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Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument
This paper presents the design, control, and experimental evaluation of a novel fully automated robotic-assisted system for the positioning and insertion of a commercial full core biopsy instrument under guidance by ultrasound imaging. The robotic system consisted of a novel 4 Degree of freedom (DOF...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9272465/ https://www.ncbi.nlm.nih.gov/pubmed/35832930 http://dx.doi.org/10.3389/frobt.2022.896267 |
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author | Sajadi, Seyed MohammadReza Karbasi, Seyed Mojtaba Brun, Henrik Tørresen, Jim Elle, Ole Jacob Mathiassen, Kim |
author_facet | Sajadi, Seyed MohammadReza Karbasi, Seyed Mojtaba Brun, Henrik Tørresen, Jim Elle, Ole Jacob Mathiassen, Kim |
author_sort | Sajadi, Seyed MohammadReza |
collection | PubMed |
description | This paper presents the design, control, and experimental evaluation of a novel fully automated robotic-assisted system for the positioning and insertion of a commercial full core biopsy instrument under guidance by ultrasound imaging. The robotic system consisted of a novel 4 Degree of freedom (DOF) add-on robot for the positioning and insertion of the biopsy instrument that is attached to a UR5-based teleoperation system with 6 DOF. The robotic system incorporates the advantages of both freehand and probe-guided biopsy techniques. The proposed robotic system can be used as a slave robot in a teleoperation configuration or as an autonomous or semi-autonomous robot in the future. While the UR5 manipulator was controlled using a teleoperation scheme with force controller, a reinforcement learning based controller using the Deep Deterministic Policy Gradient (DDPG) algorithm was developed for the add-on robotic system. The dexterous workspace analysis of the add-on robotic system demonstrated that the system has a suitable workspace within the US image. Two sets of comprehensive experiments including four experiments were performed to evaluate the robotic system’s performance in terms of the biopsy instrument positioning, and the insertion of the needle inside the ultrasound plane. The experimental results showed the ability of the robotic system for in-plane needle insertion. The overall mean error of all four experiments in the tracking of the needle angle was 0.446°, and the resolution of the needle insertion was 0.002 mm. |
format | Online Article Text |
id | pubmed-9272465 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-92724652022-07-12 Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument Sajadi, Seyed MohammadReza Karbasi, Seyed Mojtaba Brun, Henrik Tørresen, Jim Elle, Ole Jacob Mathiassen, Kim Front Robot AI Robotics and AI This paper presents the design, control, and experimental evaluation of a novel fully automated robotic-assisted system for the positioning and insertion of a commercial full core biopsy instrument under guidance by ultrasound imaging. The robotic system consisted of a novel 4 Degree of freedom (DOF) add-on robot for the positioning and insertion of the biopsy instrument that is attached to a UR5-based teleoperation system with 6 DOF. The robotic system incorporates the advantages of both freehand and probe-guided biopsy techniques. The proposed robotic system can be used as a slave robot in a teleoperation configuration or as an autonomous or semi-autonomous robot in the future. While the UR5 manipulator was controlled using a teleoperation scheme with force controller, a reinforcement learning based controller using the Deep Deterministic Policy Gradient (DDPG) algorithm was developed for the add-on robotic system. The dexterous workspace analysis of the add-on robotic system demonstrated that the system has a suitable workspace within the US image. Two sets of comprehensive experiments including four experiments were performed to evaluate the robotic system’s performance in terms of the biopsy instrument positioning, and the insertion of the needle inside the ultrasound plane. The experimental results showed the ability of the robotic system for in-plane needle insertion. The overall mean error of all four experiments in the tracking of the needle angle was 0.446°, and the resolution of the needle insertion was 0.002 mm. Frontiers Media S.A. 2022-06-15 /pmc/articles/PMC9272465/ /pubmed/35832930 http://dx.doi.org/10.3389/frobt.2022.896267 Text en Copyright © 2022 Sajadi, Karbasi, Brun, Tørresen, Elle and Mathiassen. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Sajadi, Seyed MohammadReza Karbasi, Seyed Mojtaba Brun, Henrik Tørresen, Jim Elle, Ole Jacob Mathiassen, Kim Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument |
title | Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument |
title_full | Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument |
title_fullStr | Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument |
title_full_unstemmed | Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument |
title_short | Towards Autonomous Robotic Biopsy—Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument |
title_sort | towards autonomous robotic biopsy—design, modeling and control of a robot for needle insertion of a commercial full core biopsy instrument |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9272465/ https://www.ncbi.nlm.nih.gov/pubmed/35832930 http://dx.doi.org/10.3389/frobt.2022.896267 |
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