ICRA'09 Paper Abstract


Paper FrC12.5

Torabi, Meysam (Sharif University of Technology), Hauser, Kris (Stanford University), Alterovitz, Ron (University of California, Berkeley), Duindam, Vincent (University of California, Berkeley), Goldberg, Ken (UC Berkeley)

Guiding Medical Needles Using Single-Point Tissue Manipulation

Scheduled for presentation during the Regular Sessions "Medical Robotics - I" (FrC12), Friday, May 15, 2009, 14:50−15:10, Room: 504

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Medical Robots and Systems


This paper addresses the use of robotic tissue manipulation in medical needle insertion procedures, in order to improve targeting accuracy and help avoid damaging sensitive tissues. To control these multiple, potentially competing objectives, we present a phased controller that operates one manipulator at a time using closed-loop imaging feedback. We present an automated procedure planning technique that uses tissue geometry to select the needle insertion location, manipulation locations, and controller parameters. The planner uses a stochastic optimization of a cost function that includes tissue stress and robustness to disturbances. We demonstrate the system on 2D tissues simulated with a mass spring model, including a simulation of a prostate brachytherapy procedure. It can reduce targeting errors from more than 2cm to less than 1mm, and can also shift obstacles by over 1cm to clear them away from the needle path.



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