Guiding medical needles using single-point tissue manipulation


Conference Paper

This paper addresses the use of robotic tissue manipulation in medical needle insertion procedures to improve targeting accuracy and to help avoid damaging sensitive tissues. To control these multiple, potentially competing objectives, we present a phased controller that operates one manipulator at a time using closed-loop imaging feedback. We present an automated procedure planning technique that uses tissue geometry to select the needle insertion location, manipulation locations, and controller parameters. The planner uses a stochastic optimization of a cost function that includes tissue stress and robustness to disturbances. We demonstrate the system on 2D tissues simulated with a mass-spring model, including a simulation of a prostate brachytherapy procedure. It can reduce targeting errors from more than 2cm to less than 1mm, and can also shift obstacles by over 1cm to clear them away from the needle path. © 2009 IEEE.

Full Text

Duke Authors

Cited Authors

  • Torabi, M; Hauser, K; Alterovitz, R; Duindam, V; Goldberg, K

Published Date

  • November 2, 2009

Published In

Start / End Page

  • 2705 - 2710

International Standard Serial Number (ISSN)

  • 1050-4729

International Standard Book Number 13 (ISBN-13)

  • 9781424427895

Digital Object Identifier (DOI)

  • 10.1109/ROBOT.2009.5152853

Citation Source

  • Scopus