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Green Image
Issue No. 04 - Oct.-Dec. (2014 vol. 7)
ISSN: 1939-1412
pp: 551-556
Claudio Pacchierotti , Department of Information Engineering and Mathematics, University of Siena
Momen Abayazid , Department of Biomechanical Engineering, MIRA?Institute for Biomedical Technology and Technical Medicine, University of Twente, The Netherlands
Sarthak Misra , Department of Biomechanical Engineering, MIRA?Institute for Biomedical Technology and Technical Medicine, University of Twente, The Netherlands
Domenico Prattichizzo , Department of Information Engineering and Mathematics, University of Siena
ABSTRACT
Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle’s ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.
INDEX TERMS
Needles, Haptic interfaces, Robots, Biological tissues, Data visualization, Accuracy, Ultrasonic imaging
CITATION

C. Pacchierotti, M. Abayazid, S. Misra and D. Prattichizzo, "Teleoperation of Steerable Flexible Needles by Combining Kinesthetic and Vibratory Feedback," in IEEE Transactions on Haptics, vol. 7, no. 4, pp. 551-556, 2014.
doi:10.1109/TOH.2014.2360185
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