A novel manipulator with needle insertion forces feedback for robot‐assisted lumbar puncture

Abstract

Background The use of lumbar puncture for paediatric diagnosis and treatment, such as cerebrospinal fluid sampling and intracranial pressure measurements, is steadily increasing. However, the standard ‘blind’ technique makes it difficult to attain accurate needle insertion. Methods In this study, we developed a robot‐assisted system to improve the precision of needle insertion during lumbar puncture. The manipulator can perform orientation, insertion and rotation of the needle as well as linear motion at targeted locations. We focused on accurately sensing the puncture forces during the needle insertion phase and evaluated the piercing force perception of the operator. Results The main features of the robot, such as backdrivable joints, physical human–robot cooperation, actuation system with low friction and remote centre of motion mechanism, can enhance overall safety. Conclusions Experimental results using a lumbar puncture phantom proved that the manipulator could position the needle tip at targeted locations with good accuracy. The data obtained from the test system also showed that the loss of resistance and peak forces for stiff tissues were accurately perceived by the operator.

An admittance‐controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system

“…The experimental setup is shown in Figure 5. It was a four degree of freedom robot developed at the Shanghai Jiao Tong University for medical application [25][26][27][28] For the experiments reported in this section, all the joints of the robot, except one degree of freedom of the section of this study focuses on both the system performance of the free motion and constrained situation. The following two system properties will be verified in the collaborative lumbar puncture robotic system to ensure stable manipulation with low effort, namely:…”

“…The collaborative lumbar puncture robot system was a four degree of freedom robot developed at the Shanghai Jiao Tong University for medical needle insertion applications. [25][26][27][28] The dynamic model of the surgical robot in the joint space is of the form:…”

“…The collaborative lumbar puncture robot system was a four degree of freedom robot developed at the Shanghai Jiao Tong University for medical needle insertion applications 25–28 . The dynamic model of the surgical robot in the joint space is of the form: $$$M(q)\ddot{q}+C\left(q,\dot{q}\right)\dot{q}+g(q)+{\tau }_{f}={\tau }_{c}+{J}^{T}(q){f}_{ext}$$$ where $$q\in {\mathbb{R}}^{n}$$, with $$n=4$$, is the vector of the joint variables, $$\dot{q},\ddot{q}\in {\mathbb{R}}^{n}$$ are the velocity and acceleration of the joint angles, $$M(q)$$ denotes the inertia matrix, $$C\left(q,\dot{q}\right)\dot{q}$$ is the vector of the Coriolis/centrifugal torques, $$g(q)$$ is the vector of the gravitational torques, $${\tau }_{f}$$ is the vector of the joint friction torques, $${\tau }_{c}$$ denotes the control input to the robot actuators, $$J(q)$$ is the robot Jacobian, and …”

A needle deflection model with operating condition optimization for corrective force‐based needle guidance during transrectal prostate brachytherapy

“…Fundamental interactions between the needle and tissue, including stiffness, friction, and sheer (cutting) forces have also been investigated. [9][10][11][12] This has included both mechanical [10][11][12][13][14][15][16] and kinematic [15][16][17][18][19][20] models of needle deflection. However, existing kinematic models exhibit little correlation with tissue characteristics as they are established on the basis that a needle shaft is deflected due to tissue forces on the bevel.…”

“…Several prior studies have investigated accurate needle control, through guided shaft rotation, using predicted needle‐tissue interactions, needle deflection modelling, and improved needle steering control. Fundamental interactions between the needle and tissue, including stiffness, friction, and sheer (cutting) forces have also been investigated 9–12 . This has included both mechanical 10–16 and kinematic 15–20 models of needle deflection.…”