Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback

A new journal article has been accepted for publication in the IEEE Transactions on Haptics!

Reference:
C. Pacchierotti, M. Abayazid, S. Misra, D. Prattichizzo. “Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback”. IEEE Transactions on Haptics, 2015.

PaAbMiPr-TOH15
Abstract:
Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work we address that challenge and present a novel teleoperated robotic system able to steer flexible needles.

The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle’s ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation.
Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinestheticvisual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

Full-text PDF:

http://sirslab.dii.unisi.it/papers/2015/Pacchierotti.TOH.2015.Haptics.Fin.pdf

VIDEO:

ACANTO: A cyberphysical social networks using robots friends

The project “ACANTO: A cyberphysical social networks using robots friends” is at the service of the older adults. ACANTOconcerns a robotic integrated system whose main objective is to stimulate the elderly to perform physical activity in order toprevent many of the their typical pathologies by improving their quality of life. The wearable robotic devices will monitor thephysical and mental well-being of users involving them in a Social Network able to suggest the activities that can be done by creating a network among the community of older adults, relatives and all health care workers.

The draft is approximately 4 million and 300 thousand euro funded under the Call of Health HORIZON 2020, which concerns”Health, demographic change and well-being Personalizing and health care: Advancing active and healthy aging H2020-19-2014-PHC Research and Innovation Action”. The project is coordinated by Prof. Luigi Palopoli, University of Trento, andinvolves the University of Siena, the University of Northumbria at Newcastle, INRIA Renne, FORTH Heraklion, the public buildings Spanish Servicio de Salud Madrileno, and companies such as Siemens Aktiengesellschaft Oesterreich, Atos Spainand Telecom Italy SpA. 

The research group of the Department of Information Engineering and Mathematics, University of Siena is led by Prof.Domenico Prattichizzo. The group will be principally involved in the development of wearable robotic devices, in the construction of environmental maps and the development of the CyberPhysical Social Network.

ACANTO

Videoconference of Prof. Roudolf Kalman-June 9-11, 2014 @UNIBO

The School of Engineering and Architecture, in collaboration with the research group “Studies on epistemology and philosophy of science” at the Department of Philosophy and Communication, presented the conference:

“The lesson of the last 100 years.
Accomplishments of control theory and related fields since the beginning of World War One”
9th June 2014, Bologna, Italy – UniBo

“The recent history of System theory and new research directions in the 21st century”
Prof. Rudolf Kalman
11th June 2014, Bologna, Italy – UniBo