Human-Robot Visual Interface for 3D Steering of a Flexible, Bioinspired Needle for Neurosurgery
Robotic minimally invasive surgery has been a subject of intense research and development over the last three decades, due to the clinical advantages it holds for patients and doctors alike. Particularly for drug delivery mechanisms, higher precision and the ability to follow complex trajectories in...
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| Veröffentlicht in: | Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems S. 5426 - 5431 |
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01.11.2019
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| ISSN: | 2153-0866 |
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| Abstract | Robotic minimally invasive surgery has been a subject of intense research and development over the last three decades, due to the clinical advantages it holds for patients and doctors alike. Particularly for drug delivery mechanisms, higher precision and the ability to follow complex trajectories in three dimensions (3D), has led to interest in flexible, steerable needles such as the programmable bevel-tip needle (PBN). Steering in 3D, however, holds practical challenges for surgeons, as interfaces are traditionally designed for straight line paths. This work presents a pilot study undertaken to evaluate a novel human-machine visual interface for the steering of a robotic PBN, where both qualitative evaluation of the interface and quantitative evaluation of the performance of the subjects in following a 3D path are measured. A series of needle insertions are performed in phantom tissue (gelatin) by the experiment subjects. User could adequately use the system with little training and low workload, and reach the target point at the end of the path with millimeter range accuracy. |
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| AbstractList | Robotic minimally invasive surgery has been a subject of intense research and development over the last three decades, due to the clinical advantages it holds for patients and doctors alike. Particularly for drug delivery mechanisms, higher precision and the ability to follow complex trajectories in three dimensions (3D), has led to interest in flexible, steerable needles such as the programmable bevel-tip needle (PBN). Steering in 3D, however, holds practical challenges for surgeons, as interfaces are traditionally designed for straight line paths. This work presents a pilot study undertaken to evaluate a novel human-machine visual interface for the steering of a robotic PBN, where both qualitative evaluation of the interface and quantitative evaluation of the performance of the subjects in following a 3D path are measured. A series of needle insertions are performed in phantom tissue (gelatin) by the experiment subjects. User could adequately use the system with little training and low workload, and reach the target point at the end of the path with millimeter range accuracy. |
| Author | Galvan, Stefano Baena, Ferdinando Rodriguez y Matheson, Eloise Secoli, Riccardo |
| Author_xml | – sequence: 1 givenname: Eloise surname: Matheson fullname: Matheson, Eloise organization: Mechatronics in Medicine Laboratory, Imperial College,London,United Kingdom – sequence: 2 givenname: Riccardo surname: Secoli fullname: Secoli, Riccardo organization: Mechatronics in Medicine Laboratory, Imperial College,London,United Kingdom – sequence: 3 givenname: Stefano surname: Galvan fullname: Galvan, Stefano organization: Mechatronics in Medicine Laboratory, Imperial College,London,United Kingdom – sequence: 4 givenname: Ferdinando Rodriguez y surname: Baena fullname: Baena, Ferdinando Rodriguez y organization: Mechatronics in Medicine Laboratory, Imperial College,London,United Kingdom |
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| SubjectTerms | Human-machine systems Navigation Needles Neurosurgery Phantoms Research and development Three-dimensional displays Training Trajectory Visualization |
| Title | Human-Robot Visual Interface for 3D Steering of a Flexible, Bioinspired Needle for Neurosurgery |
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