MRI Compatible Device for Robotic Assisted Interventions to Prostate Cancer

Plante, Jean‐Sébastien; DeVita, Lauren M.; Tadakuma, Kenjiro; Dubowsky, Steven

doi:10.1002/9780470744697.ch22

“…If a simple retract-reinsert strategy is employed, the deflection angle results in a trajectory deviation of 4.8 mm when the needle is inserted by 60 mm, an average length to reach the prostate during a biopsy [36]. The device performance seems therefore relevant for the application.…”

Section: Behavior Evaluation Using Numerical Simulationmentioning

confidence: 99%

Fast plane extraction in 3D range data based on line segments

Георгиев¹,

Lakaemper²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…If a simple retract-then-insert needle insertion strategy is used, the deflection angle results in a trajectory deviation of 4.8 mm when the needle is inserted by 60 mm, an average length to reach the prostate during a biopsy [36]. The device performance seems therefore relevant for the application.…”

Section: Active Needle Designmentioning

confidence: 99%

Feasibility study of an optically actuated MR-compatible active needle

Ryu

¹

,

Renaud

²

,

Black

³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the effects of interactions with surrounding tissue, which can otherwise deflect the needle away from its ideal path. The active section is designed to bend preferentially in one direction under actuation, and is also made from SMA for its combination of MR and bio-compatibility and its superelastic bending properties. A prototype, with a size equivalent to standard 16G biopsy needle, exhibits significant bending with a tip rotation of more than 10°. A numerical analysis and experiments provide information concerning the required amount of heating and guidance for design of efficient optical heating systems.

show abstract

“…If a simple retract-then-insert needle insertion strategy is used, the deflection angle results in a trajectory deviation of 4.8 mm when the needle is inserted by 60 mm, an average length to reach the prostate during a biopsy [36]. The device performance seems therefore relevant for the application.…”

Section: ) Needle Deflection-mentioning

confidence: 99%

Feasibility study of an optically actuated MR-compatible active needle

Ryu¹,

Renaud²,

Black³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

0

View full text Add to dashboard Cite

An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the effects of interactions with surrounding tissue, which can otherwise deflect the needle away from its ideal path. The active section is designed to bend preferentially in one direction under actuation, and is also made from SMA for its combination of MR and bio-compatibility and its superelastic bending properties. A prototype, with a size equivalent to standard 16G biopsy needle, exhibits significant bending with a tip rotation of more than 10°. A numerical analysis and experiments provide information concerning the required amount of heating and guidance for design of efficient optical heating systems.

show abstract

MRI Compatible Device for Robotic Assisted Interventions to Prostate Cancer

Cited by 9 publications

References 0 publications

Fast plane extraction in 3D range data based on line segments

Fast plane extraction in 3D range data based on line segments

Feasibility study of an optically actuated MR-compatible active needle

Feasibility study of an optically actuated MR-compatible active needle

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