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Related Experiment Videos

Trajectory generation for robotic needle insertion in soft tissue.

Niki Abolhassani1, Rajni Patel, Mehrdad Moallem

  • 1Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont., Canada.

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
|February 3, 2007
PubMed
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Robot-assisted needle insertion for therapies like prostate brachytherapy requires minimizing tissue deformation. Studying different trajectories revealed that infinitesimal force per displacement is key for real-time trajectory adjustments, improving accuracy.

Area of Science:

  • Robotics in Medicine
  • Biomedical Engineering
  • Surgical Navigation

Background:

  • Accurate needle insertion into soft, inhomogeneous tissues is critical for robot-assisted percutaneous therapies.
  • Minimizing tissue deformation during multiple needle insertions, such as in transrectal ultrasound-guided prostate brachytherapy, is essential for procedural success.
  • Existing methods face challenges in controlling tissue deformation during robotic needle insertion.

Purpose of the Study:

  • To investigate the impact of different robotic trajectories on tissue deformation during needle insertion.
  • To evaluate the effectiveness of infinitesimal force per tissue displacement as a metric for trajectory control.
  • To develop and assess a position/force controller for reducing pre-puncture tissue deformation.

Main Methods:

Related Experiment Videos

  • Utilized a 2-DOF (degrees of freedom) robot to perform needle insertions in soft tissue models.
  • Compared tissue deformation and infinitesimal force per displacement across various needle insertion trajectories.
  • Implemented and tested a novel position/force controller designed to manage tissue interaction.

Main Results:

  • Identified specific trajectories that significantly reduce tissue deformation during robotic needle insertion.
  • Demonstrated that infinitesimal force per displacement is a viable parameter for online trajectory updates.
  • The proposed position/force controller achieved considerable improvements in minimizing pre-puncture tissue deformation.

Conclusions:

  • Optimizing robotic needle insertion trajectories is crucial for minimizing tissue deformation in percutaneous therapies.
  • Infinitesimal force per displacement offers a valuable metric for real-time robotic control and trajectory adaptation.
  • The developed position/force controller enhances the precision and safety of robot-assisted needle insertion procedures.