Experimental evaluation of co-manipulated ultrasound-guided flexible needle steering

Momen Abayazid, Claudio Pacchierotti, Pedro Lopes da Frota Moreira, Ron Alterovitz, D. Prattichizzo, Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

21 Citations (Scopus)
2 Downloads (Pure)


Background A teleoperation system for bevel-tipped flexible needle steering has been evaluated. Robotic systems have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and acceptance by the surgical community, keeping the physician tightly in the loop is preferable. Methods The system uses ultrasound imaging, path planning, and control to compute the desired needle orientation during the insertion and intuitively passes this information to the operator, who teleoperates the motion of the needle's tip. Navigation cues about the computed orientation are provided through haptic and visual feedback to the operator to steer the needle. Results The targeting accuracy of several co-manipulation strategies were studied in four sets of experiments involving human subjects with clinical backgrounds. Conclusions Experimental results show that receiving feedback regarding the desired needle orientation improves the targeting accuracy by a factor of 9 with respect to manual insertions.
Original languageEnglish
Pages (from-to)219-230
JournalInternational journal of medical robotics and computer assisted surgery
Issue number2
Publication statusPublished - 15 Jul 2016


  • METIS-310851
  • IR-100578


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