ArticleAnnual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference2024
Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers.
Article in Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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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.
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Who cites it
2 citing papers in PubMed.
- High-Precision Autonomous Control of Flexible Needles via Real-Time Finite Element Simulation and Cross-Entropy Optimization.IEEE robotics and automation letters · 2025Article
- Evaluation of Needle Manipulation Controller Subject to Uncertainty of Tip Pose Feedback: A Simulation Study.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2025Article
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Authors and funding
9 authors.
Funding
Abstract
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compensate for needle tip prediction inaccuracies, however none were compared against each other, and it is unclear whether any of them can be safely and universally applied in clinical settings. This paper compares the performance of two resolved-rate controllers, derived from a mechanics-based and a data-driven approach, for bevel-tip needle control using needle shape manipulation through a template. We demonstrate for a simulated 12-core biopsy procedure under model parameter uncertainty that the mechanics-based controller can better reach desired targets when only the final goal configuration is presented even with uncertainty on model parameters estimation, and that providing a feasible needle path is crucial in ensuring safe surgical outcomes when either controller is used for needle shape manipulation.
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Registered trials
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