Interactive Training of Teleoperated Robotic System for Real-time MRIGuided Steerable Needle Intervention
Needle-based interventions, also known as percutaneous interventions, are common approaches for diagnostic and therapeutic procedures including tissue biopsy, delivery of therapeutic agents and tumor ablation. Needle steering, controlling the rotation of needle while inserting, is a clinical technique to produce a curved path to avoid anatomical obstacles (e.g. vasculature and bones) or compensate for placement errors. But, it requires delicate skills and long-term training to accurately steer the needle, due to difficult control of the needle path and lack of intraoperative image feedback. The objective of the proposed project is to develop a clinician-controlled teleoperated robotic system to train and perform steerable needle intervention under real-time MRI-guidance, with visual-haptic feedback.