Experimental evaluation of co-manipulated ultrasound-guided flexible needle steering.
Identifieur interne : 000298 ( PubMed/Curation ); précédent : 000297; suivant : 000299Experimental evaluation of co-manipulated ultrasound-guided flexible needle steering.
Auteurs : Momen Abayazid [Pays-Bas] ; Claudio Pacchierotti [Italie] ; Pedro Moreira [Pays-Bas] ; Ron Alterovitz [États-Unis] ; Domenico Prattichizzo [Italie] ; Sarthak Misra [Pays-Bas]Source :
- The international journal of medical robotics + computer assisted surgery : MRCAS [ 1478-596X ] ; 2016.
Abstract
A teleoperation system for bevel-tipped flexible needle steering has been evaluated. Robotic systems have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and acceptance by the surgical community, keeping the physician tightly in the loop is preferable.
DOI: 10.1002/rcs.1680
PubMed: 26173754
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<front><div type="abstract" xml:lang="en">A teleoperation system for bevel-tipped flexible needle steering has been evaluated. Robotic systems have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and acceptance by the surgical community, keeping the physician tightly in the loop is preferable.</div>
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<Month>06</Month>
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<Title>The international journal of medical robotics + computer assisted surgery : MRCAS</Title>
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<ArticleTitle>Experimental evaluation of co-manipulated ultrasound-guided flexible needle steering.</ArticleTitle>
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<Abstract><AbstractText Label="BACKGROUND" NlmCategory="BACKGROUND">A teleoperation system for bevel-tipped flexible needle steering has been evaluated. Robotic systems have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and acceptance by the surgical community, keeping the physician tightly in the loop is preferable.</AbstractText>
<AbstractText Label="METHODS" NlmCategory="METHODS">The system uses ultrasound imaging, path planning, and control to compute the desired needle orientation during the insertion and intuitively passes this information to the operator, who teleoperates the motion of the needle's tip. Navigation cues about the computed orientation are provided through haptic and visual feedback to the operator to steer the needle.</AbstractText>
<AbstractText Label="RESULTS" NlmCategory="RESULTS">The targeting accuracy of several co-manipulation strategies were studied in four sets of experiments involving human subjects with clinical backgrounds.</AbstractText>
<AbstractText Label="CONCLUSIONS" NlmCategory="CONCLUSIONS">Experimental results show that receiving feedback regarding the desired needle orientation improves the targeting accuracy by a factor of 9 with respect to manual insertions. Copyright © 2015 John Wiley & Sons, Ltd.</AbstractText>
<CopyrightInformation>Copyright © 2015 John Wiley & Sons, Ltd.</CopyrightInformation>
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<AffiliationInfo><Affiliation>Department of Biomedical Engineering, University of Groningen and University Medical Centre, Groningen, The Netherlands.</Affiliation>
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<KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">haptics</Keyword>
<Keyword MajorTopicYN="N">needle steering</Keyword>
<Keyword MajorTopicYN="N">shared control</Keyword>
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