Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion.
Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion.
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DOI：
10.1007/s10439-018-2070-2
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发表时间：
2018-10
影响因子：
3.8
通讯作者：
Fischer GS
中科院分区：
文献类型：
--
作者：
Wartenberg M;Schornak J;Gandomi K;Carvalho P;Nycz C;Patel N;Iordachita I;Tempany C;Hata N;Tokuda J;Fischer GS
术中成像有时可用于辅助针活检，但典型的开环插入不能解释未建模的针偏转或目标移位。通过非对称尖端的旋转控制对与初始直线轨迹的偏差进行闭环图像引导补偿可以减少瞄准误差。简化机器人闭环控制通常减少了医生与患者的交互，但是通过将闭环轨迹补偿与手动协作控制的插入配对，可以保持医生对手术的控制，同时结合机器人准确性的益处。在完全自主和用户指导的协同控制下，使用典型的18 G针使用闭环主动补偿执行一系列针插入。我们证明了在保持医生在环控制的同时，在任何一对自主或个体合作组之间的靶向准确度方面没有统计学显著差异（p > 0.05），平均靶向准确度为3.56 mmrms。在针接触时引入的协同控制插入和1 mm - 10 mm之间的目标移位，系统能够有效地补偿误差达到由弯曲力学控制的最大曲率的点。这些结果表明，闭环主动补偿可以提高瞄准精度，并可以保持用户指导下的合作插入的改善。
Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asymmetric tip can reduce targeting error. Incorporating robotic closed-loop control often reduces physician interaction with the patient, but by pairing closed-loop trajectory compensation with hands-on cooperatively controlled insertion, a physician’s control of the procedure can be maintained while incorporating benefits of robotic accuracy. A series of needle insertions were performed with a typical 18G needle using closed-loop active compensation under both fully autonomous and user-directed cooperative control. We demonstrated equivalent improvement in accuracy while maintaining physician-in-the-loop control with no statistically significant difference (p > 0.05) in the targeting accuracy between any pair of autonomous or individual cooperative sets, with average targeting accuracy of 3.56 mmrms. With cooperatively controlled insertions and target shift between 1 mm – 10 mm introduced upon needle contact, the system was able to effectively compensate up to the point where error approached a maximum curvature governed by bending mechanics. These results show closed-loop active compensation can enhance targeting accuracy, and that the improvement can be maintained under user directed cooperative insertion.
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影响因子：
4.6
作者：
Okamura, AM;Simone, C;O'Leary, MD
通讯作者：
O'Leary, MD
影响因子：
3.8
作者：
Podder, Tarun;Clark, Douglas;Yu, Yan
通讯作者：
Yu, Yan
影响因子：
10.9
作者：
Troccaz, J;Peshkin, M;Davies, B
通讯作者：
Davies, B
DOI：
10.3109/10929080109146302
发表时间：
2001-01-01
期刊：
Computer aided surgery : official journal of the International Society for Computer Aided Surgery
影响因子：
--
作者：
Jakopec, M;Harris, S J;Davies, B L
通讯作者：
Davies, B L
DOI：
10.1109/whc.2013.6548393
发表时间：
2013-04
期刊：
World Haptics Conference. World Haptics Conference
影响因子：
--
作者：
Elayaperumal S;Bae JH;Christensen D;Cutkosky MR;Daniel BL;Costa JM;Black RJ;Faridian F;Moslehi B
通讯作者：
Moslehi B