Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion
- 196 Downloads
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 and 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.
KeywordsImage-guided therapy Medical robotics Teleoperation Needle steering
This research was funded by NIH R01 CA111288, NIH R01 CA166379 and NIH R01 EB020667.
NH has a financial interest in Harmonus, a company developing Image Guided Therapy products. NH’s interests were reviewed and are managed by Brigham and Women’s Hospital and Partners HealthCare in accordance with their conflict of interest policies.
- 4.Elayaperumal, S., J. H. Bae, D. Christensen, M. R. Cutkosky, B. L. Daniel, R. J. Black, J. M. Costa, F. Faridian, and B. Moslehi. MR-compatible biopsy needle with enhanced tip force sensing. IEEE World Haptics Conference, pp. 109–114, 2013.Google Scholar
- 5.Elayaperumal, S., J. H. Bae, B. L. Daniel, M. R. Cutkosky. Detection of membrane puncture with haptic feedback using a tip-force sensing needle. IEEE International Conference on Intelligent Robots and Systems, pp. 3975–3981, 2014.Google Scholar
- 7.Eslami, S., W. Shang, G. Li, N. Patel, G. S. Fischer, J. Tokuda, N. Hata, C. M. Tempany, and I. Iordachita. In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation. Int. J. Med. Robot. Comput. Assist. Surg. 12(2):98–109, 2015.Google Scholar
- 9.Hoyt, K., B. Casteneda, M. Zhang, P. Nigwekar, P. A. di Sant’Agnese, J. V. Joseph, J. Strang, D. Rubens, and J. Parker. Tissue elasticity properties as biomarkers for prostate cancer. Cancer Biomark. 4(4–5):213–225, 2001.Google Scholar
- 12.Li, G. Robotic System Development for Precision MRI-Guided Needle-Based Interventions. PhD Dissertation, Department of Mechanical Engineering, June 2016.Google Scholar
- 13.Megali, G., O. Tonet, C. Stefanini, M. Boccadoro, V. Papaspyropoulos, L. Angelini, and P. Dario. A computer-assisted robotic ultrasound-guided biopsy system for video-assisted surgery. Medical Image Computing and Computer-Assisted Intervention, (MICCAI), pp. 343–350, 2016.Google Scholar
- 14.Minhas, D. S., J. A. Engh, M. M. Fenske, and C. N. Riviere. Modeling of needle steering via duty-cycled spinning. IEEE International Conference on Engineering in Medicine and Biology Society (EMBC), pp. 2756–2759, 2017.Google Scholar
- 15.Nycz, C. J., R. Gondokaryono, P. Carvalho, N. Patel, M. Wartenberg, J. G. Pilitsis, and G. S. Fischer. Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials. International Conference on Intelligent Robots and Systems (IROS), 2017.Google Scholar
- 18.Patel, N. A., T. van Katwijk, G. Li, P. Moreira, W. Shang, S. Misra, and G. S. Fischer. Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance. IEEE International Conference on Engineering in Medicine and Biology Society (EMBC), pp. 6687–6690, 2015.Google Scholar
- 20.Prasad, S. K., M. Kitagawa, G. S. Fischer, J. Zand, M. A. Talamini, R. H. Taylor, and A. M. Okamura. A modular 2-DOF force-sensing instrument for laproscopic surgery. Medical Image Computing and Computer Assisted Interventions Conference (MICCAI), pp. 279–286, 2013.Google Scholar
- 22.Schneider, O., J. Troccaz, O. Chavanon, and D. Blin. PADyC: a synergistic robot for cardiac puncturing. IEEE International Conference on Robotics and Automation (ICRA), pp. 2883–2888, 2000.Google Scholar
- 24.Swensen, J. P. and N. J. Cowan. Torsional dynamics compensation enhances robotic control of tip-steerable needles. IEEE International Conference on Robotics and Automation (ICRA), pp. 1601–1606, 2012.Google Scholar
- 25.Tokuda, J., G. S. Fischer, X. Papademetris, Z. Yaniv, L. Ibanex, P. Cheng, H. Liu, J. Blevins, J. Arata, A. J. Golby, T. Kapur, S. Pieper, E. C. Burdette, G. Fichtinger, C. M. Tempany, and N. Hata. OpenIGTLink: an open network protocol for image-guided therapy environment. International Journal of Medical Robotics 5(4):423–434, 2009.CrossRefGoogle Scholar
- 26.Tokuda, J., K. Tuncali, G. Li, N. Patel, T. Heffter, G. S. Fischer, I. Iordachita, E. C. Burdette, N. Hata, and C. Tempany. In-Bore MRI-Guided transperineal prostate biopsy using 4-DOF needle-guide manipulator. International Society for Magnetic Resonance in Medicine, 2016.Google Scholar
- 29.Vigaru, B., D. Petrisor, A. Patriciu, D. Mazilu, and D. Stoianovici. MR compatible actuation for medical instrumentation. IEEE International Conference on Automation, Quality and Testing, Robotics, pp. 49–52, 2008.Google Scholar
- 31.Wartenberg, M., J. Schornak, P. Carvalho, N. Patel, I. Iordachita, C. Tempany, N. Hata, J. Tokuda, and G. S. Fischer. Closed-loop autonomous needle steering during cooperatively controlled needle insertions for MRI-guided pelvic interventions. The 10th Hamlyn Symposium on Medical Robotics, pp. 33–34, 2017.Google Scholar