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Design, Modeling, and Evaluation of a Compact and Lightweight Needle End-effector with Simple Force-feedback Implementation for Robotic CT-guided Needle Interventions

Kiyoung Kim, HyunsooWoo, Jang Ho Cho, and Jungwook Suh*
International Journal of Control, Automation, and Systems, vol. 18, no. 1, pp.85-101, 2020

Abstract : We present a compact and lightweight two degrees-of-freedom (DOF) needle end-effector to be applied to a teleoperated needle interventional robotic system. The suggested needle end-effector is computerized tomography (CT)- compatible and easy to sterilize. Because the proposed needle end-effector can be attached to a robotic manipulator, the needle can translate into and rotate in the human body. In addition, a 1-axis load cell is attached to the needle end-effector to measure the longitudinal force applied to the needle. With this force measurement, force-feedback ability has been implemented in the entire master-slave robotic system. Basic performance tests of repeatability and maximum insertion force were performed. Several force-feedback experiments to determine free space response and contact response, as well as a discrimination test, were conducted. Through this verification process, the suggested needle end-effector was found to have potential for application in real environments that require robotic CT-guided needle interventions.

Keyword : Force-feedback, medical robot, needle end-effector, robotic CT-guided intervention

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