Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions

Park, Yong‐Lae; Elayaperumal, Santhi; Daniel, Bruce L.; Ryu, Seok Chang; Shin, Myunghun; Savall, Joan; Black, Richard J.; Moslehi, Behzad; Cutkosky, Mark R.

doi:10.1109/tmech.2010.2080360

Cited by 206 publications

(183 citation statements)

References 32 publications

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“…Tovar-Arriaga et al [49] and Ji [50] proposed workflows for needle insertion using CT and MRI feedback respectively. [51], [52] have studied accuracy of needle placements in real-time MRI tracking. Real-time feedback from either CT or MRI has to deal with tradeof between spatial resolution and temporal resolution.…”

Section: Discussion and Future Workmentioning

confidence: 99%

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy

Garg

Siauw

Berenson

et al. 2013

IEEE Trans. Automat. Sci. Eng.

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Abstract-We present a study in human-centered automation that has potential to reduce patient side effects from high dose rate brachytherapy (HDR-BT). To efficiently deliver radiation to the prostate while minimizing trauma to sensitive structures such as the penile bulb, we modified the Acubot-RND 7-axis robot to guide insertion of diamond-tip needles into desired skew-line geometric arrangements. We extend and integrate two algorithms: Needle Planning with Integer Programming (NPIP) and Inverse Planning with Integer Programming (IPIP) to compute skew-line needle and dose plans. We performed three physical experiments with anatomically-correct phantom models to study performance: two with the robot and one control experiment with an expert human physician (co-author Hsu) without the robot. All were able to achieve needle arrangements that meet the RTOG-0321 clinical dose objectives with zero trauma to the penile bulb. We analyze systematic and random errors in needle placement; total RMS error for the robot system operating without feedback ranged from 2.6 mm to 4.3 mm, which is comparable to the RMS error of 2.7 mm obtained in an earlier study for PPI-BT treatment using a robot with 3D ultrasound feedback.Note to Practitioners Brachytherapy treats cancer by delivering radioactive sources proximal to cancer sites via needles. Current methods use standardized fixed mechanical templates that force needles into parallel arrangements that may prevent needles from reaching prostate volumes blocked by the pubic arch and often require needles to puncture sensitive organs. Skew-line (non-parallel) arrangements of needles can reach targets under the pubic arch and avoid sensitive organs. However these arrangements cannot be achieved with standard templates, motivating the use of automation. We present a human-centered automation system that integrates state-of-the- Left: The current clinical approach to prostate high dose rate brachytherapy (HDR-BT) uses parallel needles guided by a mechanical template. This approach may prevent needles from reaching prostate volumes blocked by the pubic arch and often require needles to puncture sensitive organs (which can produce long-term side-effects). Right: Skew-line needle arrangements facilitated by robot guidance can avoid puncture by reaching under the pubic arch and can minimize trauma to sensitive organs such as the penile bulb which can produce side effects such as incontinence and impotence.art needle and dose planning algorithms with a modified needle insertion robot. Results suggest that the robot can achieve precision and accuracy comparable to that of expert human physician. This approach has applications to brachytherapy treatment for other organs and to other needle procedures such as biopsy and anesthetic injection.

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Section: Discussion and Future Workmentioning

confidence: 99%

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy

Garg

Siauw

Berenson

et al. 2013

IEEE Trans. Automat. Sci. Eng.

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“…Therefore, medical applications have incorporated FBGs in biopsy needles [12], catheters and other minimally invasive tools for shape detection and force sensing [13]. Medical robotics for image guided prostate biopsies has also used shape sensing to track needle deflections during insertions [14].…”

Section: Introductionmentioning

confidence: 99%

“…To do so, FBGs are used to sense the strain locally, which is directly related to the curvature radius of the fiber. To orientate the curvature radius in the laboratory frame, at least three fibers are used glued in a particular geometry (linear [15,16], triangular [12,17,18] or square [19] cross-section) in order to get two or three degrees of freedom. A simplified design implying a multicore fiber has been proposed and demonstrated accurate results [1].…”

Section: Introductionmentioning

confidence: 99%

Enhancement of accuracy in shape sensing of surgical needles using optical frequency domain reflectometry in optical fibers

Parent¹,

Loranger²,

Mandal³

et al. 2017

Biomed. Opt. Express

114

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Abstract:We demonstrate a novel approach to enhance the precision of surgical needle shape tracking based on distributed strain sensing using optical frequency domain reflectometry (OFDR). The precision enhancement is provided by using optical fibers with high scattering properties. Shape tracking of surgical tools using strain sensing properties of optical fibers has seen increased attention in recent years. Most of the investigations made in this field use fiber Bragg gratings (FBG), which can be used as discrete or quasi-distributed strain sensors. By using a truly distributed sensing approach (OFDR), preliminary results show that the attainable accuracy is comparable to accuracies reported in the literature using FBG sensors for tracking applications (~1mm). We propose a technique that enhanced our accuracy by 47% using UV exposed fibers, which have higher light scattering compared to un-exposed standard single mode fibers. Improving the experimental setup will enhance the accuracy provided by shape tracking using OFDR and will contribute significantly to clinical applications. Symposium, 2000 IEEE, 2000, pp. 1601-1604. 6. N. D. Inc, (2016, 15 Janvier 2016. Medical Aurora -Medical.Available: http://www.ndigital.com/medical/products/aurora/ 7. T. Bien, M. Li, Z. Salah, and G. Rose, "Electromagnetic tracking system with reduced distortion using quadratic excitation," Int. J. CARS 9(2), 323-332 (2014 387-398 (2014).

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“…[10,11]), MRI guided surgical interventions (e.g. [12][13][14]), MRI based catheterisation (e.g. [15]), functional MRI (e.g.…”

Section: Introductionmentioning

confidence: 99%

A novel MRI compatible soft tissue indentor and fibre Bragg grating force sensor

Moerman

Sprengers

Nederveen

et al. 2013

Medical Engineering & Physics

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Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions

Cited by 206 publications

References 32 publications

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy

Enhancement of accuracy in shape sensing of surgical needles using optical frequency domain reflectometry in optical fibers

A novel MRI compatible soft tissue indentor and fibre Bragg grating force sensor

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