PhD Qualifier Presentation
Cooperative Control of Robot-assisted iMRI-Guided Pelvic Needle Placement Procedures
Abstract: Unmodeled needle deflection and tissue deformation are un-avoidable for percutaneous interventions in soft tissue. These deformations then result in needle placement errors, as either the target is no longer at the same point as in the surgical plan, or the needle did not follow the intended open loop trajectory. For example, in prostate cancer biopsy this often directly leads to an excessive number of insertion attempts per target. The use of interactively updated interventional MR imaging enables live tracking of the needle and the target, and coupling in-bore robotic control of the needle enables active compensation for the deformation-induced errors. In order to maintain the typical workflow, ensure safety, and keep the clinician in the loop we propose a cooperative needle placement system with shared control, where the user is responsible for insertion and the robot autonomously steers the needle as it is inserted.
Wednesday, November 16, 2016
1:00 p.m. - 2:00 p.m.
85 Prescott St., RBE 209