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Published on: April 9, 2019
Ultrasound guided robotic biopsy using augmented reality and human-robot cooperative control
Summary
This study introduces an integrated system combining augmented reality and a robot arm to simplify ultrasound-guided tumor biopsy. The system enhances needle trajectory planning and execution, improving precision and usability.
Area of Science:
- Medical imaging
- Robotics in medicine
- Minimally invasive surgery
Background:
- Ultrasound-guided biopsy is crucial for tumor staging but demands extensive physician training and advanced spatial perception skills.
- Accurate needle trajectory planning and execution are complex challenges in minimally invasive procedures.
Purpose of the Study:
- To develop an integrated system simplifying ultrasound-guided biopsy procedures.
- To enhance needle trajectory planning, execution, and target verification using augmented reality and robotic assistance.
Main Methods:
- Development of an integrated system featuring augmented reality visualization for trajectory planning and verification.
- Integration of a robot arm with a six-degree-of-freedom force sensor for precise needle holder positioning.
- Implementation of cooperative control for real-time trajectory adjustment to mitigate needle deflection and target motion.
Main Results:
- Preliminary tests on an ultrasound phantom demonstrated high system precision in static conditions.
- The cooperative control demonstrated utility and usability in simulated non-rigid conditions, addressing challenges like needle deflection and target motion.
Conclusions:
- The developed integrated system shows promise in simplifying complex ultrasound-guided biopsy procedures.
- Augmented reality and robotic cooperative control offer significant potential for improving precision and usability in minimally invasive tumor staging.
