Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions

Seifabadi, Reza; Aalamifar, Fereshteh; Iordachita, Iulian; Fichtinger, Gabor

doi:10.1002/rcs.1692

Cited by 15 publications

(11 citation statements)

References 40 publications

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“…In the case of a continuous insertion whose velocity control is left to the surgeon, the robot motion is often limited to the insertion and rotation around the needle axis [12], [13], [10]. 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].…”

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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“…The robot is controlled through a joystick without force feedback located in the control room. Seifabadi et al demonstrated the feasibility of using fiber Bragg grating (FBG) sensors to measure the force and provide force feedback to the user operating an MR compatible robot [15]. The most important challenge towards force feedback in MR-guided tele-operated interventions is the lack of a reliable MR-compatible force sensor.…”

Section: Haptic Interfacementioning

confidence: 99%

Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions

Moreira

Kuil

Dias

et al. 2019

J. Med. Robot. Res.

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Prostate cancer is one of the leading causes of death in men. Prostate interventions using magnetic resonance imaging (MRI) benefits from high tissue contrast if compared to other imaging modalities. The Minimally Invasive Robotics In An MRI environment (MIRIAM) robot is an MRI-compatible system able to steer different types of needles towards a point of interest using MRI guidance. However, clinicians can be reluctant to give the robot total control of the intervention. This work integrates a haptic device in the MIRIAM system to allow input from the clinician during the insertion. A shared control architecture is achieved by letting the clinician control the insertion depth via the haptic device, while the robotic system controls the needle orientation. The clinician receives haptic feedback based on the insertion depth and tissue characteristics. Four control laws relating the motion of the master robot (haptic device) to the motion of the slave robot (MIRIAM robot) are presented and evaluated. Quantitative and qualitative results from 20 human subjects demonstrate that the squared-velocity control law is the most suitable option for our application. Additionally, a pre-operative target localization algorithm is presented in order to provide the robot with the target location. The target localization and reconstruction algorithm are validated in phantom and patient images with an average dice similarity coefficient (DSC) of 0.78. The complete system is validated through experiments by inserting a needle towards a target within the MRI scanner. Four human subjects perform the experiment achieving an average targeting error of 3.4[Formula: see text]mm.

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“…In radioactive tumor brachytherapy surgery, radioactive seeds implantation can adversely affect the operator's health and the potential ill effects of radiation cannot be ignored [23][24][25][26][27][28]. The robot assisted puncture system could provide great convenience for doctor once it can automatically perform needle puncture, radioactive seeds delivery and keep the doctor at a safe distance from the radioactive seeds.…”

Section: Introductionmentioning

confidence: 99%

Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System

Cui

Wang

Duan

et al. 2019

Mathematical Problems in Engineering

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Since the intricate anatomical structure of the craniomaxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely of high risk and difficult to implement. The puncturing operations for biopsy, ablation, and brachytherapy have become vital method for disease diagnosis and treatment. Therefore, a craniomaxillofacial surgery robot system was developed to achieve accurate positioning of the puncture needle and automatic surgical operation. Master-salve control and "kinematic + optics" hybrid automatic motion control based on navigation system, which is proposed in order to improve the needle positioning accuracy, were implemented for different processes of the operation. In addition, the kinematic simulation, kinematic parameters identification, positioning accuracy experiment (0.56 ± 0.21 mm), and phantom experiments (1.42 ± 0.33 mm, 1.62 ± 0.26 mm, and 1.41 ± 0.30 mm for biopsy, radiofrequency, and brachytherapy of phantom experiments) were conducted to verify the feasibility of the hybrid automatic control method and evaluate the function of the surgical robot system.

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Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions

Abstract: The feasibility of teleoperated bevel-tip needle steering using the proposed system was shown in a phantom experiment. Copyright © 2015 John Wiley & Sons, Ltd.

Cited by 15 publications

References 40 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

Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions

Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System

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