Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning
Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning
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DOI：
10.1016/j.mechatronics.2013.06.004
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发表时间：
2013-09-01
期刊：
影响因子：
3.3
通讯作者：
Borges, G. A.
中科院分区：
文献类型：
--
作者：
Bernardes, M. C.;Adorno, B. V.;Borges, G. A.
本文提出了一种机器人辅助的方法，用于经皮手术中柔性斜面针的自动转向。该方法使用针的占空比旋转来执行具有可调节曲率的弧的插入，并且将闭环成像反馈与术中运动重新规划策略相结合以补偿系统不确定性和干扰。与以前的解决方案不同，闭环重新规划策略适用于动态场景，因为它不依赖于预先构建的路线图。事实上，在存在移动障碍物和目标的情况下的针插入的模拟证实了该方法的优势，最终平均误差为0.34 mm，达到了预期的目标。此外，我们的新的路径规划器提出了143%的成功率，比以前开发的算法快377%以上。所提出的系统还使用连接到机器人操纵器的镍钛合金针原型进行物理实现，并通过在闭环中使用来自相机的成像反馈进行的体外测试进行验证。在这样的测试中，针尖应该到达组织体模中的期望目标，同时偏离障碍物并补偿建模不确定性，诸如组织不均匀性和不精确的针尖跟踪。在实验性试验期间成功的避障和1.34 mm的平均插入精度证明了我们的方法的可行性，并将术中重新规划方法作为未来在自动针转向解决方案中使用的强有力的候选方法。(C)2013爱思唯尔有限公司保留所有权利。
This paper presents a robot-assisted approach for automatic steering of flexible beveled needles in percutaneous procedures. The method uses duty-cycled rotation of the needle to perform insertion with arcs of adjustable curvature, and combines closed-loop imaging feedback with an intraoperative motion replanning strategy to compensate for system uncertainties and disturbances. Differently from previous solutions, the closed-loop replanning strategy is suitable for dynamic scenes since it does not rely on prebuilt roadmaps. Indeed, simulations of a needle insertion under the presence of moving obstacles and target confirmed the advantage of the approach with final mean error of 0.34 mm to the desired goal. Also, our new path planner presented 143% higher success rate and was more than 377% faster than the previous developed algorithm. The proposed system was also physically implemented using a nitinol needle prototype attached to a robotic manipulator, and validated with in vitro tests performed in closed-loop with imaging feedback from a camera. In such tests, the needle tip should reach a desired target in a tissue phantom, while deviating from obstacles and compensating for modeling uncertainties such as tissue inhomogeneity and imprecise needle tip tracking. The successful obstacle avoidance and mean insertion precision of 1.34 mm during the experimental trials attested the viability of our method and presented the intraoperative replanning approach as a strong candidate for future use in automatic needle steering solutions. (C) 2013 Elsevier Ltd. All rights reserved.