Flexible Needle Steering System for Percutaneous Access to Deep Zones of the Brain

Engh, Johnathan A.; Podnar, Gregg; Khoo, Suiyang; Riviere, Cameron N.

doi:10.1109/nebc.2006.1629773

Cited by 64 publications

(56 citation statements)

References 8 publications

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“…Several groups are experimenting with needle steering. Okamura's group (Webster et al, 2006;Kallem and Cowan, 2007) and Riviere's group (Engh et al, 2006) reported on successful steering of super-elastic beveled needles in soft tissues, by controlled simultaneous spinning and advancing of the needle. They achieved complex insertion trajectories in gel phantoms.…”

Section: Discussionmentioning

confidence: 99%

Robotic assistance for ultrasound-guided prostate brachytherapy

Fichtinger

Fiene

Kennedy

et al. 2008

Medical Image Analysis

106

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We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and a spatially co-registered robot, fully integrated with an FDA-approved commercial treatment planning system. The salient feature of the system is a small parallel robot affixed to the mounting posts of the template. The robot replaces the template interchangeably, using the same coordinate system. Established clinical hardware, workflow and calibration remain intact. In all phantom experiments, we recorded the first insertion attempt without adjustment. All clinically relevant locations in the prostate were reached. Non-parallel needle trajectories were achieved. The preinsertion transverse and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). In phantoms, needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4mm in only 2 out of 179 robotically guided needles, in contrast to manual template guidance where errors of this magnitude are much more common. Further clinical trials are necessary to determine whether the apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.

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Section: Discussionmentioning

confidence: 99%

Robotic assistance for ultrasound-guided prostate brachytherapy

Fichtinger

Fiene

Kennedy

et al. 2008

Medical Image Analysis

106

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show abstract

“…Several flexible steerable needles have been developed in an effort to overcome the path planning limitations encountered with rigid straight needles (e.g., [2], [4][5][6][7][8][9]). Some of these newly developed needles rely on concentric axial insertion of multiple pre-bent needle parts, whereas others rely on reaction forces from the tissue to control the steering curvature (for reviews see [10,11]).…”

Section: Percutaneous Needles: a Brief State-of-the-artmentioning

confidence: 99%

Wasp-Inspired Needle Insertion with Low Net Push Force

Sprang

Breedveld

Dodou

2016

Biomimetic and Biohybrid Systems

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“…Gelatin gel is often used as substitute material for brain tissue e.g. in literature [8]. In this paper the insertions were done into gelatin phantom made from edible gelatin powder and mixed to a ratio of 1.3-ml gelatin to 20-ml boiling water.…”

Section: Preparation Of Tissue Phantommentioning

confidence: 99%