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)

Abstract

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
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages314-319
Number of pages6
ISBN (Print)978-1-4799-3126-2
DOIs
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

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

Conference

Conference5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Abbreviated titleBioRob
CountryBrazil
CitySao Paulo
Period12/08/1415/08/14

Keywords

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

Cite this

Lopes da Frota Moreira, P., van de Steeg, G., van der Heijden, F., Fütterer, J. J., & Misra, S. (2014). A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback. In 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 314-319). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/BIOROB.2014.6913795
Lopes da Frota Moreira, Pedro ; van de Steeg, G. ; van der Heijden, Ferdinand ; Fütterer, Johannes Jacobus ; Misra, Sarthak. / A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback. 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2014. pp. 314-319
@inproceedings{9573da65cbb24145927ab23d4b7436b7,
title = "A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback",
abstract = "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.",
keywords = "EWI-25671, IR-94003, METIS-309871",
author = "{Lopes da Frota Moreira}, Pedro and {van de Steeg}, G. and {van der Heijden}, Ferdinand and F{\"u}tterer, {Johannes Jacobus} and Sarthak Misra",
note = "10.1109/BIOROB.2014.6913795",
year = "2014",
month = "8",
day = "12",
doi = "10.1109/BIOROB.2014.6913795",
language = "Undefined",
isbn = "978-1-4799-3126-2",
publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",
pages = "314--319",
booktitle = "5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014",

}

Lopes da Frota Moreira, P, van de Steeg, G, van der Heijden, F, Fütterer, JJ & Misra, S 2014, A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback. in 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 314-319, 5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 12/08/14. https://doi.org/10.1109/BIOROB.2014.6913795

A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback. / Lopes da Frota Moreira, Pedro; van de Steeg, G.; van der Heijden, Ferdinand; Fütterer, Johannes Jacobus; Misra, Sarthak.

5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2014. p. 314-319.

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

TY - GEN

T1 - A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback

AU - Lopes da Frota Moreira, Pedro

AU - van de Steeg, G.

AU - van der Heijden, Ferdinand

AU - Fütterer, Johannes Jacobus

AU - Misra, Sarthak

N1 - 10.1109/BIOROB.2014.6913795

PY - 2014/8/12

Y1 - 2014/8/12

N2 - 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.

AB - 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.

KW - EWI-25671

KW - IR-94003

KW - METIS-309871

U2 - 10.1109/BIOROB.2014.6913795

DO - 10.1109/BIOROB.2014.6913795

M3 - Conference contribution

SN - 978-1-4799-3126-2

SP - 314

EP - 319

BT - 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

PB - IEEE ROBOTICS AND AUTOMATION SOCIETY

CY - USA

ER -

Lopes da Frota Moreira P, van de Steeg G, van der Heijden F, Fütterer JJ, Misra S. A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback. In 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2014. p. 314-319 https://doi.org/10.1109/BIOROB.2014.6913795