Nothing Special   »   [go: up one dir, main page]
Skip to main content

Advertisement

Springer Nature Link
Log in

Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies

  • Original Article
  • Published:
International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Robots with a spherical unactuated wrist can be used for minimally invasive surgery. With such a robot, positioning the wrist center controls the instrument tip position when assuming that the insertion site behaves like a lever with a fixed and known fulcrum. In practice, this assumption is not always respected. In this paper we first study the practical consequences of this problem in terms of tip precision positioning. We then propose a robotic control scheme that improves the precision compared to the fixed point assumption approach.

Methods

In the first part of the paper, data recorded during robot-assisted transrectal needle positioning for prostate biopsies (nine patients) are exploited to quantify the positioning error induced by the use of a fixed point hypothesis in the positioning process. In the second part of the paper advanced control techniques allow for the online identification of a locally linear system that describes a model characterized by anisotropy and center displacement. A laboratory apparatus is used to demonstrate the resulting improvement on tip positioning precision.

Results

Errors obtained by processing the clinical data reach 7.5 mm at the tip in average. Errors obtained with the laboratory apparatus drop from 2.4 mm in average to 0.8 mm when using real-time model update.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13

Similar content being viewed by others

References

  1. Guthart G, Salisbury J (2000) The intuitive telesurgery system: overview and application. In: Proceedings of the IEEE international conference on robotics and automation, pp 618–621. http://ci.nii.ac.jp/naid/20001085379/en/

  2. Pham CD, Coutinho F, Leite AC, Lizarralde F, From PJ, Johansson R (2015) In: 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 1440–1446. https://doi.org/10.1109/IROS.2015.7353557

  3. Konietschke R, Hagn U, Nickl M, Jörg S, Tobergte A, Passig G, Seibold U, Le-Tien L, Kübler B, Gröger M, Fröhlich F, Rink C, Albu-Schäffer A, Grebenstein M, Ortmaier T, Hirzinger G (2009) In: IEEE international conference on robotics and automation, pp 1589–1590. http://elib.dlr.de/76870/

  4. Boctor EM, Webster RJ, Mathieu H, Fichtinger G (2004) Virtual remote center of motion control for needle placement robots. Comput Aided Surg 9(5):175. https://doi.org/10.3109/10929080500097661

    Article  PubMed  Google Scholar 

  5. Low SC, Phee L (2004) In: IEEE conference on robotics, automation and mechatronics, vol 1, pp 37–42. https://doi.org/10.1109/RAMECH.2004.1438888

  6. Ortmaier T, Hirzinger G (2000) In: Proceedings of the 2000 IEEE/RSJ international conference on intelligent robots and systems (IROS 2000) (Cat. No.00CH37113), vol 1, pp 565–571. https://doi.org/10.1109/IROS.2000.894664

  7. Villers A, Mouton D, Rébillard X, Chautard D, Ruffion A, Staerman F et al (2004) Conditions de réalisation et schéma de ponctionslors d’une première série de biopsies prostatiques. Progr Urol 14:144

    Google Scholar 

  8. Ouzzane A, Coloby P, Mignard JP, Allegre JP, Soulié M, Rébillard X, Salomon L, Villers A (2011) Recommendations for best practice for prostate biopsy. Prog Urol 21(1):18. https://doi.org/10.1016/j.purol.2010.07.001

    Article  PubMed  CAS  Google Scholar 

  9. Marchal M (2006) Ph.D. thesis from Joseph Fourier University

  10. Poquet C, Mozer P, Morel G, Vitrani MA (2013) In: 2013 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 4084–4091. https://doi.org/10.1109/IROS.2013.6696941. http://ieeexplore.ieee.org/document/6696941/

  11. Krieger A, Iordachita II, Guion P, Singh AK, Kaushal A, Menard C, Pinto PA, Camphausen K, Fichtinger G, Whitcomb LL (2011) An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention. IEEE Trans Biomed Eng 58(11):3049. https://doi.org/10.1109/TBME.2011.2134096

    Article  PubMed  PubMed Central  Google Scholar 

  12. Stoianovici D, Kim C, Petrisor D, Jun C, Lim S, Ball MW, Ross A, Macura KJ, Allaf ME (2017) MR safe robot, FDA clearance, safety and feasibility prostate biopsy clinical trial. IEEE ASME Trans Mechatron 22(1):115. https://doi.org/10.1109/TMECH.2016.2618362

    Article  PubMed  Google Scholar 

  13. Hungr N, Baumann M, Long JA, Troccaz J (2012) A 3-D ultrasound robotic prostate brachytherapy system With prostate motion tracking. IEEE Trans Robot 28(6):1382. https://doi.org/10.1109/TRO.2012.2203051

    Article  Google Scholar 

  14. Bassan H, Hayes T, Patel R, Moallem M (2007, April) In: 2007 IEEE international conference on robotics and automation, pp 617–622

  15. Schneider CM, Okamura AM, Fichtinger G (2004) A robotic system for transrectal needle insertion into the prostate with integrated ultrasound. Proc IEEE Int Conf Robot Autom 1:365–370. https://doi.org/10.1109/ROBOT.2004.1307177

    Article  Google Scholar 

  16. Wei Z, Ding M, Downey D, Fenster A (2005) Medical image computing and computer-assisted intervention. In: Duncan J, Gerig G (eds) MICCAI 2005, Lecture Notes in Computer Science, vol 3750. Springer, Berlin, pp 17–24

    Google Scholar 

  17. Poquet C, Mozer P, Vitrani MA, Morel G (2015) Mechatronic design of a new robot for force control in minimally invasive surgery. IEEE ASME Trans Mechatron 20(1):186. https://doi.org/10.1109/TMECH.2014.2314859

    Article  Google Scholar 

  18. Vitrani MA, Baumann M, Reversat D, Morel G, Moreau-Gaudry A, Mozer P (2016) Prostate biopsies assisted by comanipulated probe-holder: first in man. Int J Comput Assist Radiol Surg. 11(6):1153. https://doi.org/10.1007/s11548-016-1399-y

    Article  PubMed  Google Scholar 

  19. Dong L, Morel G (2016) In: 2016 IEEE international conference on robotics and automation (ICRA), pp 4109–4114. https://doi.org/10.1109/ICRA.2016.7487602

Download references

Funding

This work has been partially supported by the French state funds managed by the BPI within the FUI’17-MIRAS project and through the funds managed by the ANR within the Investissements d’Avenir program (Labex CAMI) under reference ANR-11-LABX-0004.

Author information

Authors and Affiliations

  1. Sorbonne Université, CNRS UMR 7222, INSERM U1150, Institut des Systèmes Intelligents et Robotique (ISIR), 75005, Paris, France

    Rémi Chalard, David Reversat, Guillaume Morel, Pierre Mozer & Marie-Aude Vitrani

  2. Hôpital de la Pitie Salpetriere, Service d’Urologie, AP-HP, 75013, Paris, France

    Pierre Mozer

Authors
  1. Rémi Chalard
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. David Reversat
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Guillaume Morel
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Pierre Mozer
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Marie-Aude Vitrani
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Rémi Chalard.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of interest.

Ethical approval

The research protocol for a clinical trial was authorized by the sponsor of the clinical study (Grenoble University Hospital) and the relevant legal authorities through the reference PROSBOT-Apollo Biopsies assisted by co-manipulated robot-Pilot Clinical trial; 2015; Acceptance number NCT02132975.

Human and animal rights

This article does not contain any studies with animals performed by any of the authors.

Informed consent

Informed consent was obtained from all individual participants included in the study.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Chalard, R., Reversat, D., Morel, G. et al. Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. Int J CARS 13, 611–618 (2018). https://doi.org/10.1007/s11548-018-1718-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11548-018-1718-6

Keywords

Search

Navigation