ArticleAnnals of biomedical engineering2018
Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion.
Article in Annals of biomedical engineering, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
6 citing papers in PubMed, 31 citations in OpenAlex.
- Evaluation of Fiber Optic Shape Sensing Models for Minimally Invasive Prostate Needle Procedures Using OFDR Data.IEEE sensors journal · 2025Article
- In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided Transperineal Procedures.IEEE robotics and automation letters · 2024Article
- Data-driven adaptive needle insertion assist for transperineal prostate interventions.Physics in medicine and biology · 2023Article
- State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions.Frontiers in robotics and AI · 2022Article
- Lung and Abdominal Biopsies in the Age of Precision Medicine.Seminars in interventional radiology · 2019Review
Corrections and comments
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Authors and funding
11 authors at 3 institutions in 1 country.
Funding
Abstract
Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asymmetric tip can reduce targeting error. Incorporating robotic closed-loop control often reduces physician interaction with the patient, but by pairing closed-loop trajectory compensation with hands-on cooperatively controlled insertion, a physician's control of the procedure can be maintained while incorporating benefits of robotic accuracy. A series of needle insertions were performed with a typical 18G needle using closed-loop active compensation under both fully autonomous and user-directed cooperative control. We demonstrated equivalent improvement in accuracy while maintaining physician-in-the-loop control with no statistically significant difference (p > 0.05) in the targeting accuracy between any pair of autonomous or individual cooperative sets, with average targeting accuracy of 3.56 mm
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.