Trajectory generation for robotic needle insertion in soft tissue
Accurate needle insertion in soft, inhomogeneous tissue has been a major concern in several recent studies involving robot-assisted percutaneous therapies. In procedures that involve multiple needle insertions such as transrectal ultrasound guided prostate brachytherapy, it is important to reduce ti...
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| creator | Abolhassani, N. Patel, R. Moallem, M. |
| description | Accurate needle insertion in soft, inhomogeneous tissue has been a major concern in several recent studies involving robot-assisted percutaneous therapies. In procedures that involve multiple needle insertions such as transrectal ultrasound guided prostate brachytherapy, it is important to reduce tissue deformation before puncture and during insertion. In order to reduce this deformation, we have studied the effect of different trajectories for a 2-DOF robot performing needle insertion in soft tissue. We have compared tissue deformation and infinitesimal force per tissue displacement for different trajectories. According to the results of our experiments, infinitesimal force per displacement is a useful parameter for online trajectory update. Our proposed position/force controller is shown to provide considerable improvement in performance with regard to tissue deformation before puncture. |
| doi_str_mv | 10.1109/IEMBS.2004.1403782 |
| format | Conference Proceeding |
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In procedures that involve multiple needle insertions such as transrectal ultrasound guided prostate brachytherapy, it is important to reduce tissue deformation before puncture and during insertion. In order to reduce this deformation, we have studied the effect of different trajectories for a 2-DOF robot performing needle insertion in soft tissue. We have compared tissue deformation and infinitesimal force per tissue displacement for different trajectories. According to the results of our experiments, infinitesimal force per displacement is a useful parameter for online trajectory update. Our proposed position/force controller is shown to provide considerable improvement in performance with regard to tissue deformation before puncture.</description><identifier>ISBN: 0780384393</identifier><identifier>ISBN: 9780780384392</identifier><identifier>DOI: 10.1109/IEMBS.2004.1403782</identifier><language>eng</language><publisher>IEEE</publisher><subject>Acceleration ; Biological tissues ; Brachytherapy ; Force ; Force control ; Force sensors ; Needles ; Prostate brachytherapy ; Robotic needle insertion ; Robots ; Skin ; Tissue indentation ; Trajectory ; Ultrasonic imaging</subject><ispartof>The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2004, Vol.1, p.2730-2733</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1403782$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1403782$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Abolhassani, N.</creatorcontrib><creatorcontrib>Patel, R.</creatorcontrib><creatorcontrib>Moallem, M.</creatorcontrib><title>Trajectory generation for robotic needle insertion in soft tissue</title><title>The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society</title><addtitle>IEMBS</addtitle><description>Accurate needle insertion in soft, inhomogeneous tissue has been a major concern in several recent studies involving robot-assisted percutaneous therapies. In procedures that involve multiple needle insertions such as transrectal ultrasound guided prostate brachytherapy, it is important to reduce tissue deformation before puncture and during insertion. In order to reduce this deformation, we have studied the effect of different trajectories for a 2-DOF robot performing needle insertion in soft tissue. We have compared tissue deformation and infinitesimal force per tissue displacement for different trajectories. According to the results of our experiments, infinitesimal force per displacement is a useful parameter for online trajectory update. Our proposed position/force controller is shown to provide considerable improvement in performance with regard to tissue deformation before puncture.</description><subject>Acceleration</subject><subject>Biological tissues</subject><subject>Brachytherapy</subject><subject>Force</subject><subject>Force control</subject><subject>Force sensors</subject><subject>Needles</subject><subject>Prostate brachytherapy</subject><subject>Robotic needle insertion</subject><subject>Robots</subject><subject>Skin</subject><subject>Tissue indentation</subject><subject>Trajectory</subject><subject>Ultrasonic imaging</subject><isbn>0780384393</isbn><isbn>9780780384392</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNp9jr0KwjAURgMi-NcX0CUvYL1pCk1HlYoOTnYvsd5KSk3kJg59e4t09lsOh7N8jK0FxEJAvrsU18MtTgDSWKQgM5VM2AIyBVKlMpczFnnfwjCZD67mbF-SbrEOjnr-RIukg3GWN444ubsLpuYW8dEhN9Yj_aKx3Lsm8GC8_-CKTRvdeYxGLtnmVJTH89YgYvUm89LUV-Mb-b9-AXZbOg8</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Abolhassani, N.</creator><creator>Patel, R.</creator><creator>Moallem, M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>2004</creationdate><title>Trajectory generation for robotic needle insertion in soft tissue</title><author>Abolhassani, N. ; Patel, R. ; Moallem, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_14037823</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Acceleration</topic><topic>Biological tissues</topic><topic>Brachytherapy</topic><topic>Force</topic><topic>Force control</topic><topic>Force sensors</topic><topic>Needles</topic><topic>Prostate brachytherapy</topic><topic>Robotic needle insertion</topic><topic>Robots</topic><topic>Skin</topic><topic>Tissue indentation</topic><topic>Trajectory</topic><topic>Ultrasonic imaging</topic><toplevel>online_resources</toplevel><creatorcontrib>Abolhassani, N.</creatorcontrib><creatorcontrib>Patel, R.</creatorcontrib><creatorcontrib>Moallem, M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Abolhassani, N.</au><au>Patel, R.</au><au>Moallem, M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Trajectory generation for robotic needle insertion in soft tissue</atitle><btitle>The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society</btitle><stitle>IEMBS</stitle><date>2004</date><risdate>2004</risdate><volume>1</volume><spage>2730</spage><epage>2733</epage><pages>2730-2733</pages><isbn>0780384393</isbn><isbn>9780780384392</isbn><abstract>Accurate needle insertion in soft, inhomogeneous tissue has been a major concern in several recent studies involving robot-assisted percutaneous therapies. In procedures that involve multiple needle insertions such as transrectal ultrasound guided prostate brachytherapy, it is important to reduce tissue deformation before puncture and during insertion. In order to reduce this deformation, we have studied the effect of different trajectories for a 2-DOF robot performing needle insertion in soft tissue. We have compared tissue deformation and infinitesimal force per tissue displacement for different trajectories. According to the results of our experiments, infinitesimal force per displacement is a useful parameter for online trajectory update. Our proposed position/force controller is shown to provide considerable improvement in performance with regard to tissue deformation before puncture.</abstract><pub>IEEE</pub><doi>10.1109/IEMBS.2004.1403782</doi></addata></record> |
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| identifier | ISBN: 0780384393 |
| ispartof | The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2004, Vol.1, p.2730-2733 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Acceleration Biological tissues Brachytherapy Force Force control Force sensors Needles Prostate brachytherapy Robotic needle insertion Robots Skin Tissue indentation Trajectory Ultrasonic imaging |
| title | Trajectory generation for robotic needle insertion in soft tissue |
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