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Hybrid control algorithm for flexible needle steering: Demonstration in phantom and human cadaver.

Navid Shahriari1,2, Janniko R Georgiadis3, Matthijs Oudkerk1

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This study introduces a novel hybrid control algorithm for robotic needle steering, improving precision in percutaneous procedures. The system achieved high targeting accuracy in human cadaver tests, paving the way for clinical applications.

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Area of Science:

  • Medical Robotics
  • Minimally Invasive Surgery
  • Biomedical Engineering

Background:

  • Percutaneous procedures rely on accurate needle placement, facing challenges in lesion alignment and tissue deflection.
  • Existing robotic needle steering systems are still under research and not yet clinically viable.

Purpose of the Study:

  • To develop and evaluate a novel hybrid control algorithm for robotic needle steering.
  • To enhance the accuracy and controllability of flexible needles in percutaneous procedures.
  • To bring robotic needle steering technology closer to clinical practice.

Main Methods:

  • Development of a hybrid control algorithm combining base-manipulation and beveled-tip steering.
  • Implementation of a pre-operative path planner considering clinical requirements.
  • Experimental validation using a gelatin phantom and a human cadaver under computed tomography guidance.

Main Results:

  • The hybrid control algorithm significantly increased needle controllability.
  • Achieved targeting accuracy of 1.35±0.49mm in a gelatin phantom and 1.97±0.89mm in a human cadaver.
  • Feasibility study in a human cadaver showed a targeting error of 2.89±0.22mm for fine needle aspiration (FNA).

Conclusions:

  • The proposed robotic needle steering system demonstrates potential for clinical benefit.
  • The technology can improve targeting accuracy in percutaneous procedures.
  • Reduced X-ray radiation exposure for patients is a potential advantage.