Towards synergistic control of hands-on needle insertion with automated needle steering for MRI-guided prostate interventions

Abstract

A significant hurdle of accurate needle tip placement in percutaneous needle-based prostate interventions is unmodeled needle deflection and tissue deformation during insertion. This paper introduces a robotic platform for developing synergistic, cooperatively controlled needle insertion algorithms decoupled from closed-loop image-guided needle steering. Shared control of the surgical workspace through human-robot synergy creates a balance between the accuracy of robotic autonomy while still providing ultimate control of the procedure to the physician. Validation tests were performed using camera-based image-guided feedback control of needle steering with cooperative hands-on needle insertion. Locations were targeted inside a transparent gelatin phantom with an average total error of 2.68 ± 0.34mm and in-plane error of 2.59 ± 0.30mm.

A review on the techniques used in prostate brachytherapy

“…While combing the MRI imaging and shared control strategy, Moreira et al [85] and Wartenberg et al [86] both have presented a similar shared control MRI-compatible system with robotics controlling the insertion direction and the surgeon controlling the insertion depth. An magnetic resonance (MR)-compatible single needle delivery robotics system is presented by de Battisti et al [87].…”

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

“…Yet, due to the difficulty to merge user and automatic inputs, only few shared-control systems have been proposed for the needle steering inside soft tissue. Several authors [26], [27], [28] propose methods to steer beveled-tip needles. Chevrie et al [28] give the user full control over the needle tip velocity through a haptic interface.…”

“…The user feeds the desired tip velocity to the automatic needle steering method proposed in [23] that is used to control the needle. Wartenberg et al [27] only give the possibility to the user to act on the insertion velocity, while the bevel orientation is obtained automatically.…”