title: Towards synergistic control of hands-on needle insertion with automated needle steering for MRI-guided prostate interventions.
abstract: A significant hurdle of accurate needle tip placement in percutaneous needle-based prostate interventions is unmodeled needle deflection and tissue deformation during insertion. This paper introduces a robotic platform for developing synergistic, cooperatively controlled needle insertion algorithms decoupled from closed-loop image-guided needle steering. Shared control of the surgical workspace through human-robot synergy creates a balance between the accuracy of robotic autonomy while still providing ultimate control of the procedure to the physician. Validation tests were performed using camera-based image-guided feedback control of needle steering with cooperative hands-on needle insertion. Locations were targeted inside a transparent gelatin phantom with an average total error of 2.68 ± 0.34mm and in-plane error of 2.59 ± 0.30mm.
authors.forename: Marek
authors.initials: M
authors.lastname: Wartenberg
authors.forename: Niravkumar
authors.initials: N
authors.lastname: Patel
authors.lastname: Gang Li
authors.forename: Gregory S
authors.initials: GS
authors.lastname: Fischer
mesh_terms: D000465:Algorithms; D001707:Biopsy, Needle / Q000379:methods*; D005246:Feedback; D006801:Humans; D053783:Magnetic Resonance Imaging, Interventional / Q000379:methods*; D008297:Male; D009339:Needles; D019047:Phantoms, Imaging; D011467:Prostate; D012371:Robotics / Q000379:methods*