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Project 3: Shared Control for Robotically Steering Flexible Needles



People involved:


Dr. John J. van den Dobbelsteen
Project function: Supervisor 3.1
Organisation: Delft University of Technology

Dr. Sarthak Misra
Project function: Supervisor 3.2
Organisation: University of Twente

Ir. Nick van de Berg
Project function: PhD student 3.1
Organisation: Delft University of Technology

Ir. Roy Roesthuis
Project function: PhD student 3.2
Organisation: University of Twente


Project Goal

Robotically steering needles and other minimally invasive instruments towards diseased tissue for diagnosis or treatment has the potential to minimize targeting errors and improve patient care.Currently no clinically applicable aids for accurate needle guidance exist. As opposed to fully automated control, intra-operative shared control of needle path, both by the physician and the robot provides the opportunity to correct for targeting errors and to steer around (repositioned) structures. This research project aims to develop a system that uses shared control of needles with actuated tips for liver biopsy or tumor ablation.
Project 3.1 Design of flexible senzorized needles with actuated tips (TUD)
This study focuses on the design of a flexible needle with the actuated tip and needle-tissue interaction experimental studies. The proposed needle steering device allows active manipulation of needle tip orientation which enables the needles to reach deep-seated locations within the body. Further, FBG sensors provide real-time pose of the needle essential for shared control.
Project 3.2 Models of an actuated needle robotically steered through soft tissue (UT)
The control of flexible needles steered through soft tissue requires models that describe the interactions of the needle and its actuated tip with soft tissue. This study focuses on developing a three-dimensional mechanics-based model that predicts the shape of a flexible needle with an actuated tip surrounded by tissue. This model is used for intra-operative shared control of the needle.
Project 3.3 Teleoperated system with shared control for steering fully actuated needles (TUD & UT)
The teleoperated system consists of the flexible needle with the actuated tip as the slave device that is developed in Project 3.1. A master device allows the operator to control the advancement of the needle. This device provides haptic feedback to the operator when the needle deviates from the pre-planned path, which is developed in Project 3.2.
Industrial and clinical collaborators
DEAM BV - www.deamcoorporation.nl
Technobis Fibre Technologies - www.tft-fos.com
HemoLab BV - www.hemolab.nl
UMC Utrecht (Cluster Medische Technologie & Klinische Fysica) - www.umcu.nl