Related Experiment Videos
Virtual remote center of motion control for needle placement robots
Emad M Boctor1, Robert J Webster, Herve Mathieu
1Engineering Research Center for Computer Integrated Surgical Systems and Technology, Jones Hopkins University, Baltimore, Maryland 21218, USA. eboctor@ieee.org
Summary
This study introduces a new algorithm for robotic needle placement in percutaneous procedures, simplifying robot calibration and removing the need for a mechanical Remote Center of Motion (RCM). This innovation aims to make robotic surgical assistants more accessible.
Area of Science:
- Robotics
- Medical Engineering
- Image-Guided Surgery
Background:
- Percutaneous procedures often rely on specialized robotic systems with mechanical constraints.
- Existing robotic systems for needle placement can be complex, costly, and require extensive calibration.
- Minimally invasive surgery benefits from enhanced precision and reduced invasiveness, driving demand for advanced robotic tools.
Purpose of the Study:
- To develop and validate an algorithm for robotic percutaneous needle placement that operates without a mechanically enforced Remote Center of Motion (RCM).
- To enable the use of simpler, less calibrated robots for precise needle guidance in image-guided procedures.
- To reduce the cost and complexity of robotic surgical assistant systems for percutaneous interventions.
Main Methods:
- An algorithm utilizing online surgical tool tracking and a five-degree-of-freedom (5-DOF) robot (3 prismatic, 2 rotational) was employed.
- An incremental adaptive motion control cycle guided the needle to the target insertion point and orientation.
- The system achieved Remote Center of Motion (RCM) motion without a physical fulcrum.
Main Results:
- A proof-of-concept system demonstrated high accuracy, achieving 0.78 mm translational and 1.4 degrees rotational accuracy.
- The system completed needle guidance within 17 iterative steps, taking only 0.5-1 second.
- Accuracy was within the limits of the tracking system used.
Conclusions:
- This algorithm significantly simplifies the requirements for robotic systems used in percutaneous procedures.
- The reduced cost and complexity can accelerate the prototyping and adoption of robotic surgical assistants.
- The findings pave the way for more widespread clinical use of image-guided robotic interventions.