3D flexible needle steering in soft-tissue phantoms using Fiber Bragg Grating sensors

Abayazid, Momen; Kemp, Marco; Misra, Sarthak

doi:10.1109/icra.2013.6631418

Cited by 99 publications

(74 citation statements)

References 32 publications

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“…In the current study, we demonstrate using an array of FBG [19]. However, the tip deflections in that study were small (i.e., ≤ 5 mm) compared to our study.…”

Section: Introductioncontrasting

confidence: 68%

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On using an array of fiber Bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

Roesthuis

Janssen

Misra

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Flexible minimally invasive surgical instruments can be used to target difficult-to-reach locations within the human body. Accurately steering these instruments requires information about the three-dimensional shape of the instrument. In the current study, we use an array of Fiber Bragg Grating (FBG) sensors to reconstruct the shape of a flexible instrument. FBG sensors have several advantages over existing imaging modalities, which makes them well-suited for use in a clinical environment. An experimental testbed is presented in this study, which includes a tendon-driven manipulator. A nitinol FBG-wire is fabricated, on which an array of twelve FBG sensors are integrated, and distributed over four different sets. This wire is positioned in the backbone of the manipulator. Axial strains are measured using the FBG sensors, from which the curvature of the manipulator is calculated. The three-dimensional manipulator shape is reconstructed from the curvature, which is used to steer the manipulator tip. We are able to steer the manipulator along various trajectories (twodimensional and three-dimensional), and also reject disturbance loads. We observe a minimum mean tracking error of 0.67 mm for the circular trajectory in closed-loop control. This study demonstrates the potential of steering flexible minimally invasive surgical instruments using an array of FBG sensors.

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“…In the current study, we demonstrate using an array of FBG [19]. However, the tip deflections in that study were small (i.e., ≤ 5 mm) compared to our study.…”

Section: Introductioncontrasting

confidence: 68%

“…This curvature is then used to reconstruct the 3D instrument shape. Previous studies have used FBG sensors to reconstruct the shape of a colonoscope and flexible surgical needles [15]- [19]. These studies have shown that instrument shape can be reconstructed with high accuracy using FBG sensors.…”

Section: Introductionmentioning

confidence: 99%

On using an array of fiber Bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

Roesthuis

Janssen

Misra

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Currently, innovative needle designs focus on the steerability of needles, either manually or robotically inserted, aiming to steer towards a hard-to-reach target and possibly to avoid anatomical obstacles (e.g. [7][8][9]). …”

Section: Discussionmentioning

confidence: 99%

Needle deflection in thermal ablation procedures of liver tumors: a CT image analysis

Jong

Klink

Moelker

et al. 2018

Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling

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Introduction: Accurate needle placement is crucial in image-guided needle interventions. A targeting error may be introduced due to undesired needle deflection upon insertion through tissue, caused by e.g. patient breathing, tissue heterogeneity, or asymmetric needle tip geometries. This paper aims to quantify needle deflection in thermal ablation procedures of liver tumors by means of a CT image analysis.Methods: Needle selection was done by using all clinical CT data that were made during thermal ablation procedures of the liver, ranging from 2008-2016, in the Erasmus MC, the Netherlands. The 3D needle shape was reconstructed for all selected insertions using manual segmentation. Subsequently, a straight line was computed between the entry point of the needle into the body and the needle tip. The maximal perpendicular distance between this straight line and the actual needle was used to calculate needle deflection. Results:In total, 365 needles were included in the analysis ranging from 14G to 17G in diameter. Average needle insertion depth was 95mm (range: 32 mm -182 mm). Needle deflection was on average 1.3 mm (range: 0.0 mm -6.5 mm). 54% of the needles (n=196) had a needle deflection of more than one millimeter, whereas 7% of the needles (n=25) showed a large needle deflection of more than three millimeters.Conclusions: Needle deflection in interventional radiology occurs in more than half of the needle insertions. Therefore, deflection should be taken into account when performing procedures and when defining design requirements for novel needles. Further, needle insertion models need to be developed that account for needle deflection.

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“…Several studies have used FBG sensors to determine deflected needle shapes during insertion into soft tissues [20], [21]. Accurate reconstruction of needle shape has been demonstrated using this method.…”

Section: Introductionmentioning

confidence: 99%

Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images

Shahriari

Roesthuis

Berg

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Needle insertion procedures are commonly performed in current clinical practice for diagnostic and therapeutic purposes. Although prevailing technology allows accurate localization of lesions, they cannot yet be precisely targeted. Needle steering is a promising technique to overcome this challenge. In this paper, we describe the development of a novel steering system for an actuated-tip flexible needle. Strain measurements from an array of Fiber Bragg Grating (FBG) sensors are used for online reconstruction of the needle shape in 3D-space. FBG-sensor data is then fused with ultrasound images obtained from a clinically-approved Automated Breast Volume Scanner (ABVS) using an unscented Kalman filter. A new ultrasound-based tracking algorithm is developed for the robust tracking of the needle in biological tissue. Two experimental cases are presented to evaluate the proposed steering system. In the first case, the needle shape is reconstructed using the tracked tip position in ultrasound images and FBGsensor measurements, separately. The reconstructed shape is then compared with the actual 3D needle shape obtained from the ABVS. In the second case, two steering experiments are performed to evaluate the overall system by fusing the FBGsensor data and ultrasound images. Average targeting errors are 1.29±0.41 mm and 1.42±0.72 mm in gelatin phantom and biological tissue, respectively.

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3D flexible needle steering in soft-tissue phantoms using Fiber Bragg Grating sensors

Cited by 99 publications

References 32 publications

On using an array of fiber Bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

On using an array of fiber Bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

Needle deflection in thermal ablation procedures of liver tumors: a CT image analysis

Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images

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