Photoacoustic blood vessel detection during surgical laser interventions

Horstmann, Jens; Baade, Alexander; Brinkmann, Ralf

doi:10.1364/ecbo.2011.80920z

Cited by 1 publication

(1 citation statement)

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“…To avoid the risk of puncturing such vessels during surgery, investigations have been conducted on forward looking, laser-based sensors mounted on the tip of rigid needles. The use of optical fibers to deliver and receive laser signals allows such sensors to be small (down to 150 µm in diameter [14]) and thus appropriate for inclusion in surgical needles and, to date, successful vessel detection systems include Optical Coherence Tomography (OCT) [15], Coherence Gated Doppler (CGD) [14], fluorescence [16], Laser Doppler Flowmetry (LDF) [17] and photoacoustic imaging [18].…”

Section: Introductionmentioning

confidence: 99%

Vessel Pose Estimation for Obstacle Avoidance in Needle Steering Surgery Using Multiple Forward Looking Sensors

Virdyawan

Baena

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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During percutaneous interventions in the brain, puncturing a vessel can cause life threatening complications. To avoid such a risk, current research has been directed towards the development of steerable needles. However, there is a risk that vessels of a size which is close to or smaller than the resolution of commonly used preoperative imaging modalities (0.59 x 0.59 x 1 mm) would not be detected during procedure planning, with a consequent increase in risk to the patient. In this work, we present a novel ensemble of forward looking sensors based on laser Doppler flowmetry, which are embedded within a biologically inspired steerable needle to enable vessel detection during the insertion process. Four Doppler signals are used to classify the pose of a vessel in front of the advancing needle with a high degree of accuracy (2 • and 0.1 mm RMS errors), where relative measurements between sensors are used to correct for ambiguity. By using a robotic assisted needle insertion process, and thus a precisely controlled insertion speed, we also demonstrate how the setup can be used to discriminate between tissue bulk motion and vessel motion. In doing so, we describe a sensing apparatus applicable to a variety of needle steering systems, with the potential to eliminate the risk of hemorrhage during percutaneous procedures.

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