Integrated Planning and Image-Guided Control for Planar Needle Steering.

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Kyle B ReedNoah J Cowan

Abstract

Flexible, tip-steerable needles promise to enhance physicians' abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intra-operative planner that finds an achievable route to a target within a planar slice of tissue (Stochastic Motion Roadmap), and (2) a low-level image-guided feedback controller that keeps the needle tip within that slice. The planner generates a sequence of circular arcs that can be realized by interleaving pure insertions with 180° rotations of the needle shaft. This preplanned sequence is updated in realtime at regular intervals. Concurrently, the low-level image-based controller servos the needle to remain close to the desired plane between plan updates. Both planner and controller are predicated on a previously developed kinematic nonholonomic model of bevel-tip needle steering. We use slighly different needles here that have a small bend near the tip, so we extend the model to account for discontinuities of the tip position caused by 180° rotations. Further, during large rotations of the needle base, we maintain the desired tip angle b...Continue Reading

Citations

May 27, 2014·IEEE Transactions on Bio-medical Engineering·John P SwensenNoah J Cowan
Aug 22, 2009·IEEE Transactions on Bio-medical Engineering·Kyle B ReedNoah J Cowan
Oct 3, 2012·IEEE Robotics & Automation Magazine·Kyle B ReedAllison M Okamura
Mar 30, 2012·Minimally Invasive Therapy & Allied Technologies : MITAT : Official Journal of the Society for Minimally Invasive Therapy·Kirsten HenkenJohn Van Den Dobbelsteen
Sep 21, 2016·Annals of Biomedical Engineering·Mohsen KhademMahdi Tavakoli
Sep 1, 2012·Journal of Robotic Surgery·Luca FrassonFerdinando Rodriguez Y Baena
Apr 30, 2015·Medical Engineering & Physics·Nick J van de BergJohn J van den Dobbelsteen
May 6, 2021·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Bardia KonhSeong Young Ko

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