Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

Chevrie, Jason; Shahriari, Navid; Babel, Marie; Krupa, Alexandre; Misra, Sarthak

doi:10.1109/lra.2018.2809484

Cited by 27 publications

(12 citation statements)

References 25 publications

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“…Continuous needle insertion usually requires the use of US imaging to obtain a fast visual feedback and automatic needle insertion under 2D or 3D US guidance have been the focus of many work [5], [14], [15], [16]. However there have been only few work on continuous needle steering under US guidance using all available DOF of the needle base [17], [18] and, to the best of our knowledge, none of them included the surgeon in the control loop for an robot teleoperation.…”

Section: A Related Workmentioning

confidence: 99%

Real-time Teleoperation of Flexible Beveled-tip Needle Insertion using Haptic Force Feedback and 3D Ultrasound Guidance

Chevrie

Krupa

Babel

2019

2019 International Conference on Robotics and Automation (ICRA)

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Needle insertion procedures can greatly benefit from robotic systems to improve their accuracy and success rate. However, a fully automated system is usually not desirable and the clinicians need to be included in the control loop. In this paper we present a teleoperation framework for beveledtip flexible needle steering that enables the user to directly and intuitively control the trajectory of the needle tip via a haptic interface. The 6 degrees of freedom of the needle base are used to perform several automatic safety and targeting tasks in addition to the one controlled by the user. Real-time visual feedback is provided by a 3D ultrasound probe and used to track the 3D location of the needle and of a spherical target. Several haptic force feedback are compared as well as two different levels of mix between automated and user-controlled tasks. A validation of the framework is conducted in gelatin phantom and a mean targeting accuracy of 2.5 mm is achieved. The results show that providing an adequate haptic guidance to the user can reduce the risks of damage to the tissues while still letting the surgeon in control of the tip trajectory.

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Section: A Related Workmentioning

confidence: 99%

Real-time Teleoperation of Flexible Beveled-tip Needle Insertion using Haptic Force Feedback and 3D Ultrasound Guidance

Chevrie

Krupa

Babel

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…In this work, we use the same framework presented in [9], [26], [27] for tracking the needle shaft from 3D ultrasound and determining the Jacobian that links the needle tip velocity to the base velocity. Moreover, as discussed in Sec.…”

Section: B Needle Steering Algorithmmentioning

confidence: 99%

Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback

Aggravi

Estima

Krupa

et al. 2021

IEEE Robot. Autom. Lett.

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We present a haptic teleoperation system capable of steering flexible needles under ultrasound imaging toward a target. With respect to similar works, this approach enables intuitive control of the needle motion while providing the user with 3D navigation and needle tip cutting force using a combination of kinesthetic and vibrotactile haptic feedback. The needle is tracked during the insertion using a 3D ultrasound probe. A friction estimation algorithm extracts salient information about the cutting force at the needle tip from a force sensor placed at the needle base. A grounded haptic interface enables natural 6-DoF control of the needle motion while providing kinesthetic feedback, and a wearable cutaneous interface on the forearm provides distributed vibrotactile sensations. We carried out a human subject study to validate the insertion system in a gelatine phantom and compare seven different feedback techniques. The best performance was registered when providing navigation cues through kinesthetic feedback and needle tip cutting force through cutaneous vibrotactile feedback. In this modality, results showed an 87% accuracy improvement with respect to providing no haptic feedback at all.

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“…However, the sensor can only provide force in one dimension. Most of the existing force sensors are intended for laparoscopic robot [29,34,35], needle [36], and catheter [37] that have different sizes and function requirements from the flexible endoscopic robot, and therefore they may not be suitable to apply in the endoscopic surgical robot.…”

Section: Introductionmentioning

confidence: 99%

A Three-Axial Force Sensor Based on Fiber Bragg Gratings for Surgical Robots

Lai

Cao

Liu

et al. 2022

IEEE/ASME Trans. Mechatron.

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Haptic feedback is absent in flexible endoscopic surgical robots due to the size constraint of installing sensors on the small robotic arms. Besides, inherent hysteresis caused by the nonlinear friction between tendons and sheaths makes it hard to estimate the distal force by modeling. In this work, we addressed this challenge by proposing a new three-axial force sensor. This standalone device can be seamlessly integrated into the endoscopic robotic arm. Three optical fibers with Fiber Bragg Gratings (FBGs) are embedded in the sensing structure, where one is located at the center hole of the structure (⌀1.4 mm), and the other two are eccentrically placed around the structure at 90° apart from each other. This device can measure the pulling force and lateral forces of an articulated surgical instrument. Mechanics analysis has been studied to reveal the link between FBGs' wavelength shifts and forces caused by the elongation and the bending, with a temperature-compensation feature. The sensor has a lateral force sensitivity of 838.386 pm/N, with a measurement resolution of 1.19 mN. Performance comparison with a commercial force sensor Nano17 was made, with measurement errors from 4.50% to 6.18%. In the ex-vivo tests, we teleoperated the sensorized grasper to pull, steer and lift a piece of pig colon tissue. The tool-tissue interaction forces measured by the force sensor were displayed on the computer screen in real-time. In addition to the endoscopic robots, the force sensor can also be integrated with other surgical robots such as laparoscopic robots and catheters.

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Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

Cited by 27 publications

References 25 publications

Real-time Teleoperation of Flexible Beveled-tip Needle Insertion using Haptic Force Feedback and 3D Ultrasound Guidance

Real-time Teleoperation of Flexible Beveled-tip Needle Insertion using Haptic Force Feedback and 3D Ultrasound Guidance

Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback

A Three-Axial Force Sensor Based on Fiber Bragg Gratings for Surgical Robots

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