Development of a Medical Robotic System for Image Guided Needle
Operations
ABSTRACT
The purpose of this project is to develop a robotics system for needle-based operations under intra operative image
guidance. Specifically, development of control algorithms to enable the robot to compensate for biological motion during
needle insertion, and development of image segmentation algorithms for tracking needle position and target points in
real-time from intraoperative medical images. The developed algorithms will be implemented and validated on a prototype
surgical robotic system.
Yrd. Doç. Dr.
Özkan Bebek
With the technologies developed in this project, it will be possible to increase the accuracy, and as a result the efficacy, of
the needle-based surgical interventions such as liver, kidney, prostate biopsies and brachytherapy. Also, development of
such important technologies, for which many researchers around the world are competing on, will strengthen the robotics
research in Turkey.
DURATION
36 months
Mechanical Engineering
Robotic Motion Control Algorithms for High-Precision Image-Guidance and Active Relative Motion Cancellation. In order
to reach the target with high accuracy, it is necessary to track and cancel the fast biological motion due to breathing during
needle placement. Algorithms for model-based prediction of biological motions, and a motion-tracking scheme that uses
these predictions, as part of a receding horizon predictive control will be developed. Real-Time Image Segmentation for
Needle Localization and Target Tracking. Real-time model-based image segmentation algorithms for localizing needle and
target tissue on intra-operative ultrasound images will be developed. These algorithms will be used for high accuracy
needle placement despite tissue motions due to breathing and tissue deformations. System Integration and Validation.
The algorithms that are developed will be implemented on a 5 degrees-of-freedom robotic prototype system, and will
be experimentally validated using artificial tissue phantoms.If successful, the project will make original contributions to
scientific literature in three areas. The first contribution will be the development of robotic control algorithms for high
accuracy active relative motion cancellation of biological motions. The second contributions will be the development of
novel real-time image segmentation algorithms for target and needle localization in intra-operative medical imaging. Finally,
these algorithms will be used to develop a novel robotic prototype system that will achieve higher accuracy needle placement
than the previous studies in the literature.
DEPARTMENT
Mechanical Engineering
CONTACT
[email protected]
FUNDING SCHEME
TÜBİTAK 3501
START DATE
01.04.2013
2013 National Grants
OZU BUDGET
292,495.00 TL
35