Hand-Held Steerable Needle Device

Okazawa, Stephen; Ebrahimi, Richelle; Chuang, J.C.-I.; Salcudean, Septimiu E.; Rohling, Robert

doi:10.1109/tmech.2005.848300

Cited by 181 publications

(129 citation statements)

References 11 publications

Supporting

Mentioning

126

Contrasting

Order By: Relevance

“…DiMaio and Salcudean (2005) and Glozman and Shoham (2006) were successful in steering flexible needles in gel phantoms by manipulating the base of the needle driver. Salcudean's group (Okazawa et al, 2005) reported on a hand-held device to steer relatively rigid needles by using telescopic shape memory alloy cannulas. This approach is particularly promising for prostate implants to achieve slight trajectory corrections upon penetrating the perineal wall and the prostate capsule.…”

Section: Discussionmentioning

confidence: 99%

Robotic assistance for ultrasound-guided prostate brachytherapy

Fichtinger

Fiene

Kennedy

et al. 2008

Medical Image Analysis

109

View full text Add to dashboard Cite

We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and a spatially co-registered robot, fully integrated with an FDA-approved commercial treatment planning system. The salient feature of the system is a small parallel robot affixed to the mounting posts of the template. The robot replaces the template interchangeably, using the same coordinate system. Established clinical hardware, workflow and calibration remain intact. In all phantom experiments, we recorded the first insertion attempt without adjustment. All clinically relevant locations in the prostate were reached. Non-parallel needle trajectories were achieved. The preinsertion transverse and rotational errors (measured with a Polaris optical tracker relative to the template's coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). In phantoms, needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4mm in only 2 out of 179 robotically guided needles, in contrast to manual template guidance where errors of this magnitude are much more common. Further clinical trials are necessary to determine whether the apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes.

show abstract

Section: Discussionmentioning

confidence: 99%

Robotic assistance for ultrasound-guided prostate brachytherapy

Fichtinger

Fiene

Kennedy

et al. 2008

Medical Image Analysis

109

View full text Add to dashboard Cite

show abstract

“…Trajectories can be planned preoperatively [16], and possibilties for feedback sensing for closed-loop execution of such trajectories include ultrasound [17], magnetic tracking, and medical imaging systems.…”

Section: Discussionmentioning

confidence: 99%

Toward Effective Needle Steering in Brain Tissue

Engh

Podnar²,

Kondziolka³

et al. 2006

2006 International Conference of the IEEE Engineering in Medicine and Biology Society

View full text Add to dashboard Cite

Abstract-Recent research has exploited the inherent bending of a bevel-tipped needle during insertion, accomplishing steering of the needle by rotating the needle shaft. Combining this technique with the observation that a straight trajectory can be accomplished by spinning the needle at a constant rate during insertion, this paper presents a novel technique for proportional control of the curvature of the trajectory via duty-cycled spinning of the needle. In order to accommodate this technique to very soft tissues such as the brain, several custom needle prototypes have also been designed in order to increase the steering versatility of the system by maximizing the attainable curvature. The paper describes the needle-steering system and the needle prototypes, and presents preliminary results from tests in an artificial brain tissue substitute.

show abstract

“…Fig. 3 Steering methods, example robotic devices, and example results from needle steering systems in the literature, including Webster et al [70] [70], Reed, et al [60], Okazawa, et al [52], Glozman, et al [28], and Mallapragada, et al [40]. All figures reprinted with permission.…”

Section: Tip-steerable Needlesmentioning

confidence: 99%

“…One method uses small wires inside the needle to pull the tip in the desired direction. Another method varies the tip curvature by placing a curved needle inside a stiff straight outer cannula [52]. Extending the needle so the curved section protrudes from the cannula provides an asymmetric surface that causes the needle-cannula system to bend during insertion.…”

Section: Tip-steerable Needlesmentioning

confidence: 99%

Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance

Cowan

Goldberg²,

Chirikjian³

et al. 2010

Surgical Robotics

View full text Add to dashboard Cite

This chapter describes how advances in needle design, modeling, planning, and image guidance make it possible to steer flexible needles from outside the body to reach specified anatomical targets not accessible using traditional needle insertion methods. Steering can be achieved using a variety of mechanisms, including tip-based steering, lateral manipulation, and applying forces to the tissue as the needle is inserted. Models of these steering mechanisms can predict needle trajectory based on steering commands, motivating new preoperative path planning algorithms. These planning algorithms can be integrated with emerging needle imaging technology to achieve intraoperative closed-loop guidance and control of steerable needles.

show abstract

Hand-Held Steerable Needle Device

Cited by 181 publications

References 11 publications

Robotic assistance for ultrasound-guided prostate brachytherapy

Robotic assistance for ultrasound-guided prostate brachytherapy

Toward Effective Needle Steering in Brain Tissue

Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance

Contact Info

Product

Resources

About