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
Hauptverfasser: Matheson, Eloise, Secoli, Riccardo, Galvan, Stefano, Baena, Ferdinando Rodriguez y
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.11.2019
Schlagworte:
Human-machine systems
Navigation
Needles
Neurosurgery
Phantoms
Research and development
Three-dimensional displays
Training
Trajectory
Visualization
ISSN:2153-0866
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Zusammenfassung: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.
ISSN:2153-0866
DOI:10.1109/IROS40897.2019.8967604