Simulation of flexible needle steering

Project objective
This project aims to provide a complete kinematic and dynamic characterisation of needle-tissue interaction, during minimally invasive procedures, such as biopsy and brachytherapy, that involve percutaneous needle insertion. More specifically, the project will investigate the factors that affect the underlying force and moment profiles of needle-tissue interaction during percutaneous needle insertion and characterise the deformation field of the needle and that of the surrounding tissue.

Expected outcomes and motivation
The outcome of the project will be the development of adaptive models/algorithms that describe with high accuracy and in real-time, both the kinematics and dynamics of needle-tissue interaction. These algorithms will constitute essential tools for the formulation of high-performance control strategies for autonomous or semi-autonomous robotic needle insertion. Furthermore, by focusing on the algorithms' performance for real-time applications, the proposed models can facilitate the development of haptic/visual simulators for medical training and pre-operative planning.

Activities and milestones
The needle-tissue interaction force/moment profiles and the corresponding deformation fields will be obtained using the principles of system identification. In other words, this project will focus on the formulation of analytical models, based on fundamental mechanical concepts, and on the development of optimally designed experiments that will provide insight into the dynamics of the system under study. In this regard, the first step of the proposed project is the formulation of candidate dynamic models that describe the vibrational behaviour of a moving needle under the effect of a general force field (first-year project). These models, based on principles of mechanics, will be parametric in nature so that they can be used to investigate the effect of different factors in needle insertion, such as the needle's geometric/mechanical properties and its insertion state. Next, these models will be thoroughly tested and validated with the help of optimally designed experimental studies. A similar approach will be taken for the modelling of the soft tissue. More specifically, candidate vibrational models, based on computational tools, such as the finite element method, will be formulated and assessed with the help of experimental studies.

Next, the project will focus on the modelling of needle-tissue interaction. Due to its complexity, the problem will be divided into three main parts that describe the different stages of needle insertion (pre-puncture, puncture, cutting). Each of these subproblems will be solved with the help of both analytical tools and experimental studies. The completion of this step will signify the end of the project's modelling studies. The final step of the project will focus on aspects of adaptive modelling. In other words, the proposed model will be enhanced with estimation algorithms that will allow real-time adaptation of its parameters to account for uncertainty and external disturbances. The adaptation capabilities of the model will be assessed with the help of experimental studies that will involve realistic tissue data (animal tissue or in-vivo data from real operations).

Project and robotics
The connection of this project with robotics and autonomous systems is twofold. First, as discussed above, the proposed algorithm, which constitutes the immediate outcome of the project, can be applied for the development of control strategies for autonomous or semi-autonomous robotic needle insertion systems. This requirement directly affects the structure of the proposed model, as aspects of real-time implementation and computational efficiency will need to be considered. Furthermore, the experimental studies of the project will heavily rely on robotic manipulators.

FARSCOPE-TU will deliver a step change in UK capabilities in robotics and autonomous systems (RAS) by elevating technologies from niche to ubiquity. It meets the critical need for advanced RAS, placing the UK in prime position to capture a significant proportion of the estimated $18bn global market in advanced service robotics. FARSCOPE-TU will provide an advanced training network in RAS, pump priming a generation of professional and adaptable engineers and leaders who can integrate fundamental and applied innovation, thereby making impact across all the "four nations" in EPSRC's Delivery Plan. Specifically, it will have significant immediate and ongoing impact in the following six areas:
1. Training: The FARSCOPE-TU coherent strategy will deliver five cohorts trained in state-of-the-art RAS research, enterprise, responsible innovation and communication. Our students will be trained with wide knowledge of all robotics, and deep specialist skills in core domains, all within the context of the 'innovation pipeline', meeting the need for 'can-do' research engineers, unafraid to tackle new and emergent technical challenges. Students will graduate as future thought leaders, ready for deployment across UK research and industrial innovation.
2. Partner and industrial impact: The FARSCOPE-TU programme has been designed in collaboration with our industrial and end-user partners, including: DSTL; Thales; Atkins; Toshiba; Roke Manor Research; Network Rail; BT; National Nuclear Lab; AECOM; RNTNE Hospital; Designability; Bristol Heart Inst.; FiveAI; Ordnance Survey; TVS; Shadow Robot Co.; React AI; RACE (part of UKAEA) and Aimsun. Partners will deliver context and application-oriented training direct to the students throughout the course, ensuring graduates are perfectly placed to transition into their businesses and deliver rapid impact.
3. RAS community: FARSCOPE-TU will act as multidisciplinary centre in robotics and autonomous systems for the whole RAS community, provide an inclusive model for future research and training centres and bring new opportunities for networking between other centres. These include joint annual conference with other RAS CDTs and training exchanges. FARSCOPE-TU will generate significant international exposure within and beyond the RAS community, including major robotics events such as ICRA and IROS, and will interface directly with the UK-RAS network.
4. Societal Impact: FARSCOPE-TU will promote an informed debate on the adoption of autonomous robotics in society, cutting through hype and fear while promoting the highest levels of ethics and safety. All students will design and deliver public engagement events to schools and the public, generating knock-on impact in two ways: greater STEM uptake enhances future economic potential, and greater awareness makes people better users of robots, amplifying societal benefits.
5. Economic impact: FARSCOPE-TU will not only train cohorts in fundamental and applied research but will also demonstrate how to bridge the "technology valley of death" between lower and higher TRL. This will enable students to exploit their ideas in technology incubators (incl. BRL incubator, SetSquared and EngineShed) and through IP protection. FARSCOPE-TU's vision of ubiquitous robotics will extend its impact across all UK industrial and social sectors, from energy suppliers, transport and agriculture to healthcare, aging and human-machine interaction. It will pump-prime ubiquitous UK robotics, inspiring and enabling myriad new businesses and economic and social impact opportunities.
6. Long-term Impact: FARSCOPE-TU will have long-term impact beyond the funded lifetime of the Centre through a network for alumni, enabling knowledge exchange and networking between current and past students, and with partners and research groups. FARSCOPE-TU will have significant positive impact on the 80-strong non-CDT postgraduate student body in BRL, extending best-practice in supervision and training.