2018
Wartenberg, Marek; Schornak, Joseph; Gandomi, Katie; Carvalho, Paulo; Nycz, Chris; Patel, Niravkumar; Iordachita, Iulian; Tempany, Clare; Hata, Nobuhiko; Tokuda, Junichi; Fischer, Gregory S.
Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion Journal Article
In: ANNALS OF BIOMEDICAL ENGINEERING, vol. 46, no. 10, pp. 1582–1594, 2018, ISSN: 0090-6964, 1573-9686, (Num Pages: 13 Place: New York Publisher: Springer Web of Science ID: WOS:000445180100013).
Abstract | Links | BibTeX | Tags: FEEDBACK, image-guided therapy, medical robotics, MOTION, Needle steering, Teleoperation
@article{wartenberg_closed-loop_2018,
title = {Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion},
author = {Marek Wartenberg and Joseph Schornak and Katie Gandomi and Paulo Carvalho and Chris Nycz and Niravkumar Patel and Iulian Iordachita and Clare Tempany and Nobuhiko Hata and Junichi Tokuda and Gregory S. Fischer},
doi = {10.1007/s10439-018-2070-2},
issn = {0090-6964, 1573-9686},
year = {2018},
date = {2018-10-01},
journal = {ANNALS OF BIOMEDICAL ENGINEERING},
volume = {46},
number = {10},
pages = {1582–1594},
abstract = {Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asymmetric tip can reduce targeting error. Incorporating robotic closed-loop control often reduces physician interaction with the patient, but by pairing closed-loop trajectory compensation with hands-on cooperatively controlled insertion, a physician's control of the procedure can be maintained while incorporating benefits of robotic accuracy. A series of needle insertions were performed with a typical 18G needle using closed-loop active compensation under both fully autonomous and user-directed cooperative control. We demonstrated equivalent improvement in accuracy while maintaining physician-in-the-loop control with no statistically significant difference (p>0.05) in the targeting accuracy between any pair of autonomous or individual cooperative sets, with average targeting accuracy of 3.56mm(rms). With cooperatively controlled insertions and target shift between 1 and 10mm introduced upon needle contact, the system was able to effectively compensate up to the point where error approached a maximum curvature governed by bending mechanics. These results show closed-loop active compensation can enhance targeting accuracy, and that the improvement can be maintained under user directed cooperative insertion.},
note = {Num Pages: 13
Place: New York
Publisher: Springer
Web of Science ID: WOS:000445180100013},
keywords = {FEEDBACK, image-guided therapy, medical robotics, MOTION, Needle steering, Teleoperation},
pubstate = {published},
tppubtype = {article}
}
Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asymmetric tip can reduce targeting error. Incorporating robotic closed-loop control often reduces physician interaction with the patient, but by pairing closed-loop trajectory compensation with hands-on cooperatively controlled insertion, a physician’s control of the procedure can be maintained while incorporating benefits of robotic accuracy. A series of needle insertions were performed with a typical 18G needle using closed-loop active compensation under both fully autonomous and user-directed cooperative control. We demonstrated equivalent improvement in accuracy while maintaining physician-in-the-loop control with no statistically significant difference (p>0.05) in the targeting accuracy between any pair of autonomous or individual cooperative sets, with average targeting accuracy of 3.56mm(rms). With cooperatively controlled insertions and target shift between 1 and 10mm introduced upon needle contact, the system was able to effectively compensate up to the point where error approached a maximum curvature governed by bending mechanics. These results show closed-loop active compensation can enhance targeting accuracy, and that the improvement can be maintained under user directed cooperative insertion.