TY - GEN
T1 - On the use of discrete steps in robot-aided flexible needle insertion
AU - Geraldes, Andre A.
AU - Marinho, Murilo M.
AU - Bernardes, Mariana C.
AU - Bo, Antonio P.L.
AU - Borges, Geovany A.
PY - 2013
Y1 - 2013
N2 - Needle steering devices present great potential for improving the safety and accuracy of medical interventions with percutaneous access. Despite significant advances in the field, needle steerability remains an issue to be solved by the scientific community. In this paper, we propose the use of discrete steps in flexible needle insertion, inspired by the manual procedure performed by physicians. Conceptually, the method relies in alternating between two motions: grasp-push and release-retreat. For experimental evaluation, a modified gripper is used along with a 6DOF robotic manipulator to control needle insertion velocity, rotation and grasping. Preliminary results indicate that the use of discrete steps minimizes some negative effects, such as slippage and needle buckling, observed on alternative methods, while preserving their functional advantages.
AB - Needle steering devices present great potential for improving the safety and accuracy of medical interventions with percutaneous access. Despite significant advances in the field, needle steerability remains an issue to be solved by the scientific community. In this paper, we propose the use of discrete steps in flexible needle insertion, inspired by the manual procedure performed by physicians. Conceptually, the method relies in alternating between two motions: grasp-push and release-retreat. For experimental evaluation, a modified gripper is used along with a 6DOF robotic manipulator to control needle insertion velocity, rotation and grasping. Preliminary results indicate that the use of discrete steps minimizes some negative effects, such as slippage and needle buckling, observed on alternative methods, while preserving their functional advantages.
UR - http://www.scopus.com/inward/record.url?scp=84886547755&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2013.6610638
DO - 10.1109/EMBC.2013.6610638
M3 - Conference contribution
C2 - 24110825
AN - SCOPUS:84886547755
SN - 9781457702167
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 4867
EP - 4870
BT - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
T2 - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Y2 - 3 July 2013 through 7 July 2013
ER -