Towards MRI-guided flexible needle steering using fiber Bragg grating-based tip tracking

Moreira, Pedro; Boskma, Klaas Jelmer; Misra, Sarthak

doi:10.1109/icra.2017.7989564

Cited by 20 publications

(12 citation statements)

References 16 publications

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“…Stone et al achieved no deflection in 2–6 cm of biopsy tissue length on a phantom by using a 3‐point trocar tip on the needle with a 20° vet tip on the cutting cannula 31 . Another potential approach, though demonstrated in transperineal prostate interventions, involves a robot controlling the pose of the needle guide, and the needle is continuously sensed 32,33 and steered 34 while being inserted to minimize the deflection.…”

Section: Discussionmentioning

confidence: 99%

End‐user evaluation of software‐generated intervention planning environment for transrectal magnetic resonance‐guided prostate biopsies

Velazco-Garcia

Navkar

Balakrishnan

et al. 2020

Robotics Computer Surgery

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Background This study presents user evaluation studies to assess the effect of information rendered by an interventional planning software on the operator's ability to plan transrectal magnetic resonance (MR)‐guided prostate biopsies using actuated robotic manipulators. Methods An intervention planning software was developed based on the clinical workflow followed for MR‐guided transrectal prostate biopsies. The software was designed to interface with a generic virtual manipulator and simulate an intervention environment using 2D and 3D scenes. User studies were conducted with urologists using the developed software to plan virtual biopsies. Results User studies demonstrated that urologists with prior experience in using 3D software completed the planning less time. 3D scenes were required to control all degrees‐of‐freedom of the manipulator, while 2D scenes were sufficient for planar motion of the manipulator. Conclusions The study provides insights on using 2D versus 3D environment from a urologist's perspective for different operational modes of MR‐guided prostate biopsy systems.

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Section: Discussionmentioning

confidence: 99%

End‐user evaluation of software‐generated intervention planning environment for transrectal magnetic resonance‐guided prostate biopsies

Velazco-Garcia

Navkar

Balakrishnan

et al. 2020

Robotics Computer Surgery

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“…These studies span from complications and their respective solutions in manufacturing and design of the FBG-based sensors [9], [10], to error and output accuracy evaluation in different applications [11]- [13]. Several groups have reported work on FBG-based shape sensing of biopsy needles for measuring bending deflections of the needle in soft tissue [14]- [16]. Many groups have also studied the potential use of FBGs in shape, force and torque sensing of CMs [17]- [20].…”

Section: Introductionmentioning

confidence: 99%

On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings

Sefati

Alambeigi

Iordachita

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

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Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of FBG-based force and shape sensors for medical applications. These studies mainly focus on obtaining shape and force information in a static (or quasi-static) environment. In this paper, however, we study and evaluate dynamic environments where the FBG data is affected by vibration caused by a harmonic force e.g. a rotational debriding tool harmonically exciting the CM and the FBG-based shape sensor. In such situations, appropriate pre-processing of the FBG signal is necessary in order to infer correct information from the raw signal. We look at an example of such dynamic environments in the less invasive treatment of osteolysis by studying the FBG data both in time-and frequency-domain in presence of vibration due to a debriding tool rotating inside the lumen of the CM.

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“…CT has radiation damages to patients and is usually used in the imaging of bones [ 17 ]. MRI has a high cost and requires the puncture system to be made up of non-ferromagnetic materials, which limits its application [ 18 ]. Above all, it is hard to get a stable and accurate needle image as a result of the needle’s long and thin structure applying the medical imaging techniques [ 19 ].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Curvature Detection of a Flexible Needle with a Bevel Tip

Zhang

Chen

Yang

et al. 2018

Sensors

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As one of the major methods for the diagnosis and treatment of cancers in their early stages, the percutaneous puncture technique has bright prospect in biopsy, ablation, proximity radiotherapy, and drug delivery. Recent years, researchers found the flexible needle cannot realize feedback control during the puncture surgeries only by path planning. To solve this problem, the flexible needle is tried to achieve real-time detection in this paper. Compared with previous methods, the strain gauges glued on the needle surface rather than the medical imaging techniques is used to collect the information to reconstruct the needle curve, which is benefit to integrate the whole system and obtain a more simple and accurate closed-loop control. This paper presented the math model of curve fitting and analyzed the causes of curve fitting errors. To verify the feasibility of this method, an experiment setup was built. Results from the experiments validated the solution in this paper to be effective.

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Towards MRI-guided flexible needle steering using fiber Bragg grating-based tip tracking

Abstract: Towards MRI-guided flexible needle steering using fiber Bragg grating-based tip tracking. In ICRA 2017 -IEEE International Conference on Robotics and Automation (pp. 4849-4854). [7989564] (Proceedings -

Cited by 20 publications

References 16 publications

End‐user evaluation of software‐generated intervention planning environment for transrectal magnetic resonance‐guided prostate biopsies

End‐user evaluation of software‐generated intervention planning environment for transrectal magnetic resonance‐guided prostate biopsies

On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings

Real-Time Curvature Detection of a Flexible Needle with a Bevel Tip

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