Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulation

Baksic, Paul; Courtecuisse, Hadrien; Bayle, B.

doi:10.1109/icra48506.2021.9561013

Cited by 4 publications

(3 citation statements)

References 34 publications

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“…[251][252][253][254][255][256][257][258][259] Shared control refers to using algorithms based on principles such as obstacle avoidance, improved compliance, and optimal efficiency to assist in controlling the motion of the continuum robot, building upon master-slave control. [260][261][262][263] Autonomous control, as the name suggests, allows the continuum robot to autonomously control its own motion to reach target positions and orientations. [21,59,194,[264][265][266][267] Due to the small-diameter structure of arthroscopic surgery instruments, which is not conducive to installing sensors for external environment sensing, and the narrow and fragile workspace of the robot, a shared controller suitable for this scenario should be a key direction for development.…”

Section: Control Patternmentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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In this study, an innovative exploration of leveraging bionics and continuum robotics principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by the flexibility and adaptability of organisms like snakes and octopuses, the continuum robot concept aims to address the inherent challenges in traditional arthroscopy, including lower precision, manual tremors, and long surgeon learning curves. The implementation of these principles in the human body, however, faces significant obstacles, particularly achieving high‐performance motion control amid strong nonlinearity and coupling between modules. This research focuses on intelligent integration and enhanced safety in human‐machine interaction, aiming for improved control precision and flexibility in arthroscopic procedures. A thorough literature review of endoscopic continuum robots is conducted, highlighting current advancements in actuation, structure, sensing, and control technologies. The study concludes with an assessment of these technologies, their limitations, and future potential, in light of the unique demands of arthroscopic continuum robots. This comprehensive review bridges bionics and robotics, presenting the opportunities and challenges in applying continuum robotics to arthroscopic surgery. The goal is to encourage further research in this area, contributing to the development of prototype robots that enhance the precision and safety of arthroscopic surgery.

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Section: Control Patternmentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…As shown in Figure 13, the control input of the CR is generated from both remote manual control and autonomous control, and the surgeon has the ultimate control of the CR. Some dangerous and crucial decisions and actions should be controlled by the surgeon's commands, whereas some complex and nonintuitive manipulations are performed by autonomous control algorithms 87 . The adjustment of the control weights of human and autonomous control systems is the key to shared control.…”

Section: Navigation and Control Of Crs For Essmentioning

confidence: 99%

“…Some dangerous and crucial decisions and actions should be controlled by the surgeon's commands, whereas some complex and nonintuitive manipulations are performed by autonomous control algorithms. 87 The adjustment of the control weights of human and autonomous control systems is the key to shared control. Due to the difficulty to merge surgeon and automatic inputs, only few shared control systems have been investigated for robot-assisted surgeries.…”

Section: Shared Controlmentioning

confidence: 99%

Continuum robots for endoscopic sinus surgery: Recent advances, challenges, and prospects

Cao

Shi

Hong

et al. 2022

Robotics Computer Surgery

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Purpose Endoscopic sinus surgery (ESS) has been recognized as an effective treatment modality for paranasal sinus diseases. Over the past decade, continuum robots (CRs) for ESS have been studied, but there are still some challenges. This paper presents a review on the scientific studies of CRs for ESS. Methods Based on the analysis of the anatomical structure of the paranasal sinus, the requirements of CRs for ESS are discussed. Recent studies on rigid robots, handheld flexible robots, and CRs for ESS are presented. Surgical path planning, navigation, and control are also included. Results Concentric tube CRs and cable‐driven CRs have great potential for applications in ESS. The CRs incorporated with multiple replaceable arms with different functions are preferable in ESS. Conclusion Further study on navigation and control is required to improve the performance of CRs for ESS.

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Data-driven adaptive needle insertion assist for transperineal prostate interventions

et al. 2023

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Objective. Clinical outcomes of transperineal prostate interventions, such as biopsy, thermal ablations, and brachytherapy, depend on accurate needle placement for effectiveness. However, the accurate placement of a long needle, typically 150-200 mm in length, is challenging due to needle deviation induced by needle-tissue interaction. While several approaches for needle trajectory correction have been studied, many of them do not translate well to practical applications due to the use of specialized needles not yet approved for clinical use, or to relying on needle-tissue models that need to be tailored to individual patients. Approach. In this paper, we present a robot-assisted collaborative needle insertion method that only requires an actuated passive needle guide and a conventional needle. The method is designed to assist a physician inserting a needle manually through a needle guide. If the needle is deviated from the intended path, actuators shifts the needle radially in order to steer the needle trajectory and compensate for needle deviation adaptively. The needle guide is controlled by a new data-driven algorithm which does not require a priori information about needle or tissue properties. The method was evaluated in experiments with both in-vitro and ex-vivo phantoms. Main results. The experiments in ex-vivo tissue reported a mean final placement error of 0.36mm with a reduction of 96.25% of placement error when compared to insertions without the use of assistive correction. Significance. Presented results show that the proposed closed-loop formulation can be successfully used to correct needle deflection during collaborative manual insertion with potential to be easily translated into clinical application.

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Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulation

Cited by 4 publications

References 34 publications

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Continuum robots for endoscopic sinus surgery: Recent advances, challenges, and prospects

Data-driven adaptive needle insertion assist for transperineal prostate interventions

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