Collision Free Interventional Environments
Interventional procedures aim to minimize collateral damage during surgery, leading to less postoperative complications and faster patient recovery. These surgeries require open, easy access to the patient, which is provided by C-arm based interventional X-ray systems.
Interventional rooms are complex, cluttered environments (Figure 2) and it is not desirable for the X-ray system to collide with the patient, medical staff or equipment during an interventional procedure. A collision can damage both the device and the colliding objects and can lead to the suspension of the intervention.
Current collision prevention strategies for interventional X-ray systems prove to be too restrictive from the viewpoint of increasing the speed of the scan or an increased number of degrees of freedom. Further, they are limited to only detecting a collision after it has occurred. While potential damage due to collisions can be minimized by collision reaction strategies, preventing collisions in a dynamic and unpredictable environment is the current need of the hour. Therefore, it is required to develop safety systems which make extensive use of modern sensing technologies to predict the presence of an obstacle in the workspace and successfully avoid the collision.
The general research goal of this project can be summarized as “Develop a real-time collision avoidance system (Figure 3) for interventional X-ray systems which efficiently deals with detecting collisions and avoiding them during interventional procedures.”
Potential research topics include:
- Path/trajectory planning
- Multi-sensor data fusion
- Optimal placement of sensors