Reed Kyle B, Majewicz Ann, Kallem Vinutha, Alterovitz Ron, Goldberg Ken, Cowan Noah J, Okamura Allison M
Mechanical Engineering, University of South Florida, Tampa, USA.
IEEE Robot Autom Mag. 2011 Dec 8;18(4):35-46. doi: 10.1109/MRA.2011.942997.
Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and scientific studies, and is considered to be one of the simplest and most minimally invasive medical procedures. Robot-assisted needle steering has the potential to improve the effectiveness of existing medical procedures and enable new ones by allowing increased accuracy through more dexterous control of the needle tip path and acquisition of targets not accessible by straight-line trajectories. In this article, we describe a robot-assisted needle steering system that uses three integrated controllers: a motion planner concerned with guiding the needle around obstacles to a target in a desired plane, a planar controller that maintains the needle in the desired plane, and a torsion compensator that controls the needle tip orientation about the axis of the needle shaft. Experimental results from steering an asymmetric-tip needle in artificial tissue demonstrate the effectiveness of the system and its sensitivity to various environmental and control parameters. In addition, we show an example of needle steering in ex vivo biological tissue to accomplish a clinically relevant task, and highlight challenges of practical needle steering implementation.
针刺是许多医学治疗、诊断方法和科学研究的关键环节，被认为是最简单且侵入性最小的医疗程序之一。机器人辅助针转向有潜力通过更灵活地控制针尖路径提高准确性并实现直线轨迹无法到达的目标，从而提高现有医疗程序的有效性并催生新的程序。在本文中，我们描述了一种机器人辅助针转向系统，该系统使用三个集成控制器：一个运动规划器，用于引导针在障碍物周围到达所需平面内的目标；一个平面控制器，用于将针保持在所需平面内；一个扭转补偿器，用于控制针尖围绕针轴的方向。在人造组织中操纵不对称尖端针的实验结果证明了该系统的有效性及其对各种环境和控制参数的敏感性。此外，我们展示了在离体生物组织中进行针转向以完成临床相关任务的示例，并强调了实际针转向实施中的挑战。
