Respiratory Motion Compensation and Haptic Feedback for X-ray-Guided Teleoperated Robotic Needle Insertion
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866917106481627136 |
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| author | Cordon-Avila, Ana Selim, Mostafa Abayazid, Momen |
| author_facet | Cordon-Avila, Ana Selim, Mostafa Abayazid, Momen |
| contents | Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed using proximity-based haptic feedback to guide physicians during insertion, enabling a radiation-free remote insertion for the end-user. The study has been validated using a robotic liver phantom, and five insertions were performed. The resulting motion estimation errors were below 3 mm for all directions of motion, and the overall resulting 3D insertion errors were 2.60, 7.75, and 2.86 mm for the superior-inferior, lateral, and anterior-posterior directions of motion, respectively. The proposed approach is expected to minimize the chances of inaccurate treatment or diagnosis due to respiratory-induced motion and reduce radiation exposure. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_21273 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Respiratory Motion Compensation and Haptic Feedback for X-ray-Guided Teleoperated Robotic Needle Insertion Cordon-Avila, Ana Selim, Mostafa Abayazid, Momen Systems and Control Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed using proximity-based haptic feedback to guide physicians during insertion, enabling a radiation-free remote insertion for the end-user. The study has been validated using a robotic liver phantom, and five insertions were performed. The resulting motion estimation errors were below 3 mm for all directions of motion, and the overall resulting 3D insertion errors were 2.60, 7.75, and 2.86 mm for the superior-inferior, lateral, and anterior-posterior directions of motion, respectively. The proposed approach is expected to minimize the chances of inaccurate treatment or diagnosis due to respiratory-induced motion and reduce radiation exposure. |
| title | Respiratory Motion Compensation and Haptic Feedback for X-ray-Guided Teleoperated Robotic Needle Insertion |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.21273 |