Flexible Needle Steering

dr.ir. Momen Abayazid
Presentation Colloquia / Event
Date 2013-05-30
Time 12:40
Location Carré 3446

Percutaneous needle insertion is one of the most common minimally invasive surgical procedures. Needles are often used for diagnostic and therapeutic applications such as biopsy and brachytherapy, respectively. Clinical imaging techniques such as ultrasound and magnetic resonance images, and computed tomography scans are commonly used during needle insertion procedures to obtain the needle and target positions. Needles used in clinical procedures often have a bevel tip to easily cut and penetrate soft tissue. Such needles naturally deflect from a straight path during insertion, which make them difficult to steer intuitively.

In this study, image- and Fiber Bragg Grating (FBG)-guided control systems are developed to robotically steer flexible needles with an asymmetric tip in two-dimensional and three-dimensional space. Knowledge about needle deflection is required for accurate steering. A kinematics-based model is used in the control system. The control system accounts for target motion during the insertion procedure by detecting the target position in each image frame. Experiments are performed to validate the real-time control system using camera, ultrasound images and FBG sensors as feedback. The experimental results show that the targeting accuracy of the algorithm is sufficient to reach the smallest lesions (ϕ2 mm) that can be detected using state-of-art ultrasound imaging systems.

Posted on Tuesday, May 28, 2013