Research Experiences for Undergraduates

Minimally invasive surgical techniques are highly successful in improving patient care, reducing risk of infection, and decreasing recovery times. The development of needle-steering robots aims to further reduce invasiveness by developing techniques to insert thin, flexible needles into the human body and steer them from the outside. Collaboration among scientists at the NSF-funded Engineering Research Center (ERC) for Computer-Integrated Surgical Systems and Technology (CISST) at Johns Hopkins University (JHU), the University of California-Berkeley (UCB), and Queen’s University (Kingston, Ontario, Canada) has advanced development of a needle-steering robot that can act autonomously or via human input to a teleoperator.

A needle (black line) closely follows a planned trajectory (green line) around obstacles in transparent artificial tissue

The method developed by primary investigator Allison Okamura (JHU) and her colleagues Noah Cowan (JHU), Greg Chirikjian (JHU), Ken Goldberg (UCB), and Gabor Fichtinger (JHU/Queen’s University) uses simple, flexible needles with asymmetric bevel tips or pre-bent tips, which cause the needle to adjust when it is inserted into tissue. By pushing the needle forward from the outside and spinning it around its main axis, a robot can control the needle to acquire targets in a three-dimensional space while avoiding obstacles and with minimal trauma to the tissue. High-level motion planning algorithms are used to determine an optimal path into deformable tissue, one which acquires the target while avoiding predefined regions of the “workspace”. Image-based controllers use computer-vision tracking and feedback control to maintain the needle’s motion along the desired path.

These new results in needle and tissue modeling, robot motion planning, and image-based control have enabled steering of flexible needles inside soft tissue. This can improve both targeting accuracy and the ability to steer around delicate areas or impenetrable anatomic structures. By enhancing a physician’s ability to accurately maneuver inside the human body, needle-steering technology could potentially improve a range of procedures from chemotherapy and radiotherapy to biopsy collection and tumor ablation, all without additional trauma to the patient. By increasing the dexterity and accuracy of minimally invasive procedures, anticipated results will not only improve outcomes of existing procedures, but also enable percutaneous procedures for many conditions that currently require open surgery. Ultimately, the results of this project could also significantly improve public health by lowering treatment costs, infection rates, and patient recovery times.

Primary Strategic Outcome Goal:
Engineering Research Centers

In terms of intellectual merit, why is this outcome notable and/or important?
The development of needle-steering robots will advance minimally invasive surgical procedures. Results reported here in needle and tissue modeling, robot motion planning, and image-based control have enabled external steering of flexible needles inside soft tissue, reducing invasiveness.

In terms of broader impacts, why is this outcome notable and/or important?
Merit Review Broader Impacts Criterion: Representative Activities, July 2007
Because this research was conducted at an Engineering Research Center, the results are fully integrated into both undergraduate and graduate education. In addition, improved surgical procedures will have obvious benefits for millions of people worldwide.

Does this highlight represent transformative or potentially transformative research?
If so, please explain why. For more information, see Report to Congress: Transformative Research at the National Science Foundation, April 16, 2008
No

Does this highlight represent Broadening Participation? If so, please explain why.
For more information, see Broadening Participation at the National Science Foundation: A Framework for Action
Yes
Every Engineering Research Center involves the participation of several institutions across the U.S., as well as a diverse faculty and student body. The research team spanned several universities, including a foreign institution.

Are there existing or potential societal benefits of this research? It is important for NSF to be able to provide examples of NSF-supported research that have societal benefits, including benefits to the U.S. economy.
For more information, see Excerpt from Merit Review Broader Impacts Criterion: Representative Activities, July 2007
Yes
Ultimately, the results of this project could significantly improve public health by lowering treatment costs, infection rates, and patient recovery times.

ENG/EEC 2009