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

Fingerprint

Needles
Feedback
Robotics
Tissue
Haptic interfaces
Remote control
Imaging systems
Navigation
Ultrasonics
Experiments

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
Pacchierotti, Claudio ; Abayazid, Momen ; Misra, Sarthak ; Prattichizzo, Domenico. / Steering of flexible needles combining kinesthetic and vibratory force feedback. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway, NJ : IEEE, 2014. pp. 1202-1207
@inproceedings{93cad5cf76384184a758f92234f73035,
title = "Steering of flexible needles combining kinesthetic and vibratory force feedback",
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.",
author = "Claudio Pacchierotti and Momen Abayazid and Sarthak Misra and Domenico Prattichizzo",
year = "2014",
doi = "10.1109/IROS.2014.6942710",
language = "English",
isbn = "978-1-4799-6933-3",
pages = "1202--1207",
booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
publisher = "IEEE",
address = "United States",

}

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). IEEE, Piscataway, NJ, pp. 1202-1207, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6942710

Steering of flexible needles combining kinesthetic and vibratory force feedback. / Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico.

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway, NJ : IEEE, 2014. p. 1202-1207.

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

TY - GEN

T1 - Steering of flexible needles combining kinesthetic and vibratory force feedback

AU - Pacchierotti, Claudio

AU - Abayazid, Momen

AU - Misra, Sarthak

AU - Prattichizzo, Domenico

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2014.6942710

DO - 10.1109/IROS.2014.6942710

M3 - Conference contribution

SN - 978-1-4799-6933-3

SN - 978-1-4799-6931-9

SP - 1202

EP - 1207

BT - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE

CY - Piscataway, NJ

ER -

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