Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion.

2018 Jun 20. doi: 10.1007/s10439-018-2070-2. [Epub ahead of print]

Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion.

Author information

1
Robotics Engineering, Worcester Polytechnic Institute, 85 Prescott St., Worcester, MA, 10605, USA. marek.wartenberg@wpi.edu.
2
Robotics Engineering, Worcester Polytechnic Institute, 85 Prescott St., Worcester, MA, 10605, USA.
3
Johns Hopkins University, Baltimore, MD, 21218, USA.
4
Brigham and Women’s Hospital, Boston, MA, 02115, USA.

Abstract

Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asymmetric tip can reduce targeting error. Incorporating robotic closed-loop control often reduces physician interaction with the patient, but by pairing closed-loop trajectory compensation with hands-on cooperatively controlled insertion, a physician’s control of the procedure can be maintained while incorporating benefits of robotic accuracy. A series of needle insertions were performed with a typical 18G needle using closed-loop active compensation under both fully autonomous and user-directed cooperative control. We demonstrated equivalent improvement in accuracy while maintaining physician-in-the-loop control with no statistically significant difference (p > 0.05) in the targeting accuracy between any pair of autonomous or individual cooperative sets, with average targeting accuracy of 3.56 mmrms. With cooperatively controlled insertions and target shift between 1 and 10 mm introduced upon needle contact, the system was able to effectively compensate up to the point where error approached a maximum curvature governed by bending mechanics. These results show closed-loop active compensation can enhance targeting accuracy, and that the improvement can be maintained under user directed cooperative insertion.

KEYWORDS:

Image-guided therapy; Medical robotics; Needle steering; Teleoperation

PMID:
29926303
DOI:
10.1007/s10439-018-2070-2