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Medical & Biological Engineering & Computing
Published in: Medical & Biological Engineering & Computing 6/2018

21-04-2018 | Review Article

Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review

Authors: Pan Li, Zhiyong Yang, Shan Jiang

Published in: Medical & Biological Engineering & Computing | Issue 6/2018

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Abstract

Image-guided robot-assisted minimally invasive surgery is an important medicine procedure used for biopsy or local target therapy. In order to reach the target region not accessible using traditional techniques, long and thin flexible needles are inserted into the soft tissue which has large deformation and nonlinear characteristics. However, the detection results and therapeutic effect are directly influenced by the targeting accuracy of needle steering. For this reason, the needle-tissue interactive mechanism, path planning, and steering control are investigated in this review by searching literatures in the last 10 years, which results in a comprehensive overview of the existing techniques with the main accomplishments, limitations, and recommendations. Through comprehensive analyses, surgical simulation for insertion into multi-layer inhomogeneous tissue is verified as a primary and propositional aspect to be explored, which accurately predicts the nonlinear needle deflection and tissue deformation. Investigation of the path planning of flexible needles is recommended to an anatomical or a deformable environment which has characteristics of the tissue deformation. Nonholonomic modeling combined with duty-cycled spinning for needle steering, which tracks the tip position in real time and compensates for the deviation error, is recommended as a future research focus in the steering control in anatomical and deformable environments.
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Appendix
Available only for authorised users
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Metadata
Title
Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review
Authors
Pan Li
Zhiyong Yang
Shan Jiang
Publication date
21-04-2018
Publisher
Springer Berlin Heidelberg
Published in
Medical & Biological Engineering & Computing / Issue 6/2018
Print ISSN: 0140-0118
Electronic ISSN: 1741-0444
DOI
https://doi.org/10.1007/s11517-018-1825-0

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