Guiding medical needles using single-point tissue manipulation

  • Authors:

  • Meysam Torabi;Kris Hauser;Ron Alterovitz;Vincent Duindam;Ken Goldberg

  • Affiliations:

  • School of Electrical Engineering, Sharif University of Technology, Tehran, Iran;Department of Electrical Engineering and Computer Science, University of California at Berkeley;Department of Computer Science, University of North Carolina at Chapel Hill;Department of Electrical Engineering and Computer Science, University of California at Berkeley;Department of Electrical Engineering and Computer Science and Department of Industrial Engineering and Operations Research, University of California at Berkeley

  • Venue:
  • ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
  • Year:
  • 2009

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Abstract

This paper addresses the use of robotic tissue manipulation in medical needle insertion procedures to improve targeting accuracy and to help avoid damaging sensitive tissues. To control these multiple, potentially competing objectives, we present a phased controller that operates one manipulator at a time using closed-loop imaging feedback. We present an automated procedure planning technique that uses tissue geometry to select the needle insertion location, manipulation locations, and controller parameters. The planner uses a stochastic optimization of a cost function that includes tissue stress and robustness to disturbances. We demonstrate the system on 2D tissues simulated with a mass-spring model, including a simulation of a prostate brachytherapy procedure. It can reduce targeting errors from more than 2cm to less than 1mm, and can also shift obstacles by over 1cm to clear them away from the needle path.