CT images.

Descending
Aorta Silicone
Model

Hybrid Probe

b)

a)

Figure 7.23 (a) Silicone model of descending aorta submerged into
the water tank with the hybrid probe inserted. (b) Stereo-
lithographic data used for the silicone model construction.