Conference Paper

Medical needle steering for lung biopsy: Experimental results in tissue phantoms using a robotic needle driver

DOI: 10.1109/BIBE.2008.4696807 Conference: Proceedings of the 8th IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2008, October 8-10, 2008, Athens, Greece
Source: DBLP


Needle steering is a commonly used technique in the medical field as it enables physicians to more precisely reach the target tissue. In this paper we describe our interest in needle steering for lung biopsy and the significance of this technique. There has been much interest in modeling needle steering in recent years and this paper builds upon that work. We describe our Matlab implementation and present simulation results. We also show our experimental results based on a robotic needle driver and X-Ray imaging in the interventional suite. The experimental results showed good agreement with the simulation results.

Download full-text


Available from: Ricardo Avila,
  • Source
    • "This phenomenon can be used [12] to steer thin needles. Various complex curves are obtained by combining the needle insertion and self-rotation movements [13], [14], [15]. "
    [Show abstract] [Hide abstract]
    ABSTRACT: 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.
    2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011; 09/2011
  • Source
    • "These include applying forces and torques to the base of a stiff symmetric-tip needle [6], [7], incorporating a precurved stylet within a straight cannula [8], harnessing bevel tip forces with flexible shafts [9], and employing multiple precurved tubes which change needle shaft shape as they are telescopically extended and axially rotated with respect to one another [10], [11]. Such systems are typically designed to operate under intraoperative Ultrasound (US) guidance [5], inside Computed Tomography (CT) scanners [12], under fluoroscopic guidance [13], and in conjunction with Magnetic Resonance Imaging (MRI) [14]. Each of these imaging modalities has its own strengths and weaknesses. "
    [Show abstract] [Hide abstract]
    ABSTRACT: Intraoperative surface contour sensing can enable the registration of high-resolution three-dimensional preoperative images for precise guidance of surgical robots. This is particularly useful for guiding steerable needles in soft tissues. In this paper we combine a new minimally invasive surface scanning technique based on conoscopic holography with a steerable active cannula robot. We experimentally demonstrate cannula tip placement to multiple physical points inside phantom tissue, which correspond to points specified in preoperative images - the input an eventual clinical system would obtain from the physician. While the image-guided steerable system we propose is broadly applicable to many kinds of surgery, one particular application of interest is in ablating large liver tumors, where it is beneficial for the ablator to be repositioned to multiple locations without being withdrawn from the organ.
    Robotics and Automation (ICRA), 2010 IEEE International Conference on; 06/2010
  • Source
    • "A similar strategy was implemented in a teleoperated setting by Romano et al. [18] using the robot of [9]. Ding et al. have implemented bevel steering under fluoroscopic imaging [22]. Abolhassani et al. [23] have applied bevel steering to reduce unwanted deflection of steel needles during insertion by using force/torque data at the needle base to determine when to activate a single 180 degree rotation of the bevel during insertion. "

    Journal of Medical Devices 01/2010; 4(2). DOI:10.1115/1.3443751 · 0.42 Impact Factor
Show more