Robotically assisted needle driver: evaluation of safety release, force profiles, and needle spin in a swine abdominal model

Review of Robotic Needle Guide Systems for Percutaneous Intervention

Numerous research groups in the past have designed and developed robotic needle guide systems that improve the targeting accuracy and precision by either providing a physical guidance for manual insertion or enabling a complete automated intervention. Here we review systems that have been reported in the last 11 years and limited to straight line needle interventions. Most systems fall under the category of image guided systems as they either use magnetic resonance image, computed tomography, ultrasound or a combination of these modalities for real time image feedback of the intervention path being followed. Actuation and control technology along with materials used for construction are the main aspects that differentiate these systems from each other and have been reviewed here. Image compatibility test details and results are also reviewed as they are used to ensure proper functioning of these systems under the respective imaging environments. We have also reviewed needle guide systems which either don't use any image feedback or have not reported any but provide physical guidance. Throughout this paper, we provide a comprehensive review of the technological aspects and trends in the field of robotic, straight line, needle guide intervention systems.

Impedance and admittance control for respiratory-motion compensation during robotic needle insertion - a preliminary test

BACKGROUND

Many robotic needle-biopsy systems have been developed to enhance the accuracy of needle-biopsy intervention. These systems can reduce the intervention time and the radiation exposure of clinicians. However, respiratory-motion compensation is needed to ensure the accuracy and efficiency of needle biopsy intervention.

METHODS

Human respiratory-motion data were acquired using three inertial measurement units (IMUs), and respiratory motion was simulated using the Stewart-Gough platform. Robotic needle intervention was performed using impedance and admittance control algorithms for respiratory-motion compensation using the Stewart-Gough platform and a gelatin phantom.

RESULTS

The impedance and admittance control algorithms can be used to compensate for respiratory motion during robotic needle insertion. The admittance control algorithm exhibits better performance than the impedance control algorithm.

CONCLUSIONS

The impedance and admittance control algorithms can be applied for respiratory-motion compensation during robotic needle insertion. However, further study is needed for them to become clinically feasible.

Vision-based variable impedance control with oscillation observer for respiratory motion compensation during robotic needle insertion: a preliminary test

BACKGROUND

To reduce the radiation exposure of patients and physicians during needle-based procedures, robotic needle insertion systems have been widely developed. However, during robotic needle insertion, the respiratory motion of the patient can cause serious injury.

METHODS

A vision-based variable impedance control algorithm was introduced to compensate for the respiratory motion. The algorithm controls the robot so that the applied forces and moments on the needle are zero. Also, an oscillation observer was introduced to ensure patient safety. A preliminary test was performed using a seven degrees of freedom (7-DOF) robot and a phantom.

RESULT

It was found that the proposed algorithm greatly decreases damage to the phantom due to respiratory motion. Also, the proposed oscillation observer was able to ensure robot stability.

CONCLUSIONS

The proposed control scheme allows the robot to compensate for the respiratory motion to ensure patient safety during a needle-based procedure.

Does needle rotation improve lesion targeting?

BACKGROUND

Image-guided robots are manipulators that operate based on medical images. Perhaps the most common class of image-guided robots are robots for needle interventions. Typically, these robots actively position and/or orient a needle guide, but needle insertion is still done by the physician. While this arrangement may have safety advantages and keep the physician in control of needle insertion, actuated needle drivers can incorporate other useful features.

METHODS

We first present a new needle driver that can actively insert and rotate a needle. With this device we investigate the use of needle rotation in controlled in-vitro experiments performed with a specially developed revolving needle driver.

RESULTS

These experiments show that needle rotation can improve targeting and may reduce errors by as much as 70%.

CONCLUSION

The new needle driver provides a unique kinematic architecture that enables insertion with a compact mechanism. Perhaps the most interesting conclusion of the study is that lesions of soft tissue organs may not be perfectly targeted with a needle without using special techniques, either manually or with a robotic device. The results of this study show that needle rotation may be an effective method of reducing targeting errors.