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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...

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Autores principales: Sajadi, Seyed MohammadReza, Karbasi, Seyed Mojtaba, Brun, Henrik, Tørresen, Jim, Elle, Ole Jacob, Mathiassen, Kim
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
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.
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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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