TY - GEN
T1 - Three-dimensional needle steering towards a localized target in a prostate phantom
AU - Abayazid, Momen
AU - Shahriari, Navid
AU - Misra, Sarthak
PY - 2014/9/30
Y1 - 2014/9/30
N2 - Prostate biopsy and brachytherapy are commonly used for surgical interventions. In this paper, we present a three-dimensional (3D) pre-operative target localization algorithm and a real-time closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a real target in a prostate phantom. The phantom is composed of different tissues including rectal wall, bladder and prostate. The elasticities of these tissues are obtained using an ultrasound-based (acoustic radiation force impulse imaging) technique, and their geometry are obtained using magnetic resonance images. Six experimental cases are performed to evaluate the steering system while inserting the needle into a prostate phantom with different skin thicknesses, insertion angles and surface inclinations. The experimental results show that the target is reached by the needle in all trials. The mean targeting errors between the needle tip and the center of the target embedded in phantoms with 0 mm, 1.5 mm and 2.5 mm skin thicknesses are 1.12 mm, 0.93 mm and 0.49 mm, respectively. The variation of the insertion angle does not have an appreciable affect on the targeting accuracy. The mean targeting error during insertion into a phantom with an inclined surface is 0.85 mm. The results demonstrate the capability of proposed system to robotically steer needles towards a target for interventions in the prostate.
AB - Prostate biopsy and brachytherapy are commonly used for surgical interventions. In this paper, we present a three-dimensional (3D) pre-operative target localization algorithm and a real-time closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a real target in a prostate phantom. The phantom is composed of different tissues including rectal wall, bladder and prostate. The elasticities of these tissues are obtained using an ultrasound-based (acoustic radiation force impulse imaging) technique, and their geometry are obtained using magnetic resonance images. Six experimental cases are performed to evaluate the steering system while inserting the needle into a prostate phantom with different skin thicknesses, insertion angles and surface inclinations. The experimental results show that the target is reached by the needle in all trials. The mean targeting errors between the needle tip and the center of the target embedded in phantoms with 0 mm, 1.5 mm and 2.5 mm skin thicknesses are 1.12 mm, 0.93 mm and 0.49 mm, respectively. The variation of the insertion angle does not have an appreciable affect on the targeting accuracy. The mean targeting error during insertion into a phantom with an inclined surface is 0.85 mm. The results demonstrate the capability of proposed system to robotically steer needles towards a target for interventions in the prostate.
UR - https://www.scopus.com/pages/publications/84918500772
U2 - 10.1109/biorob.2014.6913743
DO - 10.1109/biorob.2014.6913743
M3 - Conference contribution
AN - SCOPUS:84918500772
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 7
EP - 12
BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
A2 - Carloni, Raffaella
A2 - Masia, Lorenzo
A2 - Sabater-Navarro, Jose Maria
A2 - Ackermann, Marko
A2 - Agrawal, Sunil
A2 - Ajoudani, Arash
A2 - Artemiadis, Panagiotis
A2 - Bianchi, Matteo
A2 - Lanari Bo, Antonio Padilha
A2 - Casadio, Maura
A2 - Cleary, Kevin
A2 - Deshpande, Ashish
A2 - Formica, Domenico
A2 - Fumagalli, Matteo
A2 - Garcia-Aracil, Nicolas
A2 - Godfrey, Sasha Blue
A2 - Khalil, Islam S.M.
A2 - Lambercy, Olivier
A2 - Loureiro, Rui C. V.
A2 - Mattos, Leonardo
A2 - Munoz, Victor
A2 - Park, Hyung-Soon
A2 - Rodriguez Cheu, Luis Eduardo
A2 - Saltaren, Roque
A2 - Siqueira, Adriano A. G.
A2 - Squeri, Valentina
A2 - Stienen, Arno H.A.
A2 - Tsagarakis, Nikolaos
A2 - Van der Kooij, Herman
A2 - Vanderborght, Bram
A2 - Vitiello, Nicola
A2 - Zariffa, Jose
A2 - Zollo, Loredana
PB - IEEE Computer Society
T2 - 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Y2 - 12 August 2014 through 15 August 2014
ER -