Optimized needle shape reconstruction using experimentally based strain sensors positioning

Abstract

Needles are tools that are used daily during minimally invasive procedures. During the insertions needles may be affected by deformations which may threaten the success of the procedure. To tackle this problem, needles with embedded strain sensors have been developed and associated with navigation systems. The localization of the needle in the tissues is then obtained in real-time by reconstruction from the strain measurements, allowing the physician to optimize its gesture. As the number of strain sensors embedded is limited in number, their positions on the needle have a great impact on the accuracy of the shape reconstruction. The main contribution of this paper is a novel strain sensor positioning method to improve the reconstruction accuracy. A notable feature of our method is the use of experimental needle insertion data, which increases the relevancy of the resulting sensor optimal locations. To the best of author's knowledge no experimentally-based needle sensor positioning method has been presented yet. Reconstruction validations from clinical data show that the localization accuracy of the needle tip is improved by almost 40% with optimal locations compared to equidistant locations when reconstructing with two sensor triplets or more.

A Method for Achieving Nanoscale Visual Positioning Measurement Based on Ultra-Precision Machining Microstructures

“…Precision positioning measurement is widely used in various precision instruments and CNC machine tools [ 1 , 2 ]. Currently, the commonly used precision positioning methods are divided into optical methods such as laser interference and optical encoding, and non-optical methods such as capacitance sensing and eddy current sensing [ 3 , 4 ]. These methods have certain limitations in range and measurement freedom, and the manufacturing of the equipment is complex and costly.…”

3D small strain large deflection beam shape sensing including poisson effect

“…In these works, the hypothesis concerning the beam The Euler-Bernoulli beam theory makes the assumption the cross section remains rigid and perpendicular to the neutral axis. Different beam shape monitoring methods based on this hypothesis have been proposed over the years [42,10,13,16,22,31,45,50,36] with applications such as bridge monitoring [9,11,39,47], minimally-invasive surgery [1,33,32,38,18,26,30,43,49,37] or wing deformation [23]. In these methods, the bending informations of the beam are retrieved from the measures of the strain sensors placed parallel to the beam at its surface and are used to reconstruct the beam shape in 2D or 3D.…”