A real‐time prostate cancer detection technique using needle insertion force and patient‐specific criteria during percutaneous intervention

Yan, Kun; Podder, Tarun; Li, L.; Joseph, Jean; Rubens, Deborah; Messing, Edward M.; Liao, Lydia; Yan, Yu

doi:10.1118/1.3213453

Cited by 16 publications

(11 citation statements)

References 26 publications

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“…Some other interesting effects noticed in the data include tissue inhomogeneity, tissue relaxation [20], and delayed capsule puncture [14]. Breathing effects are also present, especially for insertions into liver.…”

Section: Resultsmentioning

confidence: 99%

“…Our preliminary work characterized the effects of various parameters on needle curvature in ex vivo goat liver [9]. In vivo forces associated with needle insertion have been measured for human prostate [13] [14], porcine liver [15], and both porcine liver and kidney [16]. However, the needles used in these experiments were conventional stainless steel needles.…”

Section: Introductionmentioning

confidence: 99%

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Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue

Majewicz

Marra

Vledder

et al. 2012

IEEE Trans. Biomed. Eng.

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Robotic needle steering is a promising technique to improve the effectiveness of needle-based clinical procedures, such as biopsies and ablation, by computer-controlled, curved insertions of needles within solid organs. In this paper, we explore the capabilities, challenges, and clinical relevance of asymmetric-tip needle steering though experiments in ex vivo and in vivo tissue. We evaluate the repeatability of needle insertion in inhomogeneous biological tissue and compare ex vivo and in vivo needle curvature and insertion forces. Steerable needles curved more in kidney than in liver and prostate, likely due to differences in tissue properties. Pre-bent needles produced higher insertion forces in liver and more curvature in vivo than ex vivo. When compared to straight stainless steel needles, steerable needles did not cause a measurable increase in tissue damage and did not exert more force during insertion. The minimum radius of curvature achieved by pre-bent needles was 5.23 cm in ex vivo tissue, and 10.4 cm in in vivo tissue. The curvatures achieved by bevel tip needles were negligible for in vivo tissue. The minimum radius of curvature for bevel tip needles in ex vivo tissue was 16.4 cm; however, about half of the bevel tip needles had negligible curvatures. We also demonstrate a potential clinical application of needle steering by targeting and ablating overlapping regions of cadaveric canine liver.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue

Majewicz

Marra

Vledder

et al. 2012

IEEE Trans. Biomed. Eng.

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“…This force must then be equal to 12.6 N to reach the maximum deflection estimated previously. This value seems satisfactory, as the axial force only reaches for instance 10 N when puncturing a prostate capsule [37], and is significantly lower after this puncture.…”

Section: ) Needle Deflection-mentioning

confidence: 89%

Feasibility study of an optically actuated MR-compatible active needle

Ryu¹,

Renaud²,

Black³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the effects of interactions with surrounding tissue, which can otherwise deflect the needle away from its ideal path. The active section is designed to bend preferentially in one direction under actuation, and is also made from SMA for its combination of MR and bio-compatibility and its superelastic bending properties. A prototype, with a size equivalent to standard 16G biopsy needle, exhibits significant bending with a tip rotation of more than 10°. A numerical analysis and experiments provide information concerning the required amount of heating and guidance for design of efficient optical heating systems.

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“…Yan et al [67] demonstrated the feasibility of in vivo cancer detection in real time during prostate biopsy by observing the force patterns for tumor and normal tissue. Using a mechanical model, Beekmans et al [68] developed an FPI based fiber optic sensor to measure the Young’s Modulus of the bovine liver tissue embedded in gelatin and demonstrated its feasibility.…”

Section: Discussion and Future Perspectivesmentioning

confidence: 99%

Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

Iordachita

Tokuda

et al. 2017

IEEE Sensors J.

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Magnetic Resonance Imaging (MRI) provides both anatomical imaging with excellent soft tissue contrast and functional MRI imaging (fMRI) of physiological parameters. The last two decades have witnessed the manifestation of increased interest in MRI-guided minimally invasive intervention procedures and fMRI for rehabilitation and neuroscience research. Accompanying the aspiration to utilize MRI to provide imaging feedback during interventions and brain activity for neuroscience study, there is an accumulated effort to utilize force sensors compatible with the MRI environment to meet the growing demand of these procedures, with the goal of enhanced interventional safety and accuracy, improved efficacy and rehabilitation outcome. This paper summarizes the fundamental principles, the state of the art development and challenges of fiber optic force sensors for MRI-guided interventions and rehabilitation. It provides an overview of MRI-compatible fiber optic force sensors based on different sensing principles, including light intensity modulation, wavelength modulation, and phase modulation. Extensive design prototypes are reviewed to illustrate the detailed implementation of these principles. Advantages and disadvantages of the sensor designs are compared and analyzed. A perspective on the future development of fiber optic sensors is also presented which may have additional broad clinical applications. Future surgical interventions or rehabilitation will rely on intelligent force sensors to provide situational awareness to augment or complement human perception in these procedures.

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A real‐time prostate cancer detection technique using needle insertion force and patient‐specific criteria during percutaneous intervention

Cited by 16 publications

References 26 publications

Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue

Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue

Feasibility study of an optically actuated MR-compatible active needle

Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

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