Needle steering fusing direct base manipulation and tip-based control

Abstract

Abstract-Works on robotic needle steering often consider either tip-based control of flexible beveled tip needles or control of the bending of symmetric tip needles. In this paper a control law for needle steering which uses both direct manipulation of the needle base and the control of the tip deflection, is proposed. A 3D model of a beveled tip needle is used to determine the base motion that is needed to obtain the desired tip motion. The needle-tissue interaction model uses local virtual springs placed along the needle shaft and takes into account the interaction forces at the bevel. Online estimation and update of this model parameters is performed via visual feedback. The low level controller uses the task function framework to allow control of the tip velocity. Additionally duty cycling method is used if a reduction of the natural deflection of the needle tip is needed. Finally an experimental targeting task in a gelatin phantom is presented for preliminary validation of the framework. The method provided sub-millimeter accuracy on a target that would be unreachable using only tip-based control.

Online prediction of needle shape deformation in moving soft tissues from visual feedback

“…This section presents the experiments that we performed to validate our needle insertion model and our update method. We used a similar setup as in [15], where a six degrees of freedom manipulator is used to hold the needle and two orthogonal calibrated cameras are used to provide a visual feedback of the inserted needle. We also present and discuss the results in this section.…”

“…We used the same control law as presented in [15], which we briefly recall here. The kinematic motion of the needle base, described by its velocity screw vector V b , is controlled to obtain a desired velocity of the needle tip v t using:…”

Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

“…The control of the 8 available DOF of the system is performed using a modified version of the method presented in [8]. We consider the following control vector (v ∈ R 8 ):…”

“…Special tips have also been designed, such as an actuated tip that allows a control of both force orientation and magnitude without rotation of the needle shaft [7]. Lateral base manipulation and duty cycling control were also used together alternatively depending on the alignment of the needle with the target [8].…”

Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulation

“…Automatic needle steering methods have the ability to compensate for such complex interactions (see [16] for a recent review) and therefore received significant interest in the last two decades. Methods have been proposed for both symmetric [17], [18], [19], [20], [21] and beveledtip needles [22], [20], [23], [24]. Chevrie et al [23] relie on a needle/tissue interaction model combined with base manipulation and tip deflection to steer a beveled-tip needle.…”