UKRI AI CDT in Dependable and Deployable AI for Robotics (CDT-D2AIR)

Sheena Shabana

Project
Sensor Integrated Needle Steering for Deformable Soft Tissue Interventions with Ultrasound Guidance

Summary
This research focuses on the development of an autonomous robotic system for soft tissue interventions, such as liver biopsy, by combining a sensor integrated needle with ultrasound imaging. Accurate needle placement in deformable soft tissue remains challenging due to tissue motion, deformation, and needle deflection. To address this, the project employs multimodal sensing on the needle alongside real-time ultrasound feedback to enable precise and adaptive needle guidance. The system uses robotic control and intelligent algorithms to estimate needle-tissue interaction and continuously adjust the insertion trajectory during the procedure. A key aspect of the research is the design of sensor enabled needles capable of capturing needle tip forces and inferring needle and tissue properties, thereby enhancing situational awareness beyond conventional imaging alone. The project aims to develop methods that improve the precision, accessibility, and reliability of needle-based procedures such as biopsy.

Lead Institution
School of Engineering and Physical Sciences, Heriot-Watt University

Supervisors
Maria Koskinopoulou (Heriot-Watt University), Marta Vallejo (Heriot-Watt University), Karen Donaldson (University of Edinburgh)