Robot-Assisted Needle Steering

Authors

Kyle B. Reed, University of South FloridaFollow
Ann Majewicz, Stanford UniversityFollow
Vinutha Kallem, Princeton UniversityFollow
Ron Alterovitz, University of North CarolinaFollow
Ken Goldberg, University of CaliforniaFollow
Noah J. Cowan, Johns Hopkins UniversityFollow
Allison M. Okamura, Stanford UniversityFollow

Document Type

Article

Publication Date

2011

Digital Object Identifier (DOI)

https://doi.org/10.1109/MRA.2011.942997

Abstract

The design, implementation, and experimental evaluation of a system that steers needles based on the tip asymmetry, is discussed. Variations in the independent controllers and how path planner affect the overall performance of the system is discussed. A general motion planning framework is invoked that explicitly considers uncertainty in the robot motion to maximize the probability of success. The torsion compensator is updated at 7:5 Hz but operates at 200 Hz to continuously maintain the tip at the desired angle and, thus, help maintain the needle in the desired plane. A custom robotic device is developed for inserting and rotating a needle in the artificial tissue, similar to the portable version. Using the standard configuration, the robotic needle-steering system was able to drive the needle into the desired target with subcentimeter accuracy.

Was this content written or created while at USF?

Yes

Citation / Publisher Attribution

IEEE Robotics & Automation Magazine, v. 18, issue 4, p. 35-46

Scholar Commons Citation

Reed, Kyle B.; Majewicz, Ann; Kallem, Vinutha; Alterovitz, Ron; Goldberg, Ken; Cowan, Noah J.; and Okamura, Allison M., "Robot-Assisted Needle Steering" (2011). Mechanical Engineering Faculty Publications. 76.
https://digitalcommons.usf.edu/egr_facpub/76