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

Li, Meng; Li, Gang; Gonenc, Berk; Duan, Xingguang; Iordachita, Iulian

doi:10.1002/rcs.1762

Cited by 22 publications

(15 citation statements)

References 39 publications

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“…However, there is no generally agreed value currently. According to the surgeon's clinical experience and related literature [ 36 , 37 ], select 3 mm as the accuracy limit. And this is also the minimum safety distance to protect the carotid artery for this robot system in the preoperative planning.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Duan

Gao

Wang

et al. 2018

Journal of Healthcare Engineering

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In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

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Section: Conclusion and Discussionmentioning

confidence: 99%

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Duan

Gao

Wang

et al. 2018

Journal of Healthcare Engineering

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“…3-b indicates how the amplitude of the FBG signal changes as the tool rotational velocity varies. It can be observed that the amplitude of the signal has two peaks, one at ∼24 rpm (ω 1 = 2π(0.4)) and the other ∼960 rpm (ω 2 = 2π (16)). These are the natural frequencies of the system, for which large amplitudes of the signal can be observed.…”

Section: B Experimentsmentioning

confidence: 99%

“…These studies span from complications and their respective solutions in manufacturing and design of the FBG-based sensors [9], [10], to error and output accuracy evaluation in different applications [11]- [13]. Several groups have reported work on FBG-based shape sensing of biopsy needles for measuring bending deflections of the needle in soft tissue [14]- [16]. Many groups have also studied the potential use of FBGs in shape, force and torque sensing of CMs [17]- [20].…”

Section: Introductionmentioning

confidence: 99%

On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings

Sefati

Alambeigi

Iordachita

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

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Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of FBG-based force and shape sensors for medical applications. These studies mainly focus on obtaining shape and force information in a static (or quasi-static) environment. In this paper, however, we study and evaluate dynamic environments where the FBG data is affected by vibration caused by a harmonic force e.g. a rotational debriding tool harmonically exciting the CM and the FBG-based shape sensor. In such situations, appropriate pre-processing of the FBG signal is necessary in order to infer correct information from the raw signal. We look at an example of such dynamic environments in the less invasive treatment of osteolysis by studying the FBG data both in time-and frequency-domain in presence of vibration due to a debriding tool rotating inside the lumen of the CM.

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“…In addition, K.B.Reed et al [31] designed a robot-assisted needle steering system that uses three integrated controllers: a motion planner concerned with guiding the needle around obstacles to a target for a desired plane, a planar controller that maintains the needle in the desired plane, and a torsion compensator that controls the needle tip orientation about the axis of the needle shaft; The system can effectively improve puncture accuracy. Meng Li et al [32] proposed a real-time model updating method of needle steering in non-uniform tissue for reducing the puncture error of soft tissue; This method designs a puncture needle integrated with FBG sensor and reconstructs its tip according to the fourth-order polynomial method; Meanwhile, it also controls the puncture trajectory according to the bicycle model and combines with MRI for navigation.…”

Section: Introductionmentioning

confidence: 99%

Study on the Control Method and Optimization Experiment of Prostate Soft Tissue Puncture

Zhang

Liu

2020

IEEE Access

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In the treatment of prostate cancer patients, surgery of radioactive seed implantation with the puncture robots is an effective treatment method. However, when the puncture needle enters the lesion tissue, there are complicated forces between the needle body and the soft tissue, which leads to the drift of the prostate and the deflection of the puncture needle, thereby affecting the puncture accuracy. In order to improve the positioning accuracy and ensure the best treatment effect, a sine rotation continuous puncture control method was proposed in this paper. First, by analyzing the interaction between the puncture needle and the soft tissue, the force balance equation and the deflection equation were established, according to the equations, it could be known that puncture friction is the main factor affecting the deflection of the puncture needle. Second, combined with the influence of puncture friction and the research on the theory of rotation puncture, the sine rotation puncture method was compared with the direct puncture method and the existing rotation puncture method; Observed with a 4D Color Doppler Ultrasound to verify the feasibility of the rotating puncture theory and the effectiveness of the sine rotation puncture method. Third, through the establishment of Euler Beam model, rotation angle analysis and puncture velocity test analysis, the influence of dynamic parameters of this method on the puncture accuracy was discussed, the optimization range of each factor was obtained; The experiment was designed by the quadratic regression orthogonal combination theory, the experiment process was observed and recorded by a 3D X-ray scanner, the regression equations were established between experiment factors and experiment indicators with the Design-Expert, and the best parameter combinations were acquired through optimization. Last, comparison tests and verification test were carried out to verify the rationality and reliability of the optimized sine rotation puncture control method.

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

Cited by 22 publications

References 39 publications

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings

Study on the Control Method and Optimization Experiment of Prostate Soft Tissue Puncture

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