3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation
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3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation Mariana C. Bernardes · Bruno V. Adorno · Geovany A. Borges · Philippe Poignet
Received: 22 February 2013 / Revised: 14 November 2013 / Accepted: 10 December 2013 © Brazilian Society for Automatics–SBA 2014
Abstract This work presents a closed-loop strategy for 3D online motion planning of beveled steerable needles using duty-cycled rotation. The algorithm first selects an entry point that minimizes a multi-criteria cost function and then combines an RRT-based path planner with an intraoperative replanning algorithm and workspace feedback information to constantly update the needle inputs and adjust the trajectory. Simulations in a workspace based on a typical prostate needle steering scenario show that the algorithm is robust against disturbances and model uncertainties and can provide online trajectories to avoid obstacles even under the presence of physiological motion. Keywords planning
Medical robotics · Needle steering · Motion
1 Introduction Many medical procedures involve percutaneous diagnosis and local therapies that require the insertion of a needle deep Electronic supplementary material The online version of this article (doi:10.1007/s40313-013-0104-4) contains supplementary material, which is available to authorized users. M. C. Bernardes (B) · G. A. Borges Universidade de Brasília, LARA, Caixa Postal 4386, Brasília, DF 70919-970, Brazil e-mail: [email protected] B. V. Adorno Universidade Federal de Minas Gerais, Av. Antônio Carlos 6627, Belo Horizonte, MG 31270-010, Brazil P. Poignet Université Montpellier 2, LIRMM, 161 Rue Ada, 34090 Montpellier, France
into soft tissue to reach a target, and depend on precise tip positioning for effectiveness (Abolhassani et al. 2007). Needle deflection and tissue deformation are the most important factors that affect needle insertion accuracy and require great expertise from the surgeon to compensate for their effects. In addition, the procedure target may be located in a region surrounded by important organs, nerves, or vessels that must be avoided. Beveled flexible needles capable of being steered during their insertion into soft tissue (Webster et al. 2006) have been designed to allow complex trajectories and expand the applicability of percutaneous procedures to areas of difficult access, which could not be reached by conventional rigid needles without causing excessive, injurious pressure on tissue. This type of needle can be modeled as a kinematic system with nonholonomic constraints. As a consequence, motion planning is a complex task and its difficulty increases under the presence of uncertainties due to errors in tip positioning, needle modeling, tissue inhomogeneity and deformation. Robot-assisted needle steering has the potential to overcome such complications and has been an area of active research in the past decade. In this context, medical imaging can be used not only for motion planning but also for the control of robot-assisted medical pr
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