Modeling of Needle Steering via Duty-Cycled Spinning

Abstract

As flexible bevel tip needles are inserted into tissue, a deflection force causes the needle to bend with a curvature dependent on relative stiffness and bevel angle. By constantly spinning the needle during insertion, the bevel angle is essentially negated and a straight trajectory can be achieved. Incorporating duty-cycled spinning during needle insertion provides proportional control of the curvature of the needle trajectory through tissue. This paper proposes a kinematic model for needle steering via duty-cycled spinning. Validation using experimental results is also presented.

LQG-Based Planning, Sensing, and Control of Steerable Needles

“…In recent work, however, Minhas et al [16] show that by performing duty cycled spinning of the needle during insertion, any curvature κ of the needle motion between 0 and κ 0 can be approximated. The greatest degree of curvature (κ = κ 0 ) is achieved by no spin at all, while a straight trajectory (κ = 0) is created by constantly spinning the needle at a high (infinite) rate during insertion.…”

“…A kinematic model for a steerable needle generalizing a unicycle model was introduced in [27], and has been used by most subsequent work on needle steering, including this paper. In [16], it was shown that in addition to the insertion and rotation speed, the curvature of the needle path can be controlled through duty-cycled spinning of the needle during insertion.…”

“…Our approach is as follows. First, we build on work of [16] to encapsulate the (high-frequency) duty cycled spinning of the needle in a higher-level kinematic model that allows direct control of the curvature of the needle motion. We then derive an LQG controller (consisting of a Kalman filter for state estimation and an LQR control policy) for the extended kinematic model to optimally guide the needle along a given path.…”

3D ultrasound-guided robotic steering of a flexible needle via visual servoing

“…Most approaches use inverse kinematics to plan the needle path preoperatively [7]. The desired trajectory can be achieved thanks to a dutycycling control strategy [8], which enables precise control of the needle curvature. It has also been proposed to adjust the needle path intraoperatively.…”

3D Steering of a Flexible Needle by Visual Servoing

“…Probabilistic methods were also tested, like the RapidlyExploring-Random Tree (RRT) algorithm [5], or the Stochastic roadmap [6]. In [7] a kinematic model was proposed for bevel-tip needle steering by constantly spinning the needle during its insertion. This model allows proportional control of the needle curvature and was used in a control-loop that online adapts the evolution of the needle trajectory along an arc in a 2D plane [8].…”