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Design, Modeling, and Evaluation of a Compact and Lightweight Needle End-effector with Simple Force-feedback Implementation for Robotic CT-guided Needle Interventions

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Abstract

We present a compact and lightweight two degrees-of-freedom (DOF) needle end-effector to be applied to a teleoperated needle interventional robotic system. The suggested needle end-effector is computerized tomography (CT)-compatible and easy to sterilize. Because the proposed needle end-effector can be attached to a robotic manipulator, the needle can translate into and rotate in the human body. In addition, a 1-axis load cell is attached to the needle end-effector to measure the longitudinal force applied to the needle. With this force measurement, force-feedback ability has been implemented in the entire master-slave robotic system. Basic performance tests of repeatability and maximum insertion force were performed. Several force-feedback experiments to determine free space response and contact response, as well as a discrimination test, were conducted. Through this verification process, the suggested needle end-effector was found to have potential for application in real environments that require robotic CT-guided needle interventions.

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Authors and Affiliations

  1. Department of Medical Assistant Robotics, Korea Institute of Machinery and Materials (KIMM), 330, Techno sunhwan-ro, Yuga-eup, Dalseong-gun, Daegu, 42994, Korea

    Kiyoung Kim, Hyunsoo Woo & Jang Ho Cho

  2. Department of Robot and Smart System Engineering, Kyungpook National University (KNU), 80 Daehakro, Bukgu, Daegu, 41566, Korea

    Jungwook Suh

Authors
  1. Kiyoung Kim
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  2. Hyunsoo Woo
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  3. Jang Ho Cho
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  4. Jungwook Suh
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Correspondence to Jungwook Suh.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Guest Editors Doo Yong Lee (KAIST) and Jaesoon Choi (Asan Medical Center). This work was supported by the Industrial Strategic Technology Development Program, Grant Number 10077502, Development of an Intelligent Cardiovascular Intervention Assist Robot System with 3-Dimensional Cardiac Mapping System and Blood Vessel Visualization, and by Grant Number NK217E, Development of Highly Efficient and Safe Industrial Manipulator for Human–Robot Collaboration. All applicable international, national, or institutional guidelines for the care and use of animals were followed.

Kiyoung Kim received his Ph.D. in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2012. He is a Senior Researcher with the Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials (KIMM). He was a Postdoctoral Research Associate at the Hamlyn Centre, Imperial College London, UK. His research interests are primarily in the areas of surgical manipulators, continuum robotics, and human-robot physical interactions.

Hyunsoo Woo received his Ph.D. in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2009. He is currently a Principal Investigator and Head of the Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials (KIMM). He was a Postdoctoral Researcher at KAIST. His research interests include surgical/rehabilitation robotics, robotic prostheses, and industrial robotic manipulators.

Jang Ho Cho received his M.S. and a Ph.D. in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2004 and 2010, respectively. From 2011 to 2013, he was a Linneaus Postdoctoral Researcher with the Lund Center for Control of Complex Engineering Systems, Department of Automatic Control, Lund University, Sweden. He is currently a Senior Researcher in the Department of Medical Assistant Robotics, Korea Institute of Machinery & Materials (KIMM). His research interests include time delay control, teleoperation, haptic interactions, and parallel robots for medical applications.

Jungwook Suh received his B.S., M.S., and Ph.D. degrees in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2007, 2009, and 2013, respectively. From 2014 to 2019, he worked as a senior researcher at the Electronics and Telecommunications Research Institute (ETRI). He is currently an Assistant Professor at the Department of Robot and Smart System Engineering, Kyungpook National University (KNU), Daegu, Korea. His research interests include robotics and mechanism design for medical devices and robots.

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Kim, K., Woo, H., Cho, J.H. et al. Design, Modeling, and Evaluation of a Compact and Lightweight Needle End-effector with Simple Force-feedback Implementation for Robotic CT-guided Needle Interventions. Int. J. Control Autom. Syst. 18, 85–101 (2020). https://doi.org/10.1007/s12555-019-0235-x

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