Imperial College London
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ProfessorFerdinandoRodriguez y Baena

Faculty of Engineering, Department of Mechanical Engineering

Co-Director of Hamlyn Centre, Professor of Medical Robotics
 
 
 
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Contact

 

+44 (0)20 7594 7046f.rodriguez Website

 
 
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Location

 

B415CBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Favaro:2021:10.1109/IROS45743.2020.9340847,
author = {Favaro, A and Secoli, R and Rodriguez, y Baena F and DeMomi, E},
doi = {10.1109/IROS45743.2020.9340847},
pages = {3232--3238},
publisher = {IEEE},
title = {Optimal pose estimation method for a multi-segment, programmable bevel-tip steerable needle},
url = {http://dx.doi.org/10.1109/IROS45743.2020.9340847},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Pose tracking is fundamental to achieve preciseand safe insertion of a surgical tool for minimally invasiveinterventions. In this work, a method for the estimation of thefull pose of steerable needles is presented. Our approach uses aProgrammable Bevel Tip (PBN) needle with four-segment designas a case study. A novel 3D kinematic model of the PBN isdeveloped and used to predict the full needle pose during theinsertion. The pose prediction is estimated through an ExtendedKalman Filter using the position measurements provided byan electromagnetic sensor located at each tip of the needlesegments. The method estimates also the torsion of the needleshaft that can arise over the insertion of the needle becauseof the shear forces exerted between the needle and the insertionmedium. The feasibility of the proposed solution was validated ina number of experiments in gelatin demonstrating a small errorin position reconstruction (RMSE<0.6mm) and good accuracy incomparison to a bespoke geometric pose reconstruction method.
AU  - Favaro,A
AU  - Secoli,R
AU  - Rodriguez,y Baena F
AU  - DeMomi,E
DO  - 10.1109/IROS45743.2020.9340847
EP  - 3238
PB  - IEEE
PY  - 2021///
SP  - 3232
TI  - Optimal pose estimation method for a multi-segment, programmable bevel-tip steerable needle
UR  - http://dx.doi.org/10.1109/IROS45743.2020.9340847
UR  - https://ieeexplore.ieee.org/abstract/document/9340847
UR  - http://hdl.handle.net/10044/1/81315
ER  -
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