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arXiv · 2511.21273

Respiratory Motion Compensation and Haptic Feedback for X-ray-Guided Teleoperated Robotic Needle Insertion

Ana Cordon-Avila·Mostafa Selim·Momen Abayazid
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Abstract

Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed using proximity-based haptic feedback to guide physicians during insertion, enabling a radiation-free remote insertion for the end-user. The study has been validated using a robotic liver phantom, and five insertions were performed. The resulting motion estimation errors were below 3 mm for all directions of motion, and the overall resulting 3D insertion errors were 2.60, 7.75, and 2.86 mm for the superior-inferior, lateral, and anterior-posterior directions of motion, respectively. The proposed approach is expected to minimize the chances of inaccurate treatment or diagnosis due to respiratory-induced motion and reduce radiation exposure.

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BibTeXRIS

Ana Cordon-Avila, Mostafa Selim, Momen Abayazid. 2025-11-26. Respiratory Motion Compensation and Haptic Feedback for X-ray-Guided Teleoperated Robotic Needle Insertion. https://doi.org/10.1109/biorob60516.2024.10719967

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