Robot-Assisted Needle Steering

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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.

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