Integrating Deflection Models and Image Feedback for Real-Time Flexible Needle Steering

Abayazid, Momen; Roesthuis, Roy J.; Reilink, Rob; Misra, Sarthak

doi:10.1109/tro.2012.2230991

Cited by 112 publications

(96 citation statements)

References 36 publications

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“…5), creating various degrees of geometrical asymmetry. This is similar to the bevelled tip of hypodermic needles, which has been shown to induce asymmetric reaction forces from the substrate that result in bending (27,28,61,62). We observed three ways in which the wasp can create such an asymmetrical tip.…”

Section: Discussionmentioning

confidence: 58%

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Mechanisms of ovipositor insertion and steering of a parasitic wasp

Cerkvenik

Straat

Gussekloo

et al. 2017

Proc. Natl. Acad. Sci. U.S.A.

111

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Drilling into solid substrates with slender beam-like structures is a mechanical challenge, but is regularly done by female parasitic wasps. The wasp inserts her ovipositor into solid substrates to deposit eggs in hosts, and even seems capable of steering the ovipositor while drilling. The ovipositor generally consists of three longitudinally connected valves that can slide along each other. Alternative valve movements have been hypothesized to be involved in ovipositor damage avoidance and steering during drilling. However, none of the hypotheses have been tested in vivo. We used 3D and 2D motion analysis to quantify the probing behavior of the fruit-fly parasitoid Diachasmimorpha longicaudata (Braconidae) at the levels of the ovipositor and its individual valves. We show that the wasps can steer and curve their ovipositors in any direction relative to their body axis. In a soft substrate, the ovipositors can be inserted without reciprocal motion of the valves. In a stiff substrate, such motions were always observed. This is in agreement with the damage avoidance hypothesis of insertion, as they presumably limit the overall net pushing force. Steering can be achieved by varying the asymmetry of the distal part of the ovipositor by protracting one valve set with respect to the other. Tip asymmetry is enhanced by curving of ventral elements in the absence of an opposing force, possibly due to pretension. Our findings deepen the knowledge of the functioning and evolution of the ovipositor in hymenopterans and may help to improve man-made steerable probes.Diachasmimorpha longicaudata | ovipositor kinematics | buckling avoidance | spatial probing | minimally invasive probe F rom a mechanical perspective, it is very difficult to drill into a solid substrate with a very thin probe, because it can easily bend and break. Parasitic wasps, however, do this regularly when they use their slender ovipositors to search for hosts in solid substrates, such as fruits or even wood (1-3).The general morphology of the ovipositor is similar across all wasp species (4, 5); it consists of four elements, called valves, of which two are often merged such that three functional valves remain (Fig. 1). In most species, the distal part of the ovipositor is morphologically distinct (3, 6), which we will refer to as the tip. The valves can slide along each other (5, 7) and do not get dislocated under natural conditions, because they are longitudinally connected via a tongue-and-groove mechanism (5, 8-10). The ovipositor and the "wasp waist," a constriction of the body between the first and second abdominal segment (11), are essential in probing behavior and are therefore considered to be instrumental in the evolution of the order (11-15). The shape, structure, and mechanical properties of the ovipositors are putatively adapted to the substrates into which the animals need to probe (6,(16)(17)(18), and because both substrates and hosts are so diverse, this might have resulted in high species diversification of the hymenopterans (13,14). Howeve...

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Section: Discussionmentioning

confidence: 58%

“…The asymmetric forces acting on such a tip push the tip away from a straight path (26,27). Rotation of the bevel can be used to adjust the tip direction during insertion (28). The tips of most ovipositors across species are asymmetric (6,29,30) and can thus potentially function as a bevel.…”

Section: Significancementioning

confidence: 99%

Mechanisms of ovipositor insertion and steering of a parasitic wasp

Cerkvenik

Straat

Gussekloo

et al. 2017

Proc. Natl. Acad. Sci. U.S.A.

111

View full text Add to dashboard Cite

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“…There has been a variety of research performed in the area of needle steering during percutaneous needle insertion procedures [35]- [37]. Needle steering techniques exploit the fact that a needle with a bevelled tip follows a curved trajectory during insertion.…”

Section: Needle Shape Estimation Using Ransacmentioning

confidence: 99%

Three-Dimensional Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2-D Ultrasound Images

Waine

Rossa

Sloboda

et al. 2016

IEEE J. Biomed. Health Inform.

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Abstract-In this paper we propose an automated method to reconstruct the 3D needle shape during needle insertion procedures using only 2D transverse ultrasound (US) images. Using a set of transverse US images, image processing and random sample consensus (RANSAC) is used to locate the needle within each image and estimate the needle shape. The method is validated with an in-vitro needle insertion setup and a transparent tissue phantom, where two orthogonal cameras are used to capture the true 3D needle shape for verification. Results showed that the use of at least 3 images obtained at 75% of the maximum insertion depth or greater allows for maximum needle shape estimation errors of less than 2 mm. In addition, the needle shape can be calculated consistently as long as the needle can be identified in 30% of the transverse US images obtained. Application to permanent prostate brachytherapy (PPB) is also presented, where the estimated needle shape is compared to manual segmentation and sagittal US images. Our method is intended to help assess needle placement during manual or robotassisted needle insertion procedures after the needle has been inserted.

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“…Previous studies have used 2D ultrasound images to insert the needle within the 2D plane of the ultrasound transducer [2], [15]. Neshat and Patel developed a system to track a curved needle in 3D space by rotating a 2D ultrasound transducer about its axis [16].…”

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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Integrating Deflection Models and Image Feedback for Real-Time Flexible Needle Steering

Cited by 112 publications

References 36 publications

Mechanisms of ovipositor insertion and steering of a parasitic wasp

Mechanisms of ovipositor insertion and steering of a parasitic wasp

Three-Dimensional Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2-D Ultrasound Images

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

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