A robotic needle interface for interventional radiology training

Hughes, CJ; John, N

Abstract

Interventional Radiology (IR) provides a minimally invasive method for accessing vessels and organs as an alternative to traditional open surgery. By manipulating coaxially a catheter and guidewire through the vascular system, a range of pathologies can be treated from within the vessel themselves.


The Seldinger technique [1] focuses on the initial step of gaining access to a vessel, by means of a needle puncture into an artery. After identifying that the needle is within the vessel, by a flow of blood from the hub of the needle, a guidewire is then passed through the needle into the vessel. Both tactile feedback and fluoroscopy (real time x-ray imaging) are used to guide the wire into a suitable position within the vessel. Finally the needle is removed, whilst applying pressure to the vessel to stem the bleeding, and the guidewire is left in place to act as a conduit for the catheter.


In collaboration with other groups in the UK (the CraIVE consortium) we have developed a simulator for training the steps of the Seldinger technique [2]. It uses segmented 3D vascular data from real patients [3] and the measured properties of the instruments [4] in order to provide a physically correct virtual environment.


In order to provide a tactile real world interface into the virtual environment, two hardware devices were used. Firstly a proprietary VSP interface (Vascular Simulation Platform, from Mentice, Sweden) was used to track the position and rotation of the guidewire and catheter coaxially as well as the depth and rotation of the needle, as shown in figure 3. Secondly a 'HapticNeedle' interface (UK Patent Application Number: 1001399.3, European Patent Application Number: PCT/EP2010/ 066489) was developed at Bangor University, in order to allow the trainee to insert and manipulate the orientation of the physical needle. The two devices were coupled together with a guide tube, transferring the instruments from the 'HapticNeedle' into the VSP. The construction of this interface is described in this paper.

Citation

Hughes, C., & John, N. (2011, June). A robotic needle interface for interventional radiology training. Presented at The 4th Hamlyn Symposium for Medical Robotics, Imperial College, London, UK

• Presentation Conference Type: Other
• Conference Name: The 4th Hamlyn Symposium for Medical Robotics
• Conference Location: Imperial College, London, UK
• Start Date: Jun 19, 2011
• End Date: Jun 20, 2011
• Deposit Date: Feb 14, 2019
• Publisher URL: https://www.ukras.org/hamlyn/
• Additional Information: Event Type : Conference