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Master device for teleoperated needle insertion-type interventional robotic system.

Hyun Soo Woo, Jang Ho Cho, Chul Seung Kim

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|January 7, 2016

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This study introduces a novel 5-DOF master device for robotic-assisted needle insertion, enhancing precision in interventional procedures. The device features tactile feedback for safety and improved control during operations.

Area of Science:

Robotics in Medicine
Surgical Robotics
Medical Device Design

Background:

Teleoperated robotic systems are increasingly used in minimally invasive interventional procedures.
Existing master devices may not fully meet the specific demands of needle insertion tasks.
Optimizing human-robot interaction is crucial for enhancing surgical precision and patient safety.

Purpose of the Study:

To propose and design a novel 5-Degree-of-Freedom (DOF) master device for teleoperated needle insertion robotic systems.
To tailor the device design to newly defined interventional procedures and physician requirements.
To enhance control, precision, and safety during robotic-assisted needle insertion.

Main Methods:

Design of a 5-DOF master device incorporating a 2-DOF rotational mechanism for needle orientation adjustment.

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Integration of a 2-DOF translational mechanism for precise needle entry point tuning.

Development of a handle assembly with a 1-DOF translational mechanism for needle insertion and mode selection buttons.

Implementation of control strategies for passive and active actuation modules based on procedure phase.

Inclusion of a vibrating feedback mechanism to warn of proximity to dangerous regions.

Main Results:

The designed 5-DOF master device optimally integrates rotational and translational mechanisms for precise needle manipulation.
The device's control system adapts actuation based on procedure phase, enhancing usability.
The haptic feedback system effectively warns users when the needle approaches critical areas.
The design addresses specific physician requirements for teleoperated needle insertion tasks.

Conclusions:

The proposed 5-DOF master device offers a significant advancement for teleoperated needle insertion robotic systems.
The device enhances precision, control, and safety through optimized design and integrated feedback.
This innovation has the potential to improve outcomes in image-guided interventions and other needle-based procedures.