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Human-robot visual interface for 3D steering of a flexible, bioinspired needle for neurosurgery

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Title: Human-robot visual interface for 3D steering of a flexible, bioinspired needle for neurosurgery
Authors: Matheson, E
Secoli, R
Galvan, S
Baena, FRY
Item Type: Conference Paper
Abstract: Robotic minimally invasive surgery has been a subject of intense research and development over the last three decades, due to the clinical advantages it holds for patients and doctors alike. Particularly for drug delivery mechanisms, higher precision and the ability to follow complex trajectories in three dimensions (3D), has led to interest in flexible, steerable needles such as the programmable bevel-tip needle (PBN). Steering in 3D, however, holds practical challenges for surgeons, as interfaces are traditionally designed for straight line paths. This work presents a pilot study undertaken to evaluate a novel human-machine visual interface for the steering of a robotic PBN, where both qualitative evaluation of the interface and quantitative evaluation of the performance of the subjects in following a 3D path are measured. A series of needle insertions are performed in phantom tissue (gelatin) by the experiment subjects. User could adequately use the system with little training and low workload, and reach the target point at the end of the path with millimeter range accuracy.
Issue Date: 27-Jan-2020
Date of Acceptance: 1-Nov-2019
URI: http://hdl.handle.net/10044/1/77749
DOI: 10.1109/iros40897.2019.8967604
Publisher: IEEE
Journal / Book Title: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement: © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 688279
Conference Name: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publication Status: Published
Start Date: 2019-11-03
Finish Date: 2019-11-08
Conference Place: Macau, China
Online Publication Date: 2020-01-27
Appears in Collections:Mechanical Engineering
Faculty of Engineering