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Human-robot collaborated path planning for bevel-tip needle steering in simulated human environment
Summary
This study introduces a semiautonomous method for flexible needle steering, enhancing clinical applications. The human-robot collaboration assists operators in creating complex needle paths while maintaining control.
Area of Science:
- Medical Robotics
- Surgical Navigation
- Flexible Needle Steering
Background:
- Percutaneous needle insertion is limited by path constraints and deflection.
- Autonomous needle steering methods lack adaptability and operator control.
- Teleoperation alone is insufficient for complex multi-curved paths in challenging environments.
Purpose of the Study:
- To develop a semiautonomous human-robot collaborated path planning method for teleoperated needle steering.
- To enhance operator control and adaptability in flexible needle insertion.
- To enable the generation of multi-curved paths for clinical applications.
Main Methods:
- Proposed a semiautonomous path planning method integrating operator input, environment, and path constraints.
- Developed a human-robot collaboration mechanism for teleoperated bevel-tip needle steering.
- Validated the method through semi-physical testing in a simulated environment.
Main Results:
- The proposed method efficiently assists operators in generating multi-curved needle paths.
- Human operator domination of the insertion process is maintained.
- The system demonstrated effectiveness in simulated complex environments.
Conclusions:
- Semiautonomous collaboration enhances flexible needle steering capabilities.
- The method improves adaptability and operator control in percutaneous procedures.
- This approach offers a promising solution for advanced clinical needle insertion applications.
