Students report on their work at the IPA

Biopsies performed using cone beam CT sometimes expose doctors to high levels of radiation. One of the projects being carried out by the Clinical Health Technologies department at Fraunhofer IPA aims to eliminate the need for doctors to insert needles manually, replacing this task with remote manipulation from the operating room control room.

During my internship, I am working on a project to develop and construct a needle insertion tool for robot-assisted biopsies. The entire system consists of an intervention cockpit (master) and a needle insertion tool for biopsy needles (slave). The tool is designed to enable haptic or tactile force feedback, which requires a control algorithm. To this end, I developed and constructed two versions of the needle insertion tool during my internship. In the second version, additional functions and safety features were added, and a magazine was installed to enable the needles to be reloaded.

I really enjoy working in the department because it encourages independent problem solving and task completion. We are given freedom in how we approach problems and tasks. I also enjoy working with my colleagues because open communication is one of the fundamental working principles.

The task of my master's thesis is to develop a telemanipulator for robot-assisted biopsies. Such a telemanipulation system allows interactive control over long distances. In image-guided biopsies, the use of X-rays is standard practice, but this exposes patients and medical staff to radiation. To protect the latter from radiation, I am developing a telemanipulator. This allows the biopsy needle to be inserted from an adjacent, X-ray-safe control room.

To this end, I have integrated haptic feedback into the system to give doctors a feel for the resistance of the needle in the tissue. This increases the safety of the system and allows medical professionals to retain full control. To this end, I examined four different control systems for their suitability for this setup and compared them with each other. I then further optimized the best control system and am now conducting user studies.

At the Clinical Health Technologies department, I appreciate the open approach and flat hierarchies. It's also a great experience to be able to implement my own ideas quickly and not be restricted by strict guidelines.

As part of my doctoral thesis, I am evaluating a robotic assistance system that will support doctors in the future in the precise placement of needles in soft tissue, such as the liver or kidney. These needles can then be used to take samples and, if necessary, to carry out therapies. The trick is to insert the needle precisely, as the areas to be examined are sometimes smaller than a centimeter and can be located very deep under the skin surface. Today, this still requires a high degree of experience and “staying power” if the needle has to be corrected several times.

As part of my study, I evaluated the learning curve of novices learning this intervention. In an experimental setting, I compared the robotic assistant with an already established system. In addition to my prior medical knowledge, my work also touched on the basics of mechatronics and pedagogy.

What helped me in particular was the collaborative approach practiced by everyone in the Fraunhofer Department of Clinical Health Technologies. The open atmosphere and the variety of projects allow me to gain insight into different projects and contribute my ideas. This enables me to gain a wealth of experience and impressions that go beyond the traditional content of my studies.