Respiratory Motion Compensation and Haptic Feedback for X-ray-Guided Teleoperated Robotic Needle Insertion

TL;DR

This paper presents a robotic system that compensates for respiratory motion and provides haptic feedback for teleoperated needle insertion, aiming to improve accuracy and safety in abdominal procedures without radiation exposure.

Contribution

It introduces a novel combination of respiratory motion compensation and haptic feedback for remote robotic needle insertion in abdominal interventions.

Findings

Motion estimation errors below 3 mm in all directions

3D insertion errors of 2.60, 7.75, and 2.86 mm in respective directions

Reduced radiation exposure and improved insertion accuracy

Abstract

Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed using proximity-based haptic feedback to guide physicians during insertion, enabling a radiation-free remote insertion for the end-user. The study has been validated using a robotic liver phantom, and five insertions were performed. The resulting motion estimation errors were below 3 mm for all directions of motion, and the overall resulting 3D insertion errors were 2.60, 7.75, and 2.86 mm for the superior-inferior, lateral, and anterior-posterior directions of motion, respectively. The proposed approach is expected to minimize the chances of inaccurate treatment or diagnosis due to respiratory-induced motion and reduce radiation exposure.