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",
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    pages = "314--319",
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    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

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    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.

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    PB - IEEE ROBOTICS AND AUTOMATION SOCIETY

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    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