Torsional Dynamics Compensation Enhances Robotic Control of Tip-Steerable Needles

Area of Science:

• Robotics and Control Systems
• Medical Device Engineering
• Biomedical Engineering

Background:

• Percutaneous procedures rely heavily on precise needle insertion.
• Steerable needles offer enhanced control for medical interventions.
• Existing models often neglect complex needle dynamics like torsion.

Purpose of the Study:

• To develop a new time-varying model for the torsional dynamics of steerable needles.
• To create a novel controller leveraging this advanced torsional model.
• To validate the model and controller through simulations and experiments.

Main Methods:

• Developed a time-varying torsional dynamics model incorporating changing boundary conditions during tissue insertion.
• Designed a feedback controller utilizing the new torsional model.
• Conducted extensive simulations and pilot experiments in artificial tissue with stereo image guidance.

Main Results:

• Simulations demonstrated significant improvements over models neglecting torsional dynamics.
• The proposed controller substantially outperformed previously reported experimental results for steerable needle control.
• Model order was shown to impact the efficacy of torsional dynamics control.

Conclusions:

• The novel time-varying torsional model and controller significantly enhance steerable needle control accuracy.
• This approach offers a substantial advancement for percutaneous procedures and novel interventions.
• The validated method shows promise for real-world clinical applications requiring precise needle insertion.