A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback

Pedro Lopes da Frota Moreira, G. van de Steeg, Ferdinand van der Heijden, Johannes Jacobus Fütterer, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)


    Needle-based procedures are commonly performed for cancer diagnosis and treatment. Imaging modalities are used to visualize the needle tip and the target during these needle insertion procedures. Among the available imaging techniques, magnetic resonance (MR) offers the best tissue contrast, where detection of an early stage cancer is possible. MR-guided needle insertions are currently performed with rigid needles, which have limited steerability. Flexible needles have been introduced to increase the steerability during the insertion. In this paper, we present a preliminary evaluation of a steering method for flexible bevel-tipped needles using MR as an imaging modality. The steering algorithm uses a needle deflection model to predict the tip motion and calculate the optimal rotation to reach the target. The best sequence of rotations are defined by an optimization algorithm based on the Nelder-Mead technique. The needle tip and the target are manually tracked through a graphical user interface. The needle is inserted by a device fabricated with MR-compatible material. The MR-guided flexible needle steering is evaluated by a series of insertions in two phantoms with real obstacles and targets. The average targeting error with flexible needles is 4.3mm, which is 28% lower than the values reported in the literature with rigid needles. The results indicate the feasibility of MR-guided flexible needle insertions.
    Original languageUndefined
    Title of host publication5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)978-1-4799-3126-2
    Publication statusPublished - 12 Aug 2014
    Event5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Palacio das Convenções Anhembi, Sao Paulo, Brazil
    Duration: 12 Aug 201415 Aug 2014
    Conference number: 5

    Publication series

    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2155-1774
    ISSN (Electronic)2155-1782


    Conference5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
    Abbreviated titleBioRob
    CitySao Paulo


    • EWI-25671
    • IR-94003
    • METIS-309871

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