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Simulation-based Flexible Needle Control with Single-core FBG Feedback for Spinal Injections.
Wang, Yanzhou; Xu, Yangsheng; Kang, Jiarong; Fritz, Jan; Iordachita, Iulian.
Afiliación
  • Wang Y; Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA.
  • Xu Y; Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland, USA.
  • Kang J; Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland, USA.
  • Fritz J; Department of Radiology, New York University, New York City, New York, USA.
  • Iordachita I; Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA.
IEEE Trans Med Robot Bionics ; 6(3): 1073-1083, 2024 Aug.
Article en En | MEDLINE | ID: mdl-39131204
ABSTRACT

Objective:

We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback.

Methods:

System input-output mapping is generated with a real-time needle-tissue interaction simulation, and single-core FBG sensor readings are used as local needle shape feedback within the same simulation framework. FBG wavelength shifts due to temperature variation is removed by exploiting redundancy in fiber arrangement.

Results:

Targeting experiments performed on both plastisol lumbar phantoms as well as an ex vivo porcine lumbar section achieved in-plane tip errors of 0.6 ± 0.3 mm and 1.6 ± 0.9 mm , and total tip errors of 0.9 ± 0.7 mm and 2.1 ± 0.8 mm for the two testing environments.

Significance:

Our clinically inspired control strategy and workflow is self-contained and not dependent on the modality of imaging guidance. The generalizability of the proposed approach can be applied to other needle-based interventions where medical imaging cannot be reliably utilized as part of a closed-loop control system for needle guidance.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: IEEE Trans Med Robot Bionics Año: 2024 Tipo del documento: Article País de afiliación: Estados Unidos Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: IEEE Trans Med Robot Bionics Año: 2024 Tipo del documento: Article País de afiliación: Estados Unidos Pais de publicación: Estados Unidos