Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback

Claudio Pacchierotti, Momen Abayazid, Sarthak Misra, Domenico Prattichizzo

Research output: Contribution to journalArticleAcademicpeer-review

30 Citations (Scopus)
1 Downloads (Pure)

Abstract

Needle insertion in soft-tissue is a minimally invasive surgical procedure that 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 responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the 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 computes needle’s ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.
Original languageEnglish
Number of pages6
JournalIEEE transactions on haptics
Volume7
Issue number4
DOIs
Publication statusPublished - 2014

Fingerprint

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

Keywords

  • Computers and information processing
  • Haptic interfaces
  • Force feedback
  • Engineering in medicine and biology
  • Surgical instruments
  • Biomedical equipment
  • HGypodermic needles
  • Biomedical imaging

Cite this

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title = "Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback",
abstract = "Needle insertion in soft-tissue is a minimally invasive surgical procedure that 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 responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the 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 computes needle’s ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.",
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Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback. / Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico.

In: IEEE transactions on haptics, Vol. 7, No. 4, 2014.

Research output: Contribution to journalArticleAcademicpeer-review

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