ICRA 2021 Workshop

Title: Learning robotic needle steering from inverse finite element simulations

Authors: Pedro Henrique Suruagy Perrusi, Anna Cazzaniga, Paul Baksic, Eleonora Tagliabue, Elena De Momi, Hadrien Courtecuisse

Abstract: Tissue motion compensation during robotic needle steering is a challenging research topic. While the deformable non-linear coupling between needle and tissue is captured by simulation-based control strategies, they increase significantly the computational cost of the control. In this work, we rely on machine learning methods to enable autonomous robotic needle steering with very low computation times. We propose to use an Extreme Learning Machine (ELM) to learn an inverse model which accounts for needle-tissue interaction. The ELM trains with synthetic data generated from multiple needle insertions controlled by inverse finite-element simulations. Results indicate the method is able to achieve clinical compatible precision, and it’s robust to previously unseen trajectory-shapes and variable tissue elasticity parameters, while using only a third of the computational time demanded for simulation-based methods.

Accepted to ICRA 2021 Workshop on Representing and Manipulating Deformable Objects

Open access paper: https://arxiv.org/pdf/2104.06510 ICube AVR Laboratory webpage: https://avr.icube.unistra.fr/index.php/Accueil

MIMESIS Research team webpage: https://mimesis.inria.fr/ NEARLAB webpage: https://nearlab.polimi.it/ ALTAIR Robotics webpage: https://metropolis.scienze.univr.it/

Project webpage: https://hadrien.courtecuisse.cnrs.fr/

Acknowledgement: This work was supported by French National Research Agency (ANR) within the project SPERRY ANR-18-CE33-0007 and the Investissements d’Avenir program (ANR-11-LABX-0004, Labex CAMI).