Adaptive energy shaping control of robotic needle insertion

Franco, Enrico; Brown, Timothy; Astolfi, Alessandro; Baena, Ferdinando Rodriguez y

doi:10.1016/j.mechmachtheory.2020.104060

Cited by 11 publications

(5 citation statements)

References 40 publications

(83 reference statements)

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“…In this work we present a new energy shaping controller for soft continuum manipulators by employing a rigid-link model with elastic joints, a port-Hamiltonian formulation, and an extension of the Interconnection and Damping Assignment Passivity Based Control methodology (IDA-PBC) which includes an integral action. The port-Hamiltonian formulation has been widely used to model underactuated mechanical systems [26,27] and also soft robots [28][29][30]. IDA-PBC controllers do not rely on high gains, thus the compliance of soft robots can be preserved in closed-loop, and provide a physical interpretation of the control action in terms of energy shaping [31].…”

Section: Introductionmentioning

confidence: 99%

Energy shaping control with integral action for soft continuum manipulators

Franco

Garriga-Casanovas

Donaire

2021

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

Energy shaping control with integral action for soft continuum manipulators

Franco

Garriga-Casanovas

Donaire

2021

Mechanism and Machine Theory

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“…During the pre‐puncture stage for both the skin and ligamentum flavum, the insertion force increased steadily and exhibited a sharp reduction in the amount of force signal to identify the puncture event. It has been reported that continuous needle rotation during insertion has many benefits 29–31 . One of the main benefits is that it may decrease the lateral needle deflection.…”

Section: Resultsmentioning

confidence: 99%

“…It has been reported that continuous needle rotation during insertion has many benefits. [29][30][31] One of the main benefits is that it may decrease the lateral needle deflection. Translation combined with rotation steers the needle to a straighter path and reduces the frictional force on the soft tissue.…”

Section: Experimental Result: With Needle Rotationmentioning

confidence: 99%

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

Wang

2021

Robotics Computer Surgery

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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.

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“…It has the aim to increase the precision, speed, and easiness of needle insertion. 37 Franco et al 38 examined the needle insertion process into soft tissue by pneumatic actuator without any axial rotation, and also two energy shaping controllers are offered. Precise needle insertion can be done in common object places while using a CT-guided robotic system.…”

Section: Solution Of the Problemmentioning

confidence: 99%

Study of the surgical needle and biological soft tissue interaction phenomenon during insertion process for medical application: A Survey

Barua

Datta

Roychowdhury

et al. 2022

Proc Inst Mech Eng H

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The insertion of the surgical needle in soft tissue has involved significant interest in the current time because of its purpose in minimally invasive surgery (MIS) and percutaneous events like biopsies, PCNL, and brachytherapy. This study represents a review of the existing condition of investigation on insertion of a surgical needle in biological living soft tissue material. As observes the issue from numerous phases, like, analysis of the cutting forces modeling (insertion), tissue material deformation, analysis of the needle deflection for the period of the needle insertion, and the robot-controlled insertion procedures. All analysis confirms that the total needle insertion force is the total of dissimilar forces spread sideways the shaft of the insertion needle for example cutting force, stiffness force, and frictional force. Various investigations have analyzed all these kinds of forces during the needle insertion process. The force data in several measures are applied for recognizing the biological tissue materials as the needle is penetrated or for path planning. The deflection of the needle during insertion and tissue material deformation is the main trouble for defined needle placing and efforts have been prepared to model them. Applying existing models numerous insertion methods are established that are discussed in this review.

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Adaptive energy shaping control of robotic needle insertion

Cited by 11 publications

References 40 publications

Energy shaping control with integral action for soft continuum manipulators

Energy shaping control with integral action for soft continuum manipulators

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

Study of the surgical needle and biological soft tissue interaction phenomenon during insertion process for medical application: A Survey

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