Ultrasound guided robotic biopsy using augmented reality and human-robot cooperative control

Abstract

Ultrasound-guided biopsy is a proficient mininvasive approach for tumors staging but requires very long training and particular manual and 3D space perception abilities of the physician, for the planning of the needle trajectory and the execution of the procedure. In order to simplify this difficult task, we have developed an integrated system that provides the clinician two types of assistance: an augmented reality visualization allows accurate and easy planning of needle trajectory and target reaching verification; a robot arm with a six-degree-of-freedom force sensor allows the precise positioning of the needle holder and allows the clinician to adjust the planned trajectory (cooperative control) to overcome needle deflection and target motion. Preliminary tests have been executed on an ultrasound phantom showing high precision of the system in static conditions and the utility and usability of the cooperative control in simulated no-rigid conditions.

Augmented Reality and Robotic-Assistance for Percutaneous Nephrolithotomy

“…In the proposed paper, the robot provides just an assistance, without performing any operation in autonomy or in teleoperation. Augmented reality and robotic systems have been combined in different works for performing a precise needle insertion in radiofrequency ablation [18], [19] and in ultrasoundguided biopsy [20]. However, in these papers the robotic system is used to perform autonomously some parts of the operation (i.e.…”

Changing paradigms in radioguided surgery and intraoperative imaging: the GOSTT concept

“…As of today, such mixed reality environments are mostly based on high-resolution anatomical CT images that allow construction of a 3-D virtual space (or simulator) through which the surgeon navigates with robotic assistance for training purposes [14][15][16][17][18][19] or for actually performing the surgical procedure [20,21]. In addition to CT images, anatomical information utilized as an input for novel simulation/planning surgical approaches may include ultrasound imaging [22]. Efforts should therefore be undertaken to include also tomographic radionuclide images (as typically obtained with either PET/CT and/or SPECT/CT) for stereoscopic visualization of a complete medical data set that would include both structural/anatomical information and metabolic/functional information.…”

A venipuncture robot with decoupled position and attitude guided by near‐infrared vision and force feedback

“…Near-infrared binocular vision can reconstruct the arm in three dimensions, but it cannot measure the depth information of veins. [26][27][28] Doppler ultrasound can locate vessels by sensing the blood flow and observing the venipuncture in real time, [29][30][31][32] but the complexity of image processing of ultrasound instruments restricts their application. 33 The…”