Abstract
We present an optical encoder to report the insertion depth of surgical needles with sub-millimeter resolution. The work pertains to robot-assisted percutaneous needle placement applications. The motivating application is prostate brachytherapy, a procedure to permanently implant radioactive seeds into the prostate to eradicate cancer. Independently, we developed multiple robotic needle placement systems involving a motorized needle driver with axially loaded friction transmission and also a fully manual needle driver. Both needle driving approaches require encoding the depth of needle insertion. The implant needles have a pattern with reflective and non-reflective stripes of 5 mm in length. To achieve sub-millimeter encoding accuracy, a method based on a linear sensor array has been developed. It yielded a compact and robust optical encoder that is low-cost and potentially disposable. Custom hardware was prototyped, including light source, linear array sensor, needle guide, microcontroller, and USB interface.
Original language | English (US) |
---|---|
Title of host publication | Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 |
Pages | 799-804 |
Number of pages | 6 |
Volume | 2006 |
DOIs | |
State | Published - 2006 |
Event | 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: Feb 20 2006 → Feb 22 2006 |
Other
Other | 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 |
---|---|
Country/Territory | Italy |
City | Pisa |
Period | 2/20/06 → 2/22/06 |
Keywords
- Medical robotics
- Needle insertion
- Optical encoder
ASJC Scopus subject areas
- Engineering(all)