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Safe Start Regions for Medical Steerable Needle Automation.

Janine Hoelscher1, Inbar Fried2, Spiros Tsalikis2

  • 1Department of Bioengineering, Clemson University, Clemson, SC 29681, USA.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|May 7, 2025
PubMed
Summary
This summary is machine-generated.

We developed a new metric to measure how much a steerable needle’s starting position can vary while still reaching its target. This improves the safety and success of robot-assisted medical procedures.

Keywords:
Motion and Path PlanningNon-holonomic Motion PlanningSurgical Robotics: PlanningSurgical Robotics: Steerable Catheters/Needles

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Area of Science:

  • Medical Robotics
  • Minimally Invasive Surgery
  • Surgical Navigation

Background:

  • Steerable needles enable complex medical procedures by navigating curved paths around anatomical structures.
  • Accurate placement of steerable needles at the start pose is crucial for successful robotic deployment.
  • Deviations in start pose can significantly alter the needle's reachable workspace and procedural outcomes.

Purpose of the Study:

  • To introduce a novel start pose robustness metric for steerable needle motion plans.
  • To quantify the allowable deviation in start pose (position and orientation) for successful target reachability.
  • To enhance the reliability of human-robot handoff in steerable needle procedures.

Main Methods:

  • Developed a new metric based on a geometric method to compute start pose robustness.
  • Simulated steerable needle deployments in liver and lung anatomical models.
  • Evaluated the metric's applicability to various motion planning algorithms.

Main Results:

  • The proposed metric efficiently computes the safe region for steerable needle start poses.
  • Demonstrated that the metric can be applied to plans generated by different motion planners.
  • Showcased the metric's utility in selecting motion plans with larger safe start regions.

Conclusions:

  • The new start pose robustness metric enhances the safety and reliability of steerable needle procedures.
  • This metric facilitates the selection of optimal motion plans, ensuring greater procedural success.
  • The geometric approach provides an efficient way to assess and improve human-robot interaction in robotic surgery.