ArticleIEEE transactions on medical robotics and bionics2024
Simulation-based Flexible Needle Control with Single-core FBG Feedback for Spinal Injections.
Article in IEEE transactions on medical robotics and bionics, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- High-Precision Autonomous Control of Flexible Needles via Real-Time Finite Element Simulation and Cross-Entropy Optimization.IEEE robotics and automation letters · 2025Article
- Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2025Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Objective: We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback. Methods: System input-output mapping is generated with a real-time needle-tissue interaction simulation, and single-core FBG sensor readings are used as local needle shape feedback within the same simulation framework. FBG wavelength shifts due to temperature variation is removed by exploiting redundancy in fiber arrangement. Results: Targeting experiments performed on both plastisol lumbar phantoms as well as an Significance: Our clinically inspired control strategy and workflow is self-contained and not dependent on the modality of imaging guidance. The generalizability of the proposed approach can be applied to other needle-based interventions where medical imaging cannot be reliably utilized as part of a closed-loop control system for needle guidance.
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Registered trials
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