Tissue fixation by suction increases the accuracy of robotic needle insertion

Wedlick, Thomas R.; Lin, Denis J.; Okamura, Allison M.

doi:10.1109/icra.2013.6630798

Cited by 3 publications

(2 citation statements)

References 17 publications

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“…One approach is to constrain tissue externally by compression [10] or suction [11] at the needle access point for improved targeting accuracy. Another is to actively position a target on the needle path by externally manipulating the tissue with multiple robotic fingers [12].…”

Section: Introductionmentioning

confidence: 99%

“…Consequently, several researchers have chosen to focus on methods that aim to minimize tissue mobility and deformation during needle insertion. One approach is to constrain tissue externally by compression [10] or suction [11] at the needle access point for improved targeting accuracy. Another is to actively position a target on the needle path by externally manipulating the tissue with multiple robotic fingers [12].…”

Section: Introductionmentioning

confidence: 99%

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Minimally disruptive needle insertion: a biologically inspired solution

Leibinger¹,

Oldfield²,

Baena³

2016

Interface Focus.

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The mobility of soft tissue can cause inaccurate needle insertions. Particularly in steering applications that employ thin and flexible needles, large deviations can occur between pre-operative images of the patient, from which a procedure is planned, and the intra-operative scene, where a procedure is executed. Although many approaches for reducing tissue motion focus on external constraining or manipulation, little attention has been paid to the way the needle is inserted and actuated within soft tissue. Using our biologically inspired steerable needle, we present a method of reducing the disruptiveness of insertions by mimicking the burrowing mechanism of ovipositing wasps. Internal displacements and strains in three dimensions within a soft tissue phantom are measured at the needle interface, using a scanning laser-based image correlation technique. Compared to a conventional insertion method with an equally sized needle, overall displacements and strains in the needle vicinity are reduced by 30% and 41%, respectively. The results show that, for a given net speed, needle insertion can be made significantly less disruptive with respect to its surroundings by employing our biologically inspired solution. This will have significant impact on both the safety and targeting accuracy of percutaneous interventions along both straight and curved trajectories.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Minimally disruptive needle insertion: a biologically inspired solution

Leibinger¹,

Oldfield²,

Baena³

2016

Interface Focus.

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A novel approach to an automated needle insertion in brachytherapy procedures

Buzurović

Šalinić

Orio

et al. 2017

Med Biol Eng Comput

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One of the most challenging phases in interstitial brachytherapy is the placement of the needles. In these medical procedures, the needles are inserted inside the tissue to guide the positioning of the radioactive sources. The low-dose-rate radioactive sources are placed inside the tissue permanently, whereas a radioactive source in the high-dose-rate brachytherapy is temporarily placed in the desired positions so that the delivery of the prescription dose to the clinical targets can be achieved. Consequently, the precise needle placement directly influences the radiation dose delivery and the treatment outcomes of patients. Any deviation from the desired position of the radioactive sources can cause a suboptimal dose distribution and inadequate tumor coverage. Therefore, it is of significant importance to develop a robust and sophisticated tool that can perform the automatic needle placement with a high level of accuracy for different medical procedures and conditions. In this study, we propose a novel concept for the automatic needle insertion using a new miniature automated robotic system. The mathematical model of this system was presented in detail, allowing the implementation of the model predictive control that can be used to govern the mechanism. The purpose of this approach was to minimize the lateral components of the generalized reactive force which is responsible for the tissue displacement and, consequently, for the needle deflection. The proposed approach was designed to predict and to compensate for the unmeasured disturbances, such as needle deflection or tissue resistance and reactive force, and it was capable of correcting them without waiting until the effect appears at the output of the system causing the needle deviation from the desired positions. The extensive simulation of the system was presented to evaluate the feasibility of the method and the parameters of interest including displacements, system errors and system responses to the change in the environmental conditions.

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A mathematical model of a novel automated medical device for needle insertions

Buzurović

Šalinić

2015

2015 IEEE 15th International Conference on Bioinformatics and Bioengineering (BIBE)

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Tissue fixation by suction increases the accuracy of robotic needle insertion

Cited by 3 publications

References 17 publications

Minimally disruptive needle insertion: a biologically inspired solution

Minimally disruptive needle insertion: a biologically inspired solution

A novel approach to an automated needle insertion in brachytherapy procedures

A mathematical model of a novel automated medical device for needle insertions

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