ArticleFrontiers in robotics and AI2022
Towards Autonomous Robotic Biopsy-Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument.
Article in Frontiers in robotics and AI, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed.
- Targeting extrachromosomal DNA in human cancers.Nature reviews. Drug discovery · 2026Review
- Target Tissue Identification Based on Image Processing for Regulating Automatic Robotic Lung Biopsy Sampler: Onsite Phantom Validation.Sensors (Basel, Switzerland) · 2026Article
- Simple Frame-based Approach for MR Imaging-guided Abdominal Biopsy: Preliminary Evaluation in a Phantom Model.Magnetic resonance in medical sciences : MRMS : an official journal of Japan Society of Magnetic Resonance in Medicine · 2026Article
- Multimodal CT-ultrasound image-guided robotic system for automated abdominal puncture.Journal of robotic surgery · 2026Article
- Low-Complexity Robotic Device for Magnetic Resonance Imaging-Guided Needle Biopsy.The international journal of medical robotics + computer assisted surgery : MRCAS · 2025Article
- Robotic transesophageal echocardiography: system design and deep learning-based kinematic modeling.Frontiers in robotics and AI · 2025Article
- Embodied intelligence for drumming; a reinforcement learning approach to drumming robots.Frontiers in robotics and AI · 2024Article
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Authors and funding
6 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
This paper presents the design, control, and experimental evaluation of a novel fully automated robotic-assisted system for the positioning and insertion of a commercial full core biopsy instrument under guidance by ultrasound imaging. The robotic system consisted of a novel 4 Degree of freedom (DOF) add-on robot for the positioning and insertion of the biopsy instrument that is attached to a UR5-based teleoperation system with 6 DOF. The robotic system incorporates the advantages of both freehand and probe-guided biopsy techniques. The proposed robotic system can be used as a slave robot in a teleoperation configuration or as an autonomous or semi-autonomous robot in the future. While the UR5 manipulator was controlled using a teleoperation scheme with force controller, a reinforcement learning based controller using the Deep Deterministic Policy Gradient (DDPG) algorithm was developed for the add-on robotic system. The dexterous workspace analysis of the add-on robotic system demonstrated that the system has a suitable workspace within the US image. Two sets of comprehensive experiments including four experiments were performed to evaluate the robotic system's performance in terms of the biopsy instrument positioning, and the insertion of the needle inside the ultrasound plane. The experimental results showed the ability of the robotic system for in-plane needle insertion. The overall mean error of all four experiments in the tracking of the needle angle was 0.446°, and the resolution of the needle insertion was 0.002 mm.
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