Online Needle-Tissue Interaction Model Identification for Force Feedback Enhancement in Robot-Assisted Interventional Procedures

Many interventional procedures, e.g., biopsies and tumor ablation, imply the insertion of a needle into soft tissues. The interaction force at tip can convey information important for accuracy placement patient’s safety. This is essential when feedback from an imaging system missing or only available low rate. To isolate exchanged during insertion, it necessary to remove other components needle-tissue force. In particular, friction along shaft becomes more relevant as penetrates deeper this paper, we propose method identification component penetration multi-layered target. proposed online procedure allows, transition one tissue layer next, subtract contribution previous layers relative where currently located. We call enhanced signal because improves ratio useful about total rendered. result be used in teleoperated schemes, robot-assisted architectures, with aim facilitating user perception variations properties. implementation, base either measured estimated by using model-based approach. An originally developed simulation framework provides tool planning monitoring.