Real-time tracking of a bevel-tip needle with varying insertion depth: Toward teleoperated MRI-guided needle steering

Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions

“…The imaging plane was set so that it can capture the needle shaft and the visible markers (in a sagittal plane). Since the artifact is a few millimeters thick, it cannot precisely represent the needle tip location (to solve this issue, we proposed a method of 3D shape needle shape tracking using FBG sensors with sub‐millimeter accuracy ). Nevertheless, it was quite straightforward to follow the needle‐tip in the continuous MR image.…”

“…In addition, continuous MRI imaging involves some latency (typically, 500 ms). An alternative approach with higher accuracy and bandwidth in capturing the 3D shape of the needle is to track the needle using a Fiber Bragg Grating sensor .…”

Towards human‐controlled, real‐time shape sensing based flexible needle steering for MRI‐guided percutaneous therapies

“…Using a third fiber enables temperature compensation and identifying the wavelength shift related to the strain alone. The approach is to compute the average wavelength shift of the three sensors at the same longitudinal location, and subtract this common mode from each of the Δ λ values . Each of the remaining wavelength shifts after this step (Δ λ ε ) are linearly proportional to the local strain on each sensor ( ε ) at that location.…”

“…Our latest prototype has been approved by the Institutional Review Board (IRB) and is currently under clinical testing. The use of this system can further be extended to teleoperated needle steering applications by adding an ultrasonic motor‐driven needle driver module and by using a FBG‐integrated smart needle, which was developed in our earlier work using FBG sensors with a preliminary shape reconstruction method .…”

Methods of control for minimizing extra-fine needle deflection with a combination of vibration and rotation in the lower abdomen

“…Also, if magnetic resonance imaging (MRI) is applied to the guidance, there are significant restrictions on materials and sensors that can be used around an MRI gantry. Fiber Bragg grating (FBG) sensors and Electromagnetic trackers within a needle have been proposed for tracking needle tip position in real time (Seifabadi, Gomez, Aalamifar, Fichtinger, & Iordachita, 2013;Sadjadi, Hashtrudi-Zaad, & Fichtinger, 2013). However, it is difficult to equip needles with these sensors if the procedure includes delivery of a medicine such as anesthesia simultaneously.…”