Hand-Held Steerable Needle Device

Ebrahimi, Richelle; Okazawa, Stephen; Rohling, Robert; Salcudean, Septimiu E.

doi:10.1007/978-3-540-39903-2_28

Cited by 26 publications

(23 citation statements)

References 10 publications

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“…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

Lecture Notes in Computer Science

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

confidence: 99%

Wasp-Inspired Needle Insertion with Low Net Push Force

Sprang

Breedveld

Dodou

2016

Lecture Notes in Computer Science

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“…In the future, the needle bending models will be validated in 3D using the ultrasound images exploiting the methods introduced in [13] .…”

Section: Resultsmentioning

confidence: 99%

A Comparison of Needle Bending Models

Dehghan

Göksel

Salcudean

2006

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2006

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Abstract. Modeling the deflection of flexible needles is an essential part of needle insertion simulation and path planning. In this paper, three models are compared in terms of accuracy in simulating the bending of a prostate brachytherapy needle. The first two utilize the finite element method, one using geometric non-linearity and triangular plane elements, the other using non-linear beam elements. The third model uses angular springs to model cantilever deflection. The simulations are compared with the experimental bent needle configurations. The models are assessed in terms of geometric conformity using independently identified and pre-identified model parameters. The results show that the angular spring model, which is also the simplest, simulates the needle more accurately than the others.

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“…Some researchers have generated needle bending using different strategies such as incorporating a pre-bent stylet inside a straight canula [7], or a telescoping double canula where the internal canula is pre-bent [8]. Other researchers showed that needles with bevel tips bend more than symmetric-tip needles [9].…”

Section: Introductionmentioning

confidence: 99%

An improved needle steering model with online parameter estimator

et al. 2006

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Purpose Needle steering can improve targeting accuracy and guide the tip to areas that are currently not accessible. This paper proposes and validates a steering model to be capable of predicting the system dynamics during needle-tissue contact procedure. Methods The spring-beam-damper needle steering model we proposed has been extended with depthvarying mean parameters considering the tissue inhomogeneity. Local polynomial approximations in finite depth segments were adopted to estimate the unknown depth-varying mean parameters. Based on this approach, an online parameter estimator has been designed using modified least square method with forgetting factor to estimate the parameters using the online measured dataset.Results Extensive experiments have been carried out in various phantoms to validate the improved needle steering model based on online experiment data. Results have shown that the model can track the needle tip trajectory with satisfactory accuracy even in the presence of large disturbances and noises. The convergence rate and estimation accuracy can be greatly improved when a needle is suitably supported. Conclusion The model can give satisfactory prediction if the input data are properly collected to avoid the sensor noises.

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Hand-Held Steerable Needle Device

Cited by 26 publications

References 10 publications

Wasp-Inspired Needle Insertion with Low Net Push Force

Wasp-Inspired Needle Insertion with Low Net Push Force

A Comparison of Needle Bending Models

An improved needle steering model with online parameter estimator

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