A Testbed for Multilumen Steerable Needle Experiments

Das, Jadav Chandra; Rucker, D. Caleb; Webster, Robert J.

doi:10.1115/1.3443751

Cited by 2 publications

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“…We use the needle steering robot design proposed by Das et al [9] to actuate the needle. The needle is inserted through a hole in the front plate of the robot.…”

Section: Methodsmentioning

confidence: 99%

Needle Steering in 3-D Via Rapid Replanning

et al. 2014

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Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable of automatically reaching targets in 3-D environments while avoiding obstacles and compensating for real-world uncertainties. Given a specification of anatomical obstacles and a clinical target (e.g., from preoperative medical images), our system plans and controls needle motion in a closed-loop fashion under sensory feedback to optimize a clinical metric. We unify planning and control using a new fast algorithm that continuously replans the needle motion. Our rapid replanning approach is enabled by an efficient sampling-based rapidly exploring random tree (RRT) planner that achieves orders-ofmagnitude reduction in computation time compared with prior 3-D approaches by incorporating variable curvature kinematics and a novel distance metric for planning. Our system uses an electromagnetic tracking system to sense the state of the needle tip during the procedure. We experimentally evaluate our needle steering system using tissue phantoms and animal tissue ex vivo. We demonstrate that our rapid replanning strategy successfully guides the needle around obstacles to desired 3-D targets with an average error of less than 3 mm.

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“…We use the needle steering robot design proposed by Das et al [9] to actuate the needle. The needle is inserted through a hole in the front plate of the robot.…”

Section: Methodsmentioning

confidence: 99%

Needle Steering in 3-D Via Rapid Replanning

et al. 2014

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“…Image-guided surgery (IGS) has become a hot topic in recent medical device development and is becoming more and more widely adopted by surgeons. To date, a variety of robotic devices for image-guided interventional procedures have been developed [1][2][3][4]. With the development of modern imaging technology such as magnetic resonance imaging (MRI), computed tomography (CT) and ultrasound (US) imaging, IGS provides the surgeon more information about the operation at surgical site.…”

Section: Background On Image-guided Surgerymentioning

confidence: 99%

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

Ji¹,

Matte²,

Li³

et al. 2013

Journal of Medical Devices

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Needle-based interventions are pervasive in Minimally Invasive Surgery (MIS), and are often used in a number of diagnostic and therapeutic procedures, including biopsy and brachytherapy seed placement. Magnetic Resonance Imaging (MRI) which can provide high quality, real time and high soft tissue contrast imaging, is an ideal guidance tool for image-guided therapy (IGT). Therefore, a MRI-guided needle-based surgical robot I would first like to express my sincerest gratitude to my advisor, Dr. Gregory Fischer, for all the support and guidance from the onset of my experience at Worcester Polytechnic Institute. He has fund of knowledge in medical robotics and gives me more instruction in electronic circuit design. His technical expertise and visionary leadership has significantly guided my research work and career development. I attribute the level of my master degree to his encouragement and effort and without him in this thesis, too, would not have been completed or written. Besides my advisor, I would like to thank the rest of my thesis committee: Prof. Glenn R. Gaudette and Prof. Stephen S. Nestinger, for their encouragement and insightful comments. Furthermore, I would also like to express my deepest gratitude to my fellow labmates in Automation and Interventional Medicine Lab. Wenjian Shang gave me more basic knowledge of circuit design and PCB design. Gang Li helped me a lot with the software and mechanical design. Alex Camilo gave me more help with motor driving system. In addition, I will also thank Hao Su, Yunzhao Ma, Hanling Hong and Guangda Lu for their numerous help both in academic and in life. Finally, I would like to thank my parents, Anzhong Ji and Yuhong Lu, for supporting me throughout all my studies at Worcester Polytechnic Institute. I would especially like to thank them for their encouragement and understanding when I am in troubles in both in master study and life. Their selfless love from another side of the world always keeps me moving forward. IV Dedication This thesis is dedicated to my parents Anzhong Ji and Yuhong Lu.

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A Testbed for Multilumen Steerable Needle Experiments

Cited by 2 publications

References 0 publications

Needle Steering in 3-D Via Rapid Replanning

Needle Steering in 3-D Via Rapid Replanning

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

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