A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures-Reference-Cited by-同舟云学术

A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures

Published:2009-05-19 Issue:9 Volume:28 Page:1154-1168
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Piccin O.¹,Barbé L.¹,Bayle B.¹,de Mathelin M.¹,Gangi A.²

Affiliation:

1. LST-IRCAD, 1, place de l'Hôpital, University of Strasbourg, Strasbourg 67091, France,

2. Radiology Department B, University Hospitals of Strasbourg, Strasbourg 67091, France

Abstract

A novel robotized tool for percutaneous interventions under CT-scanner guidance is presented in this paper. This teleoperated compact robotic device can be used as an end-effector for an image-guided positioning robot. It is fully compatible with computed tomography constraints. In particular, it is able to manipulate needles that are longer than the overall height of its body. This novel device mimics the manual gesture performed by the physician by grasping and re-grasping the needle. This operating principle enables direct force measurement on the inserted surgical needle and allows efficient teleoperation with force feedback. In the paper, the specifications of this needle driver are presented and the proposed design is explained. Experiments conducted on swine under operating conditions were performed in order to validate both the concept and the design of the proposed insertion device in the context of teleoperated needle insertions with force feedback.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364909101408

Reference23 articles.

1. In Vivo Model Estimation and Haptic Characterization of Needle Insertions

2. Interventional robotic systems: Applications and technology state‐of‐the‐art

3. Robust control of dynamically interacting systems

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