Human robot interface and control methods for steerable catheter procedures in neurosurgery

Eloise Matheson, Ferdinando Rodriguez Y Baena, Brian Davis, European Union
2021
This thesis explores novel human-machine interface hardware, methods and algorithms for robotic assisted surgical needle steering, including the design and validation of a novel neurosurgical robotic platform which is part of the Enhanced Delivery Ecosystem for Neurosurgery in 2020 (EDEN2020) European Research and Innovation Action. At the heart of this project is the bio-inspired Programmable Bevel-tip needle (PBN), which is a soft, steerable, flexible, multi-segment catheter that is able to
more » ... llow curvilinear 3D paths in soft tissue. An electro-mechanical design that addresses aspects of standards applicable to medical device design, was completed and integrated in order to drive a 4-segment PBN. This system has been used as the basis for the research presented in this thesis, in understanding the optimal control modalities to move the catheter through soft tissue, and in designing an intuitive human machine interface that is appropriate for clinical use. The PBN design and actuation is inspired by how some inspects can penetrate and steer through a medium in 3D with their ovipositor in order to lay eggs. The motion is achieved by simultaneously extending and retracting different sections of the ovipositor, and using the forces from the medium to push (or steer) the tip of a section in a particular direction. This reciprocating motion minimises the net pushing force, and in doing so, decreases the displacement and strain applied on the medium. This same technique is applied when actuating a 4-segment PBN, and low level control modalities can exploit the kinematics of the catheter in following clinically advantageous motion profiles that may reduce damage to the tissue along the insertion tract. The aim of this research is to optimise a controller that can simultaneously ensure accurate path following and target reaching performance for the catheter, while minimising the displacement, hence possible damage, to the surrounding tissue. A cyclic motion controller was compared against a direct push controller in ord [...]
doi:10.25560/90130 fatcat:3yio6rbry5ajzmryxxowrlzamq