Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint
Year: 2024
Type: conference-paper
Abstract: This paper presents an innovative approach for executing robotic needle insertion within deformable living organs. The objective is to maintain the insertion pivot point on the skin, which remains stationary. At the same time, the organs undergo displacement and deformation due to respiration. Therefore, real-time control and precise needle steering are crucial. The proposed method relies on isolated objective constraints to ensure the objectives while steering the needle along a predefined trajectory. The needle insertion process benefits from Finite Element (FE) models to simulate the environment and address the inverse problem to drive the robot’s end effector (EE) by re-evaluating the objective functions in the constraint space for each time step. So, the desired motion of the robot’s EE could be calculated at a small cost for non-linear functions in real-time, resulting in better precision and reducing stress caused to the organs.
Institutions: Centre National de la Recherche Scientifique, Laboratoire des Sciences de l'Ingénieur, de l'Informatique et de l'Imagerie, MIMESIS: Simulation médicale guidée par les données, Université de Strasbourg, Inserm, Centre Hospitalier Régional Universitaire de Brest, Laboratoire de Traitement de l'Information Médicale
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funders: Agence Nationale de la Recherche, Labex
OpenAlex ID: W4402148199