Steering of flexible needles combining kinesthetic and vibratory force feedback

Claudio Pacchierotti, Momen Abayazid, Sarthak Misra, Domenico Prattichizzo

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

    4 Citations (Scopus)

    Abstract

    Needle insertion in soft-tissue is a minimally invasive surgical procedure which demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and acceptance by the surgical community, autonomous robotic control is not desirable. Thus, it is necessary to focus more on techniques enabling clinicians to directly control the motion of surgical tools. In this work we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system, and, from that, it computes needle’s ideal position and orientation to reach a given target. The master haptic interface then provides mixed kinesthetic-vibratory navigation cues about this ideal position and orientation to the clinician as she steers the needle. Six subjects carried out an experiment of teleoperated needle insertion into a soft-tissue phantom. They showed a mean targeting error of 1.36 mm. An additional experiment of remote teleoperation has been carried out to highlight the passivity-based stability of the proposed system.
    Original languageEnglish
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages1202-1207
    Number of pages6
    ISBN (Electronic)978-1-4799-6934-0
    ISBN (Print)978-1-4799-6933-3, 978-1-4799-6931-9
    DOIs
    Publication statusPublished - 2014
    Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
    Duration: 14 Sep 201418 Sep 2014
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html

    Conference

    Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
    Abbreviated titleIROS
    CountryUnited States
    CityChicago
    Period14/09/1418/09/14
    Internet address

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  • Cite this

    Pacchierotti, C., Abayazid, M., Misra, S., & Prattichizzo, D. (2014). Steering of flexible needles combining kinesthetic and vibratory force feedback. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1202-1207). Piscataway, NJ: IEEE. https://doi.org/10.1109/IROS.2014.6942710