ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2024
Fully Distributed Shape Sensing of a Flexible Surgical Needle Using Optical Frequency Domain Reflectometry for Prostate Interventions.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
4 citing papers in PubMed.
- Recent Progress in Optical Frequency-Domain Reflectometry: Performance Enhancement, Emerging Applications and Machine Learning Integration.Sensors (Basel, Switzerland) · 2026Review
- Feasibility of Vibroacoustic Sensing for Detection of Peritoneal Entry During Laparoscopic Access: A Pilot Study in a Human Body Donor.Diagnostics (Basel, Switzerland) · 2026Article
- Evaluation of Fiber Optic Shape Sensing Models for Minimally Invasive Prostate Needle Procedures Using OFDR Data.IEEE sensors journal · 2025Article
- Device-Specific Calibration Methods for Optical Frequency Domain Reflectometry-Based Shape Sensing in Catheters and Surgical Needles.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors.
Funding
Abstract
In minimally invasive procedures such as biopsies and prostate cancer brachytherapy, accurate needle placement remains challenging due to limitations in current tracking methods related to interference, reliability, resolution or image contrast. This often leads to frequent needle adjustments and reinsertions. To address these shortcomings, we introduce an optimized needle shape-sensing method using a fully distributed grating-based sensor. The proposed method uses simple trigonometric and geometric modeling of the fiber using optical frequency domain reflectometry (OFDR), without requiring prior knowledge of tissue properties or needle deflection shape and amplitude. Our optimization process includes a reproducible calibration process and a novel tip curvature compensation method. We validate our approach through experiments in artificial isotropic and inhomogeneous animal tissues, establishing ground truth using 3D stereo vision and cone beam computed tomography (CBCT) acquisitions, respectively. Our results yield an average RMSE ranging from 0.58 ± 0.21 mm to 0.66 ± 0.20 mm depending on the chosen spatial resolution, achieving the submillimeter accuracy required for interventional procedures.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.