Title: Design, Modeling, and Control of Minimally Invasive Robotic Surgical Systems with Integrated Sensors

Date: Tuesday, July 30th, 2024

Time: 1:30 PM EST

Location: Klaus Advanced Computing Building, Room 1212

Virtual Link: https://gatech.zoom.us/j/97236083278

      Meeting ID: 972 3608 3278

Nancy Joanna Deaton

Robotics Ph.D. Candidate

Woodruff School of Mechanical Engineering

Georgia Institute of Technology

Committee:

Dr. Jaydev P. Desai (Advisor) - Department of Biomedical Engineering, Georgia Tech

Dr. Yue Chen - Department of Biomedical Engineering, Georgia Tech

Dr. Shreyes Melkote - Department of Mechanical Engineering, Georgia Tech

Dr. F. Levent Degertekin - Department of Mechanical Engineering, Georgia Tech

Dr. Joshua Chern - Department of Neurosurgery, Emory University

Abstract:

The manual manipulation of passive surgical tools to access locations deep within the body can present numerous clinical challenges. These interventions require navigation through complex anatomy irrespective of whether the procedure is performed within organs or vasculature. The need to visualize the device in real-time and to prevent injury to critical anatomical structures further complicates the development of robotic solutions. This work presents the design, modeling, and control of robotic surgical systems to address some of these challenges in minimally invasive procedures.

First, this work outlines the fabrication of tendon-driven joints for micro-scale and meso-scale surgical robots, which enables the development of a robotically steerable needle system for high-dose rate brachytherapy (HDR BT). HDR BT is a crucial radiotherapy treatment that relies on precise needle placement to optimize radiation dose distribution, minimize the number of needles implanted, and avoid damage to critical anatomy. This work demonstrates the development and control of a robotically steerable system for accurate HDR BT needle placement along varied paths.

Additionally, this research investigates integrated sensing for robotically steerable guidewires. Guidewires are routinely used in several endovascular interventions, and one significant challenge is the lack of distal tip steerability, particularly in treating peripheral artery disease (PAD) and cerebral aneurysms. Navigating these small, tortuous vessels without causing harm is complex. This research presents the development of integrated shape and force sensing for a robotically steerable guidewire as a potential solution to this challenging clinical problem.

Finally, this technology is adapted to create a steerable needle system for placing Stereoelectroencephalography (SEEG) electrodes, which are crucial for localizing epileptic seizures in patients with drug-resistant epilepsy. Current procedures require the placement of multiple straight electrodes, which limit achievable paths within the desired anatomical structures. This work introduces a steerable needle system and stiffening sheath capable of placing SEEG depth electrodes along a desired path, enabling new clinical possibilities.