ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2017
Towards human-controlled, real-time shape sensing based flexible needle steering for MRI-guided percutaneous therapies.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed.
- FBG-based Shape-Sensing to Enable Lateral Deflection Methods of Autonomous Needle Insertion.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2024Article
- Hybrid Deep Learning and Model-Based Needle Shape Prediction.IEEE sensors journal · 2024Article
- Optical Fiber-Based Needle Shape Sensing in Real Tissue: Single Core vs. Multicore Approaches.ArXiv · 2023Article
- Lie-Group Theoretic Approach to Shape-Sensing Using FBG-Sensorized Needles Including Double-Layer Tissue and S-Shape Insertions.IEEE sensors journal · 2022Article
- Concepts and Trends n Autonomy for Robot-Assisted Surgery.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2019Article
- Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot.Journal of healthcare engineering · 2018Article
- Optical Fiber-Based Needle Shape Sensing in Real Tissue: Single Core vs. Multicore Approaches.Journal of medical robotics researchArticle
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Authors and funding
5 authors.
Funding
Abstract
backgroundAccurate needle placement into soft tissue is essential to percutaneous prostate cancer diagnosis and treatment procedures.
methodsThis paper discusses the steering of a 20 gauge (G) FBG-integrated needle with three sets of Fiber Bragg Grating (FBG) sensors. A fourth-order polynomial shape reconstruction method is introduced and compared with previous approaches. To control the needle, a bicycle model based navigation method is developed to provide visual guidance lines for clinicians. A real-time model updating method is proposed for needle steering inside inhomogeneous tissue. A series of experiments were performed to evaluate the proposed needle shape reconstruction, visual guidance and real-time model updating methods.
resultsTargeting experiments were performed in soft plastic phantoms and in vitro tissues with insertion depths ranging between 90 and 120 mm. Average targeting errors calculated based upon the acquired camera images were 0.40 ± 0.35 mm in homogeneous plastic phantoms, 0.61 ± 0.45 mm in multilayer plastic phantoms and 0.69 ± 0.25 mm in ex vivo tissue.
conclusionsResults endorse the feasibility and accuracy of the needle shape reconstruction and visual guidance methods developed in this work. The approach implemented for the multilayer phantom study could facilitate accurate needle placement efforts in real inhomogeneous tissues. Copyright © 2016 John Wiley & Sons, Ltd.
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