Robotic Needle Positioning Based on CT-Scan Images: Constrained Admittance Realization

Abstract

In this paper, the application of a robotic arm for needle-based medical interventions under a preoperative CT-scan is investigated. The proposed setup consists of a robot manipulator with a customized needle guide mounted on its end-effector. A workflow that considers all the issues related to the registration and needle positioning algorithms is proposed. The so-called constrained admittance control approach is proposed to provide semi-autonomous positioning of the needle guide on the target path based on CT-scan images. The proposed algorithms are verified experimentally through phantom studies.

Mensch-Roboter-Interaktion: vernetzte, lernfähige Maschinen in der Medizin

“…In other words, the robot acts based on the commands from its local controller and the guiding forces of the human user. The shared control approaches can be appealing for many healthcare and medical applications such as rehabilitation 22], assistive exoskeleton systems 23 24 tele-operation 25 26 and robotic surgery 27 28 As illustrated in Table 1 , humans are better in terms of cognitive abilities, such as situational awareness and decision making skills, while robots are better often in physical abilities, such as the precision and strength. Particularly, the robot can follow a desired trajectory based on prior rough knowledge about the task and the environment autonomously, while the human may provide corrective action, fine-tuning control, and situational guidance.…”

“…Diese geteilte Steuerung (Shared Control) kann für viele Anwendungen im Gesundheitswesen und in der Medizin interessant sein, z. B. in der Rehabilitation [22], beim Einsatz von Exoskeletten [23,24], bei der Teleoperation [25,26] oder in der Roboterchirurgie [27,28]. Hohe Transparenz war schon immer eine kritische Anforderung in der Telerobotik.…”