Projects/Medical Robotics/Needle Steering Using Robotic Manipulator

From LARA Wiki

1 Project description
2 Funding
3 Project Status
4 Participants
- 4.1 Current project members
- 4.2 Past project members
5 Publications
- 5.1 Papers
- 5.2 Diploma reports
6 Photos
7 Videos

Project description

The goal of this project is the development of a robotic system for the insertion of steerable needles in percutaneous procedures.

We propose an adaptive strategy that uses visual feedback of the needle placement to compensate for system uncertainties like tissue deformation, tissue inhomogeneity, positioning errors and other modeling approximations.

This project is a cooperation between LARA and LIRMM - Université Montpellier 2

Funding

This project has received funding from the following sources:

CAPES Public Call "Edital Pró-Equipamentos 2010" under title "Aparato experimental para pesquisa em guiagem de instrumentos por robô manipulador para tratamento de câncer", starting December 2010.
CAPES scholarship "Colégio Doutoral Franco-Brasileiro" (Mariana C. Bernardes)
CNPq Research Grant (Prof. Geovany Araujo Borges)

At LIRMM:

USComp Project (Prof. Philippe Poignet)

Project Status

Project Status: under development

Participants

Current project members

Prof. Geovany Araujo Borges (coordinator, Electrical Eng. Department, UnB)
Prof. Antônio Padilha Lanari Bó (researcher, Electrical Eng. Department, UnB)
Prof. Icaro dos Santos (researcher, Electrical Eng. Department, UnB)
Prof. João Luiz Carvalho (researcher, Electrical Eng. Department, UnB)
Prof. Philippe Poignet (researcher, LIRMM UM2, Montpellier, France)
Mariana Costa Bernardes (D.Sc. student, Electrical Eng., UnB and UM2)
Murilo Marques Marinho (M.Sc. student, Mechatronics Eng., UnB)
André Augusto Geraldes (B.Sc. student, Mechatronics Eng., UnB)

Past project members

Publications

Papers

M.C. Bernardes, B. V. Adorno, P. Poignet and G. A. Borges, “Semi-automatic needle steering system with robotic manipulator,” in Proc. IEEE International Conference on Robotics and Automation, 2012 (To appear).

M.C. Bernardes, B. V. Adorno, P. Poignet, N. Zemiti, and G. A. Borges, “Adaptive path planning for steerable needles using duty-cycling,” in Proc. IEEE International Conference on Intelligent Robots and Systems, 2011, pp. 2545-2550.

M.C. Bernardes, B.V. Adorno, N. Zemiti, P. Poignet, and G.A. Borges, “Path planning for steerable needles using duty-cycling,” Proc. International Conference and Exhibition of Computer-Assisted Radiology and Surgery, Berlin, Springer, 2011, pp. 293-294.

Diploma reports

M.M. Marinho, “Desenvolvimento de plataformas de trabalho para guiagem de agulha em procedimentos médicos usando quatérnions duais”, Undergraduate Report, Departamento of Electrical Engineering, Universidade de Brasília, 2011.