Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Abayazid, Momen; Moreira, Pedro; Shahriari, Navid; Patil, Sachin; Alterovitz, Ron; Misra, Sarthak

doi:10.1016/j.medengphy.2014.10.005

Cited by 44 publications

(49 citation statements)

References 32 publications

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“…Recent studies have presented systems that use a steerable needle with prior identification of parameters that minimize target motion [6], or that track motion and correct the insertion of a straight needle [7]. Other studies attempt to predict tissue motion using finite-element (FE) modelling to improve pre-operative planning [8].…”

Section: Introductionmentioning

confidence: 99%

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%

Minimally disruptive needle insertion: a biologically inspired solution

Leibinger¹,

Oldfield²,

Baena³

2016

Interface Focus.

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“…For the accurate needle steering, it is necessary to track the position of the needle tip and the tumor in real time. Abayazid et al and Wang et al proposed path planning for a flexible, bevel-tipped needle by obtaining the needle tip position and the target position in real time with ultrasonic and video camera image guidance (Abayazid et al, 2015;Wang et al, 2014). However, with respect to the anatomical site of this study, tracking the needle tip position in the lower abdomen using ultrasonic imaging is difficult, because of signal decay from bowel gas.…”

Section: Introductionmentioning

confidence: 87%

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

Tsumura

Iwata

2017

JBSE

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Cancer vaccine therapy is a novel treatment method which uses an extra-fine (0.53 mm in diameter (25 G)) needle to deliver a tumor-specific vaccine directly into a tumor. This method is expected to deliver an effective treatment with few side effects. However, the procedure is very difficult to perform because of needle deflection. We intend to develop a needle insertion robot to combat this deflection and deliver the vaccine successfully. The key features of the robot were developed to minimize needle tip deflection while traversing complex tissues which is composed of various tissues. In this paper, as targeted to lower abdomen, we propose a control method for minimizing needle tip deflection during insertion through vibration and axial rotation. The effectiveness of the proposed method was evaluated in artificial and biomaterial tissues found in the lower abdomen (muscle, bowel, and skin). Results demonstrated that the effectiveness of vibration and rotation was changed depending on the kind of the tissues. The rotation was effective to the thick tissues (muscle and skin) and the vibration was effective to membranous tissues (bowel). Based on the results, our method used vibration and rotation when the needle is inserted into the skin and muscle and only vibration when traversing through soft tissue such as the bowel. In conclusion, the proposed method can minimize needle tip deflection robustly in a lower abdomen phantom.

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“…Preliminary studies have demonstrated that steering is challenging in biological tissue, because the tissue is heterogeneous and the needle deflection varies in different parts of the tissue [12]. In this work, we are moving our research towards more clinically-relevant conditions.…”

Section: Introductionmentioning

confidence: 99%

“…Most studies use softtissue simulants made from homogeneous gelatin phantoms, in which the needle can be easily located from the ultrasound images. Vrooijink et al attached an ultrasound transducer to a Cartesian robot [12], [19]. They combined 2D ultrasound images with transducer position feedback to track the needle in 3D, both in gelatin phantoms and in biological tissue.…”

Section: Introductionmentioning

confidence: 99%

Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images

Shahriari

Roesthuis

Berg

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Needle insertion procedures are commonly performed in current clinical practice for diagnostic and therapeutic purposes. Although prevailing technology allows accurate localization of lesions, they cannot yet be precisely targeted. Needle steering is a promising technique to overcome this challenge. In this paper, we describe the development of a novel steering system for an actuated-tip flexible needle. Strain measurements from an array of Fiber Bragg Grating (FBG) sensors are used for online reconstruction of the needle shape in 3D-space. FBG-sensor data is then fused with ultrasound images obtained from a clinically-approved Automated Breast Volume Scanner (ABVS) using an unscented Kalman filter. A new ultrasound-based tracking algorithm is developed for the robust tracking of the needle in biological tissue. Two experimental cases are presented to evaluate the proposed steering system. In the first case, the needle shape is reconstructed using the tracked tip position in ultrasound images and FBGsensor measurements, separately. The reconstructed shape is then compared with the actual 3D needle shape obtained from the ABVS. In the second case, two steering experiments are performed to evaluate the overall system by fusing the FBGsensor data and ultrasound images. Average targeting errors are 1.29±0.41 mm and 1.42±0.72 mm in gelatin phantom and biological tissue, respectively.

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Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Cited by 44 publications

References 32 publications

Minimally disruptive needle insertion: a biologically inspired solution

Minimally disruptive needle insertion: a biologically inspired solution

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

Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images

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