Physically Constrained Kinematic Calibration for High-Precision Robotic Needle Guidance
Abstract
Percutaneous needle insertion is a common practice in minimally invasive procedures whose clinical success depends on accurate needle placement. However, achieving the necessary precision is a challenge for manual operators. Robotic assistance can improve targeting accuracy and reduce operator dependence, but residual millimeter-scale errors persist because nominal kinematic models do not fully represent the physical manipulator. This paper presents a robust bound-constrained kinematic calibration method designed to improve positional accuracy for a 6-Degree-of-Freedom (6-DoF) robotic needle-guidance manipulator. The approach uses physically plausible parameter ranges to regularize a compact 19-parameter geometric identification model. By treating these bounds as active optimization constraints rather than mere numerical safeguards, the framework effectively mitigates parameter coupling and overfitting, ensuring highly stable parameter identification. In simulation, the proposed method reduced end-effector Root Mean Square Error (RMSE) from 3.422 mm to 0.690 mm (a 79.8% improvement). In benchtop hardware experiments, the calibrated model achieved sub-millimeter validation accuracy, including 0.865 mm RMSE in experimental trajectory validation and 0.610 mm RMSE in a coordinate-lattice verification task. These results demonstrate that physically constrained kinematic calibration can enhance robotic needle-targeting accuracy, establishing a high-precision foundation for future clinical applications.
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BibTeX
@misc{gollapudi2026physically,
title = {{Physically Constrained Kinematic Calibration for High-Precision Robotic Needle Guidance}},
author = {Prabhu Nithin Gollapudi and Andreas Maier and Franziska Mathis-Ullrich and Water Zhao and Jia Wang and Siming Bayer},
howpublished = {arXiv},
year = {2026},
month = oct,
doi = {10.48550/arxiv.2610.41429},
eprint = {2610.41429},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2610.41429},
}
RIS
TY - UNPB
TI - Physically Constrained Kinematic Calibration for High-Precision Robotic Needle Guidance
AU - Prabhu Nithin Gollapudi
AU - Andreas Maier
AU - Franziska Mathis-Ullrich
AU - Water Zhao
AU - Jia Wang
AU - Siming Bayer
PY - 2026
DA - 2026/10/30
PB - arXiv
DO - 10.48550/arxiv.2610.41429
UR - https://arxiv.org/abs/2610.41429
AB - Percutaneous needle insertion is a common practice in minimally invasive procedures whose clinical success depends on accurate needle placement. However, achieving the necessary precision is a challenge for manual operators. Robotic assistance can improve targeting accuracy and reduce operator dependence, but residual millimeter-scale errors persist because nominal kinematic models do not fully represent the physical manipulator. This paper presents a robust bound-constrained kinematic calibration method designed to improve positional accuracy for a 6-Degree-of-Freedom (6-DoF) robotic needle-guidance manipulator. The approach uses physically plausible parameter ranges to regularize a compact 19-parameter geometric identification model. By treating these bounds as active optimization constraints rather than mere numerical safeguards, the framework effectively mitigates parameter coupling and overfitting, ensuring highly stable parameter identification. In simulation, the proposed method reduced end-effector Root Mean Square Error (RMSE) from 3.422 mm to 0.690 mm (a 79.8% improvement). In benchtop hardware experiments, the calibrated model achieved sub-millimeter validation accuracy, including 0.865 mm RMSE in experimental trajectory validation and 0.610 mm RMSE in a coordinate-lattice verification task. These results demonstrate that physically constrained kinematic calibration can enhance robotic needle-targeting accuracy, establishing a high-precision foundation for future clinical applications.
ER -