Modeling and steering of a novel actuated-tip needle through a soft-tissue simulant using fiber bragg grating sensors

Roy J. Roesthuis, Nick J. van de Berg, John J. van den Dobbelsteen, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

17 Citations (Scopus)

Abstract

Needle insertions are common during surgical procedures. Accurately delivering the needle at a specific location in the human body is of importance for the clinical outcome of the procedure. Studies have already shown that robotically inserting traditional needles with a bevel tip can improve targeting accuracy. However, steering of such needles requires spinning the needle, which may lead to additional tissue damage. Therefore, we propose a novel design consisting of a flexible needle with a tendon-driven actuated-tip. Changing the orientation of the actuated-tip allows to control the steering direction of the needle and the amount of deflection. We derive the kinematic model which describes the needle path given the actuated-tip orientation based on nonholonomic kinematics. We present a method for steering the needle towards a target location in soft tissue. This method incorporates online parameter estimation in order to adapt for changes in tissue stiffness. Needle insertion experiments are performed in soft-tissue simulants, made from porcine gelatin. Needle tip pose is measured during insertion using Fiber Bragg Grating (FBG) based shape reconstruction. Results show that the needle can be steered towards targets located at 20 mm from the initial insertion axis, at a depth of 100 mm with a mean targeting error of 2.02 mm.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics Automation (ICRA 2015)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages2284-2289
ISBN (Electronic)978-1-4799-6923-4, 978-1-4799-6921-0
ISBN (Print)978-1-4799-6924-1
DOIs
Publication statusPublished - 26 May 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Abbreviated titleICRA
CountryUnited States
CitySeattle
Period26/05/1530/05/15

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    Roesthuis, R. J., van de Berg, N. J., van den Dobbelsteen, J. J., & Misra, S. (2015). Modeling and steering of a novel actuated-tip needle through a soft-tissue simulant using fiber bragg grating sensors. In Proceedings of the IEEE International Conference on Robotics Automation (ICRA 2015) (pp. 2284-2289). Piscataway, NJ: IEEE. https://doi.org/10.1109/ICRA.2015.7139502