A ROS2-based Testbed Environment for Endovascular Robotic Systems
Developing autonomous endovascular robotic systems requires physical testbeds to test control algorithms. Typically, such testbeds comprise of several hard- and software components along with a way of having these components communicate with each other. Building such a testbed is a multidisciplinary...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2022-07-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2022-0023 |
| _version_ | 1811236723709968384 |
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| author | Eyberg Christoph Karstensen Lennart Pusch Tim Horsch Johannes Langejürgen Jens |
| author_facet | Eyberg Christoph Karstensen Lennart Pusch Tim Horsch Johannes Langejürgen Jens |
| author_sort | Eyberg Christoph |
| collection | DOAJ |
| description | Developing autonomous endovascular robotic systems requires physical testbeds to test control algorithms. Typically, such testbeds comprise of several hard- and software components along with a way of having these components communicate with each other. Building such a testbed is a multidisciplinary task which can be beyond the scope of expertise for research groups. The goal of this work is to facilitate setting up such testbeds in two ways: First, we propose a testbed architecture that allows to develop tracking, control and instrument manipulation systems separately by utilizing the ROS2 communication protocol. Secondly, we present a reliable yet straightforward to implement tracking algorithm for endovascular instruments that is built using only open-source software packages. The tracking algorithm is evaluated using both video camera and x-ray imaging and is found to meet the requirements for real time control algorithms. Furthermore, we show an example of the proposed modular testbed architecture as it is used in our lab. Both the modular testbed architecture and the open-source tracking algorithm may serve as helpful building blocks for other researchers in the field seeking to evaluate their control algorithms on physical testbeds. |
| first_indexed | 2024-04-12T12:12:56Z |
| format | Article |
| id | doaj.art-ed0072a019bb46ca8d7563fc114a9b65 |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-04-12T12:12:56Z |
| publishDate | 2022-07-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-ed0072a019bb46ca8d7563fc114a9b652022-12-22T03:33:32ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042022-07-0181899210.1515/cdbme-2022-0023A ROS2-based Testbed Environment for Endovascular Robotic SystemsEyberg Christoph0Karstensen Lennart1Pusch Tim2Horsch Johannes3Langejürgen Jens4Fraunhofer IPA, Theodor-Kutzer-Ufer 1-3,Mannheim, GermanyFraunhofer IPA,Mannheim, GermanyFraunhofer IPA,Mannheim, GermanyFraunhofer IPA,Mannheim, GermanyFraunhofer IPA,Mannheim, GermanyDeveloping autonomous endovascular robotic systems requires physical testbeds to test control algorithms. Typically, such testbeds comprise of several hard- and software components along with a way of having these components communicate with each other. Building such a testbed is a multidisciplinary task which can be beyond the scope of expertise for research groups. The goal of this work is to facilitate setting up such testbeds in two ways: First, we propose a testbed architecture that allows to develop tracking, control and instrument manipulation systems separately by utilizing the ROS2 communication protocol. Secondly, we present a reliable yet straightforward to implement tracking algorithm for endovascular instruments that is built using only open-source software packages. The tracking algorithm is evaluated using both video camera and x-ray imaging and is found to meet the requirements for real time control algorithms. Furthermore, we show an example of the proposed modular testbed architecture as it is used in our lab. Both the modular testbed architecture and the open-source tracking algorithm may serve as helpful building blocks for other researchers in the field seeking to evaluate their control algorithms on physical testbeds.https://doi.org/10.1515/cdbme-2022-0023endovascularsurgical roboticstestbedtrackingguidewire |
| spellingShingle | Eyberg Christoph Karstensen Lennart Pusch Tim Horsch Johannes Langejürgen Jens A ROS2-based Testbed Environment for Endovascular Robotic Systems Current Directions in Biomedical Engineering endovascular surgical robotics testbed tracking guidewire |
| title | A ROS2-based Testbed Environment for Endovascular Robotic Systems |
| title_full | A ROS2-based Testbed Environment for Endovascular Robotic Systems |
| title_fullStr | A ROS2-based Testbed Environment for Endovascular Robotic Systems |
| title_full_unstemmed | A ROS2-based Testbed Environment for Endovascular Robotic Systems |
| title_short | A ROS2-based Testbed Environment for Endovascular Robotic Systems |
| title_sort | ros2 based testbed environment for endovascular robotic systems |
| topic | endovascular surgical robotics testbed tracking guidewire |
| url | https://doi.org/10.1515/cdbme-2022-0023 |
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