Work

Evaluation of Needle Manipulation Controller Subject to Uncertainty of Tip Pose Feedback: a Simulation Study

Year: 2025

Type: conference-paper

Abstract: In this paper, we evaluate the performance of our controller for flexible needle manipulation for percutaneous interventions in a finite element (FE) simulator. We investigate the use of electromagnetic (EM) tracking as needle tip pose feedback, and how artificial sensor noises can affect tracking performance of the controller. In our simulated study, the control system shows high targeting accuracy and robustness with an overall tip position error of 0.49mm. The addition of needle tip orientation feedback further improves the targeting accuracy for deeper targets, with average error of 0.81mm when only using position feedback, and 0.55mm when using additional orientation feedback.

Source: International Symposium on Medical Robotics

DOI: 10.1109/ismr67322.2025.11025973

Authors: Junling Mei, Chang Chang, Yanzhou Wang, Simon Leonard, Iulian Iordachita

Institution: Johns Hopkins University

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Cancer Institute, National Institute of Biomedical Imaging and Bioengineering

Awards: OpenIGTLink: a network communication interface for closed-loop image-guided interventions, G5563026936, Adaptive Percutaneous Prostate Interventions using Sensorized Needle