Robotic Needle Positioning Based on CT-Scan Images: Constrained Admittance Realization

Hamid Sadeghian; Maryam Barkhordari; Zahra Kamranian; M. Saleh Jafarpisheh

doi:10.1142/S2424905X2150001X

Robotic Needle Positioning Based on CT-Scan Images: Constrained Admittance Realization

Hamid Sadeghian
, Maryam Barkhordari
, Zahra Kamranian
, M. Saleh Jafarpisheh

University of Isfahan
Isfahan University of Medical Sciences

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

In this paper, the application of a robotic arm for needle-based medical interventions under a preoperative CT-scan is investigated. The proposed setup consists of a robot manipulator with a customized needle guide mounted on its end-effector. A workflow that considers all the issues related to the registration and needle positioning algorithms is proposed. The so-called constrained admittance control approach is proposed to provide semi-autonomous positioning of the needle guide on the target path based on CT-scan images. The proposed algorithms are verified experimentally through phantom studies.

Original language	English
Article number	2150001
Journal	Journal of Medical Robotics Research
Volume	5
Issue number	3-4
DOIs	https://doi.org/10.1142/S2424905X2150001X
State	Published - Sep 2020
Externally published	Yes

Keywords

admittance control
impedance control
Robotic needle positioning

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10.1142/S2424905X2150001X

Cite this

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title = "Robotic Needle Positioning Based on CT-Scan Images: Constrained Admittance Realization",

abstract = "In this paper, the application of a robotic arm for needle-based medical interventions under a preoperative CT-scan is investigated. The proposed setup consists of a robot manipulator with a customized needle guide mounted on its end-effector. A workflow that considers all the issues related to the registration and needle positioning algorithms is proposed. The so-called constrained admittance control approach is proposed to provide semi-autonomous positioning of the needle guide on the target path based on CT-scan images. The proposed algorithms are verified experimentally through phantom studies.",

keywords = "admittance control, impedance control, Robotic needle positioning",

author = "Hamid Sadeghian and Maryam Barkhordari and Zahra Kamranian and Jafarpisheh, \{M. Saleh\}",

note = "Publisher Copyright: {\textcopyright} 2020 World Scientific Publishing Company.",

year = "2020",

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T2 - Constrained Admittance Realization

AU - Sadeghian, Hamid

AU - Barkhordari, Maryam

AU - Kamranian, Zahra

AU - Jafarpisheh, M. Saleh

PY - 2020/9

Y1 - 2020/9

N2 - In this paper, the application of a robotic arm for needle-based medical interventions under a preoperative CT-scan is investigated. The proposed setup consists of a robot manipulator with a customized needle guide mounted on its end-effector. A workflow that considers all the issues related to the registration and needle positioning algorithms is proposed. The so-called constrained admittance control approach is proposed to provide semi-autonomous positioning of the needle guide on the target path based on CT-scan images. The proposed algorithms are verified experimentally through phantom studies.

AB - In this paper, the application of a robotic arm for needle-based medical interventions under a preoperative CT-scan is investigated. The proposed setup consists of a robot manipulator with a customized needle guide mounted on its end-effector. A workflow that considers all the issues related to the registration and needle positioning algorithms is proposed. The so-called constrained admittance control approach is proposed to provide semi-autonomous positioning of the needle guide on the target path based on CT-scan images. The proposed algorithms are verified experimentally through phantom studies.

KW - admittance control

KW - impedance control

KW - Robotic needle positioning

UR - https://www.scopus.com/pages/publications/85120541151

U2 - 10.1142/S2424905X2150001X

DO - 10.1142/S2424905X2150001X

M3 - Article

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JO - Journal of Medical Robotics Research

JF - Journal of Medical Robotics Research

IS - 3-4

M1 - 2150001

ER -

Robotic Needle Positioning Based on CT-Scan Images: Constrained Admittance Realization

Abstract

Keywords

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