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Robot-Assisted Needle Steering.

Kyle B Reed¹, Ann Majewicz, Vinutha Kallem

¹Mechanical Engineering, University of South Florida, Tampa, USA.

IEEE Robotics & Automation Magazine

|October 3, 2012

Summary

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Robot-assisted needle steering enhances medical procedures by improving accuracy and enabling access to difficult targets. This system uses integrated controllers for precise needle guidance, even around obstacles.

Area of Science:

Robotics
Medical Devices
Surgical Technology

Background:

Needle insertion is fundamental to many medical procedures.
Current methods can be limited by straight-line trajectories.
Robot-assisted steering offers enhanced precision and access.

Purpose of the Study:

To describe a novel robot-assisted needle steering system.
To demonstrate its effectiveness in guiding needles around obstacles.
To test the system in both artificial and biological tissues.

Main Methods:

Development of a robot-assisted system with three integrated controllers: motion planner, planar controller, and torsion compensator.
Steering an asymmetric-tip needle in artificial tissue models.
Implementing needle steering for a clinically relevant task in ex vivo biological tissue.

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Main Results:

Experimental results validated the system's effectiveness in steering needles.
The system demonstrated sensitivity to environmental and control parameters.
Successful needle steering was shown in ex vivo biological tissue for a specific task.

Conclusions:

The described robot-assisted needle steering system shows significant potential for improving medical interventions.
Further research is needed to address challenges in practical implementation.
This technology could enable new minimally invasive procedures.