Towards teleoperated needle insertion with haptic feedback controller

Zarrad, W.; Poignet, Philippe; Cortesão, Rui

doi:10.1109/iros.2007.4399085

Cited by 13 publications

(14 citation statements)

References 22 publications

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“…The time necessary for reaching a good estimate depends on the collected data as well as on the estimation algorithm, and it is hard to predict it in practical applications. In [15], a teleoperation system for needle insertion is presented. The variable stiffness of the environment is considered, estimated, and exploited for adjusting the force perceived by the user.…”

Section: Related Workmentioning

confidence: 99%

An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery

et al. 2015

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Introducing some form of autonomy in robotic surgery is being considered by the medical community to better exploit the potential of robots in the operating room. However, significant technological steps have to occur before even the smallest autonomous task is ready to be presented to the regulatory authorities. In this paper, we address the initial steps of this process, in particular the development of control concepts satisfying the basic safety requirements of robotic surgery, i.e., providing the robot with the necessary dexterity and a stable and smooth behavior of the surgical tool. Two specific situations are considered: the automatic adaptation to changing tissue stiffness and the transition from autonomous to teleoperated mode. These situations replicate real-life cases when the surgeon adapts the stiffness of her/his arm to penetrate tissues of different consistency and when, due to an unexpected event, the surgeon has to take over the control of the surgical robot. To address the first case, we propose a passivity-based interactive control architecture that allows us to implement stable time-varying interactive behaviors. For the second case, we present a two-layered bilateral control architecture that ensures a stable behavior during the transition between autonomy and teleoperation and, after the switch, limits the effect of initial mismatch between master and slave poses. The proposed solutions are validated in the realistic surgical scenario developed within the EU-funded I-SUR project, using a surgical robot prototype specifically designed for the autonomous execution of surgical tasks like the insertion of needles into the human body

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Section: Related Workmentioning

confidence: 99%

An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery

et al. 2015

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“…A comparison between autonomous, teleoperated and semi-autonomous needle insertion was also presented. Zarrad et al also proposed a tele-operated needle insertion using force feedback [11]. The system had a conventional force sensor and was controlled using state feedback estimated by an Active Observer.…”

Section: Previous Workmentioning

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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“…the actuators are placed inside the patient body, problems of miniaturization and amount of the developed force at contact have to be considered. Indeed, the developed interaction force necessary for a puncture/suturing gesture, for example, has to be greater than 10N [36].…”

Section: B the Araknes Conceptmentioning

confidence: 99%

Some control-related issues in mini-robotics for endoluminal surgery

Poignet

Chemori

Zemiti

et al. 2009

2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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This paper introduces some issues related to the development of robotics for endoluminal surgery from control point of view. Endoluminal surgery are incisionless procedures performed through natural orifices within the natural pathways. New devices are then required to achieve these new surgical procedures. Besides the development of new devices, control issues arise in both technological and theoretical aspects. The paper presents some of them and we propose a teleoperation architecture that has already been tested for needle insertion that could be used for teleoperated endoluminal surgery especially for instance for biopsies or anastomoses.

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Towards teleoperated needle insertion with haptic feedback controller

Cited by 13 publications

References 22 publications

An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery

An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery

Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions

Some control-related issues in mini-robotics for endoluminal surgery

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