Needle steering system using duty-cycled rotation for percutaneous kidney access

Wood, Nathan A.; Shahrour, Khaled; Ost, Michael C.; Riviere, Cameron N.

doi:10.1109/iembs.2010.5626514

Cited by 53 publications

(43 citation statements)

References 12 publications

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“…Adjusting the path intraoperatively in a control-loop has been done in [9] for needle steering in a 2D plane thanks to the use of an extented Kalman filter that estimates the current pose of the needle from image feedback. The path planning consists then in computing a planar arc-trajectory of the needle that links the current tip position to the target thanks to the use of the inverse kinematic model of the needle.…”

Section: Introductionmentioning

confidence: 99%

A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks

Krupa

2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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Abstract-We present a method for three dimensional steering of a beveled-tip flexible needle that can be used in medical robotics for percutaneous assistance procedures. The proposed solution is based on the design of a new duty-cycling control strategy that makes possible to control three degrees of freedom (DOFs) of the needle tip. These DOFs correspond to two rotations that are performed around the needle tip lateral axes and one translation along the needle shape axis. This approach has two advantages compared to existing methods. First it does not rely on a trajectory planning and opens therefore numerous closed-loop control scheme possibilities as for example the implementation of the visual servoing framework based on the task function approach. Second, it does not constraint the needle to follow a succession of planar arcs but allows non planar 3D trajectories. Experimental results of a targeting task performed by visual servoing demonstrate the feasibility of this new concept and its robustness to needle kinematic model errors.

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Section: Introductionmentioning

confidence: 99%

A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks

Krupa

2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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“…Preliminary results revealed that the SMA actuator may be adequate for creating required curvature for geometrically conforming the prostate gland. Wood et al (2010) used a curvilinear approach in clinical practice to introduce steerable needles in transcutaneous medical interventions on the kidney. Orlando et al (2015) compared the adequacy of three methods to control the introduction of SMA needles which were electromagnetic sensors, direct visualization (web camera) and ultrasound.…”

Section: Theoretical Background and Literature Reviewmentioning

confidence: 99%

The Existing Methods for Motion Control of Flexible Needles along a Curved Path as Part of Robotic Systems for Brachytherapy

Lopota¹,

Gryaznov²,

Velichko³

et al. 2016

American Journal of Applied Sciences

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Review of the recent developments in steerable needles and control algorithms of their movements in curvilinear directions in the human body for the modern robotic system to perform brachytherapy in prostate cancer patients is presented. Advantages of steerable needles over the standard ones are described; design aspects of these needles and results of the phantom studies are discussed. Scientific novelty consists in structuring the research information on the newest approaches in the prostate cancer treatment using brachytherapy, about the methods and tools that improve the quality of procedures, reducing time of procedure and making it safer.

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“…Therefore, it is possible to obtain a desired effective needle curvature K ef f = K(1 − DC) by controlling the duty-cycle ratio DC = Trot T . In [8,10] this method has been implemented by inserting during each cycle the needle on a constant fixed distance ∆z, and by applying a constant rotational velocity ω z = ω c such as:…”

Section: Needle Kinematic Model and Duty-cycling Techniquementioning

confidence: 99%

“…In [7] a kinematic model was proposed for bevel-tip needle steering by constantly spinning the needle during its insertion. This model allows proportional control of the needle curvature and was used in a control-loop that online adapts the evolution of the needle trajectory along an arc in a 2D plane [8]. Other approaches based on the RRT algorithm were proposed to take into account obstacles during the path planning.…”

Section: Introductionmentioning

confidence: 99%

3D Steering of a Flexible Needle by Visual Servoing

Krupa

2014

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2014

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Abstract. This paper presents a robotic control method for 3D steering of a beveled-tip flexible needle. The solution is based on a new dutycycling control strategy that makes possible to control three degrees of freedom of the needle. A visual servoing control scheme using two orthogonal cameras observing a translucent phantom is then proposed to automatically steer a needle toward a 3D target point. Experimental results show a final positioning error of 0.4 mm and demonstrate the feasibility of this promising approach and its robustness to model errors.

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Needle steering system using duty-cycled rotation for percutaneous kidney access

Cited by 53 publications

References 12 publications

A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks

A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks

The Existing Methods for Motion Control of Flexible Needles along a Curved Path as Part of Robotic Systems for Brachytherapy

3D Steering of a Flexible Needle by Visual Servoing

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