A mathematical model of a novel automated medical device for needle insertions

In medical procedures, needle insertion is a challenging task highly dependent on the surgeon's manual skills. Implanted needles are used for drug delivery, biopsy, delivery of radiation sources, etc. In the named clinical procedures, the accuracy of the needle placement is crucial for patient treatment outcomes. Therefore, we have proposed an automated medical device for needle implantation to eliminate uncertainties of the standard procedures and to increase the accuracy of the needle placement. In this article, the mathematical model of such a device has been developed. The mathematical model takes into account the needle deflection; therefore, with the adequate development of the control strategy, the deflection could be minimized using predictive or adaptive controllers.

[1]  Allison M. Okamura,et al.  Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[2]  Frank-André Siebert,et al.  Imaging of implant needles for real-time HDR-brachytherapy prostate treatment using biplane ultrasound transducers. , 2009, Medical physics.

[3]  Allison M. Okamura,et al.  Modeling of needle insertion forces for robot-assisted percutaneous therapy , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[4]  Septimiu E. Salcudean,et al.  Needle insertion modeling and simulation , 2003, IEEE Trans. Robotics Autom..

[5]  Carl S McGill,et al.  Effects of insertion speed and trocar stiffness on the accuracy of needle position for brachytherapy. , 2012, Medical physics.

[6]  Rajni V. Patel,et al.  Needle insertion into soft tissue: a survey. , 2007, Medical engineering & physics.

[7]  Allison M. Okamura,et al.  Robotic needle insertion: effects of friction and needle geometry , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[8]  심성한,et al.  Fundamentals of Vibrations , 2013 .

[9]  Masakatsu G. Fujie,et al.  Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System , 2012, IEEE Transactions on Robotics.

[10]  David A. Forsyth,et al.  Generalizing motion edits with Gaussian processes , 2009, ACM Trans. Graph..

[11]  James F. O'Brien,et al.  Interactive simulation of surgical needle insertion and steering , 2009, SIGGRAPH 2009.

[12]  James F. O'Brien,et al.  Interactive simulation of surgical needle insertion and steering , 2009, ACM Trans. Graph..

[13]  Allison M. Okamura,et al.  Tissue fixation by suction increases the accuracy of robotic needle insertion , 2013, 2013 IEEE International Conference on Robotics and Automation.

[14]  A. Okamura,et al.  Characterization of robotic needle insertion and rotation in artificial and ex vivo tissues , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[15]  Ivan Buzurovic,et al.  MO‐D‐AUD B‐04: Parameter Optimization for Brachytherapy Robotic Needle Insertion and Seed Deposition , 2008 .

[16]  Yan Yu,et al.  Prediction Control for Brachytherapy Robotic System , 2010, J. Robotics.

[17]  Gabor Fichtinger,et al.  Surgical motion characterization in simulated needle insertion procedures , 2012, Medical Imaging.

[18]  L. Meirovitch,et al.  Fundamentals of Vibrations , 2000 .

[19]  D. Debeljkovic,et al.  A geometric approach to the investigation of the dynamics of constrained robotic systems , 2010, IEEE 8th International Symposium on Intelligent Systems and Informatics.

[20]  Ashitava Ghosal,et al.  Comparison of the Assumed Modes and Finite Element Models for Flexible Multilink Manipulators , 1995, Int. J. Robotics Res..