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Guiding medical needles using single-point tissue manipulation

Torabi, M ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1109/ROBOT.2009.5152853
  3. Publisher: 2009
  4. Abstract:
  5. This paper addresses the use of robotic tissue manipulation in medical needle insertion procedures to improve targeting accuracy and to help avoid damaging sensitive tissues. To control these multiple, potentially competing objectives, we present a phased controller that operates one manipulator at a time using closed-loop imaging feedback. We present an automated procedure planning technique that uses tissue geometry to select the needle insertion location, manipulation locations, and controller parameters. The planner uses a stochastic optimization of a cost function that includes tissue stress and robustness to disturbances. We demonstrate the system on 2D tissues simulated with a mass-spring model, including a simulation of a prostate brachytherapy procedure. It can reduce targeting errors from more than 2cm to less than 1mm, and can also shift obstacles by over 1cm to clear them away from the needle path. © 2009 IEEE
  6. Keywords:
  7. Automated procedures ; Closed-loop ; Controller parameter ; Mass-spring models ; Medical needle ; Needle insertion ; Planning techniques ; Prostate brachytherapy ; Stochastic optimizations ; Targeting accuracy ; Tissue geometry ; Tissue manipulation ; Tissue stress ; Histology ; Location ; Needles ; Planning ; Robotics ; Robots ; Tissue
  8. Source: Proceedings - IEEE International Conference on Robotics and Automation, 12 May 2009 through 17 May 2009, Kobe ; 2009 , Pages 2705-2710 ; 10504729 (ISSN); 9781424427895 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/5152853