Laurent Barbé

IN VIVO STUDY OF FORCES DURING NEEDLE INSERTIONS

Percutaneous procedures are among the developing minimally invasive techniquesto treat cancerous diseases of the digestive system. They require a very accuratetargeting of the organs, achieved by the combination of tactile sensing and medicalimaging. In this paper, we study the forces involved during in vivo percutaneousprocedures for the development of a force feedback needle insertion robotic systemas well as the development of a realistic simulation device. The paper presentsdi erent conditions (manual and robotic insertions) and di erent organs (liver andkidney). Finally, we review some bio-mechanical models of the literature in thelight of our measurements.

In Vivo Model Estimation and Haptic Characterization of Needle Insertions

During percutaneous interventions, the haptic perception of transitions and ruptures in the tissues is fundamental. In the medical robotics context, these events should be conveyed to a remote telemanipulating practitioner or should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in percutaneous procedures. In this article, in vivo percutaneous experiments associated with an online model estimation of the interaction between tissues and a surgical needle are presented for the first time. The estimation scheme is then used to provide a robust method to automatically detect the transitions that occur during needle insertion. Finally, the principle of a modified teleoperation scheme that would allow better haptic discrimination of ruptures is proposed and illustrated.

Needle insertions modeling: Identifiability and limitations

Abstract Soft tissues modeling is a very present preoccupation in different scientific fields, from computer simulation to biomechanics or medical robotics. In this article, we consider the interaction of a needle with living tissues, which is a particularly complex modeling problem since it is characterized by inhomogeneity and nonlinearity properties. We propose a robust method to online estimate forces involved in typical percutaneous interventions. The ability to obtain physically consistent models during in vivo insertions is also discussed.

A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures

A novel robotized tool for percutaneous interventions under CT-scanner guidance is presented in this paper. This teleoperated compact robotic device can be used as an end-effector for an image-guided positioning robot. It is fully compatible with computed tomography constraints. In particular, it is able to manipulate needles that are longer than the overall height of its body. This novel device mimics the manual gesture performed by the physician by grasping and re-grasping the needle. This operating principle enables direct force measurement on the inserted surgical needle and allows efficient teleoperation with force feedback. In the paper, the specifications of this needle driver are presented and the proposed design is explained. Experiments conducted on swine under operating conditions were performed in order to validate both the concept and the design of the proposed insertion device in the context of teleoperated needle insertions with force feedback.

Needle insertions modelling: Identifiability and limitations

Abstract Soft tissues modeling is a very present preoccupation in different scientific fields, from computer simulation to biomechanics or medical robotics. In this article, we consider the interaction of a needle with living tissues, which is a particularly complex modeling problem since it is characterized by inhomogeneity and nonlinearity properties. We propose a robust method to online estimate the interaction between living tissues and a surgical needle. The ability to obtain physically consistent models during in vivo insertions is discussed.

Bilateral controllers for teleoperated percutaneous interventions : evaluation and improvements

This paper presents two teleoperation control schemes developed in the context of percutaneous procedures in interventional radiology. The teleoperation task is characterized by a nonlinear interaction with the environment. The whole force feedback teleoperation structure is modeled to derive a practical, stable and transparent force feedback. The proposed control approach is based on the adaptation of standard force feedback teleoperation controllers. Position-position and force-position structures are improved by local compensation loops that include an a priori knowledge of the interactions between the slave robot and the environment made of soft tissues. This contribution allows to improve position tracking capabilities in spite of the nonlinearity of the interaction

Online Robust Model Estimation and Haptic Clues Detection during In Vivo Needle Insertions

Soft tissue modeling is of key importance in medical robotics and simulation. In the case of percutaneous operations, a fine model of layer transitions and target tissues is required. It allows, for example, to convey realistic haptic feelings to a remote practitioner or to take into account the interactions with a robotic system in a control scheme. However, the nature and the variety of the involved tissues is such that this problem is extremely complex. In this article, we propose a method to estimate the interaction between in vivo tissues and a surgical needle. The online robust estimation of a varying parameters model is achieved during an insertion in standard operating conditions. The principle of the automatic detection of significant haptic clues is then proposed

Interventional MR elastography for MRI‐guided percutaneous procedures

MRI‐guided thermal ablations require reliable monitoring methods to ensure complete destruction of the diseased tissue while avoiding damage to the surrounding healthy tissue. Based on the fact that thermal ablations result in substantial changes in biomechanical properties, interventional MR elastography (MRE) dedicated to the monitoring of MR‐guided thermal therapies is proposed here.

Design and Evaluation of a Linear Haptic Device

The commercial development of haptic devices is very promising. Existing systems are often 6-degree-of-freedom mechanisms equipped with a stylus that acts as a tool. They exhibit force feedback for 3 or 6 degrees of freedom of their end-effector, depending on whether only forces or both forces and torques are rendered. Some planar devices are also used but oddly, one-degree-of-freedom linear haptic devices are quite rare. This lack can probably be explained by the necessary mechanical transformations that are required to achieve linear motions with rotary motors. In this paper, we review several possible structures and present the design of a new one-degree-of-freedom linear haptic device with a limited number of joints and a compact design, compatible with rotary actuation. We evaluate this device in the telemanipulation context.

A ROBOTIZED NEEDLE INSERTION DEVICE FOR PERCUTANEOUS PROCEDURES

In this paper, a new robotized needle insertion device is proposed for computer-assisted percutaneous therapy. The insertion device is integrated in a robotic system dedicated to gesture guidance in a Computed Tomography (CT) scan. The presented design fulfills the stringent requirements of such a medical application: compatibility with a CT-scan and haptic control by the practitioner are ensured as well as safety and sterilization. The novel design of the insertion device is first presented, outlining its main properties, before introducing preliminary experimental results.Copyright